#9 update CMakeLists and basic structure

SEA-ME-COSS · May 6, 2024 · 9b75e2a · 9b75e2a
1 parent 3dce46c
commit 9b75e2a
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Showing 4 changed files with 25 additions and 27 deletions.
diff --git a/control_ws/src/stanley/CMakeLists.txt b/control_ws/src/stanley/CMakeLists.txt
@@ -1,12 +1,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(stanley)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++20
+# 기본 C++20 설정
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
@@ -15,7 +10,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+# ROS 2 패키지 의존성 찾기
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -24,21 +19,20 @@ find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
+include(ExternalProject)
+# ExternalProject_Add을 사용하여 dbcppp 라이브러리 빌드
+ExternalProject_Add(dbcppp_build
+  SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/stanley/dbcppp
+  BINARY_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/stanley/dbcppp/build
+  CONFIGURE_COMMAND ${CMAKE_COMMAND} ..
+  BUILD_COMMAND ${MAKE}
+  INSTALL_COMMAND ""
+  TEST_COMMAND ""
+)
 
 include_directories(
   include/${PROJECT_NAME}
+  include/stanley/dbcppp/include # dbcppp 헤더 파일 위치
 )
 
 add_executable(${PROJECT_NAME}
@@ -47,6 +41,8 @@ add_executable(${PROJECT_NAME}
   src/controller/stanley.cpp
 )
 
+add_dependencies(${PROJECT_NAME} dbcppp_build) # dbcppp가 먼저 빌드되도록 의존성 추가
+
 ament_target_dependencies(${PROJECT_NAME} 
   rclcpp
   nav_msgs 
@@ -59,4 +55,6 @@ ament_target_dependencies(${PROJECT_NAME}
 install(TARGETS
   ${PROJECT_NAME}
   DESTINATION lib/${PROJECT_NAME}
-)
+)
+
+ament_package()
diff --git a/control_ws/src/stanley/include/stanley/control.hpp b/control_ws/src/stanley/include/stanley/control.hpp
@@ -5,7 +5,7 @@
 
 #include "controller/stanley.hpp"
 
-#include "canprotocol/can_protocol.hpp"
+// #include "canprotocol/can_protocol.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav_msgs/msg/path.hpp"
@@ -27,7 +27,7 @@ class Control : public rclcpp::Node {
 private:
     Stanley controller;
 
-    std::unique_ptr<CANReceiver> can_receiver;
+    // std::unique_ptr<CANReceiver> can_receiver;
 
     std::vector<Path> refPoses;
     Pose currPose;

diff --git a/control_ws/src/stanley/include/stanley/dbcppp/tests/Config.h b/control_ws/src/stanley/include/stanley/dbcppp/tests/Config.h
@@ -1,3 +1,3 @@
-#define TEST_DBC "/home/dongdongo/seame/ECU-Control/test_cpp/dbcppp/tests/Test.dbc"
-constexpr const char* TEST_FILES_PATH = "/home/dongdongo/seame/ECU-Control/test_cpp/dbcppp/tests/test_files";
-#define TEST_DBC_WITH_SINGLE_COMMENTS "/home/dongdongo/seame/ECU-Control/test_cpp/dbcppp/tests/Test_single_comments.dbc"
+#define TEST_DBC "/home/dongdongo/seame/Control/control_ws/src/stanley/include/stanley/dbcppp/tests/Test.dbc"
+constexpr const char* TEST_FILES_PATH = "/home/dongdongo/seame/Control/control_ws/src/stanley/include/stanley/dbcppp/tests/test_files";
+#define TEST_DBC_WITH_SINGLE_COMMENTS "/home/dongdongo/seame/Control/control_ws/src/stanley/include/stanley/dbcppp/tests/Test_single_comments.dbc"
diff --git a/control_ws/src/stanley/src/control.cpp b/control_ws/src/stanley/src/control.cpp
@@ -7,7 +7,7 @@ Control::Control() : rclcpp::Node("vehicle_control") {
     this->controller = Stanley(k, ks);
 
     // Initialize CAN receiver
-    this->can_receiver = std::make_unique<CANReceiver>("../example.dbc", "vcan0");
+    // this->can_receiver = std::make_unique<CANReceiver>("../example.dbc", "vcan0");
 
     // Subscribe
     path_subscription_ = this->create_subscription<nav_msgs::msg::Path>(
@@ -84,7 +84,7 @@ void Control::publisher_timer_callback() {
 
     this->publish_drive(this->speedCommand, this->steerCommand);
 
-    this->can_receiver->receiveMessages();
+    // this->can_receiver->receiveMessages();
 }
 
 void Control::publish_drive(float speed, float steer) {