loctv
5b2c74bd36
- LidarManager facade (liblidar_manager.so): dlopen plugin discovery, available_drivers map<driver_id, PluginRegistry>, create_lidar_device, config.json load/save with legacy lidarlib migration - Common LidarDriverInterface + DriverInfo/DeviceConfig plugin ABI (extern C get_driver_info / create_driver_instance) - Plugins: driver_rplidar (ported from xlocd, Slamtec SDK), driver_olei, driver_sick_code (TiM CoLa-A), driver_sick_safety (nanoScan3), driver_espe - Diagnostics extended with rplidar health + firmware; FOV filter window, range override and legacy remap window unified in DeviceConfig - Rewritten README, diagnostics doc and examples (list_drivers, example, lidar_app) Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
57 lines
1.8 KiB
CMake
57 lines
1.8 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(xlidar_driver VERSION 2.0.0 LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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find_package(Threads REQUIRED)
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option(XLIDAR_BUILD_EXAMPLES "Build example/demo binaries" ON)
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# Where the rplidar plugin finds the Slamtec SDK sources (include/ + src/).
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# Empty + not auto-detected -> the rplidar plugin is skipped with a warning.
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set(XLIDAR_RPLIDAR_SDK_DIR "" CACHE PATH "Path to the Slamtec RPLIDAR SDK (dir containing include/ and src/)")
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add_subdirectory(src)
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add_subdirectory(plugins)
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if(XLIDAR_BUILD_EXAMPLES)
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add_subdirectory(examples)
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endif()
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# ── install + find_package() support ─────────────────────────────────────────
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include(GNUInstallDirs)
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include(CMakePackageConfigHelpers)
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install(TARGETS lidar_manager
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EXPORT xlidar_driverTargets
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/xlidar)
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install(EXPORT xlidar_driverTargets
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FILE xlidar_driverTargets.cmake
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NAMESPACE xlidar::
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
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)
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configure_package_config_file(
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cmake/xlidar_driverConfig.cmake.in
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${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfig.cmake
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INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
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)
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write_basic_package_version_file(
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${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfigVersion.cmake
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VERSION ${PROJECT_VERSION}
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COMPATIBILITY SameMajorVersion
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)
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install(FILES
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${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfig.cmake
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${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfigVersion.cmake
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
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)
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