修正websocket编译错误 (#37)

* fix: 完善文档，添加dotnet的文档。 * fix: 修正linux_python_build.yml重复编译的问题，以及没有指定PYTHONPATH的问题。 * fix: 修正文档错误 * feat: 添加python2的构建选项修正旋转部分数据表示x和z反了的问题完善文档 * 修正websocket在windows平台的问题。 * cmake require 版本3.18.2 * 修正rx，ry，rz的问题
lebai-robotics · May 3, 2023 · 18bd157 · 18bd157
1 parent e62623a
commit 18bd157
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Showing 11 changed files with 1,949 additions and 1,990 deletions.
diff --git a/.gitignore b/.gitignore
@@ -3,3 +3,4 @@ out
 .vscode
 .vs
 sdk/include/lebai/config.hh
+CMakeSettings.json
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,187 +1,187 @@
-cmake_minimum_required(VERSION 3.18)
-if (POLICY CMP0122)
-  cmake_policy(SET CMP0122 NEW)
-endif()
-
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-
-option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
-
-project(lebai VERSION 1.0.19 LANGUAGES CXX)
-set(PROJECT_NAMESPACE lebai)
-message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
-# message(STATUS "major: ${PROJECT_VERSION_MAJOR}")
-# message(STATUS "minor: ${PROJECT_VERSION_MINOR}")
-# message(STATUS "patch: ${PROJECT_VERSION_PATCH}")
-
-get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-if(isMultiConfig)
-  if(NOT CMAKE_CONFIGURATION_TYPES)
-    set(CMAKE_CONFIGURATION_TYPES "Release;Debug" CACHE STRING
-    "Choose the type ofgi builds, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release;Debug)"
-    FORCE)
-  endif()
-  message(STATUS "Configuration types: ${CMAKE_CONFIGURATION_TYPES}")
-else()
-  if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "Release" CACHE STRING
-    "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release)"
-    FORCE)
-  endif()
-  message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
-endif()
-
-# Layout build dir like install dir
-include(GNUInstallDirs)
-if(UNIX)
-  option(BUILD_SHARED_LIBS "Build shared libraries (.so or .dyld)." ON)
-  set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
-  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-  # for multi-config build system (e.g. Xcode, Ninja Multi-Config)
-  foreach(OutputConfig IN LISTS CMAKE_CONFIGURATION_TYPES)
-    string(TOUPPER ${OutputConfig} OUTPUTCONFIG)
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
-  endforeach()
-else()
-  # Currently Only support static build for windows
-  option(BUILD_SHARED_LIBS "Build shared libraries (.dll)." OFF)
-  add_compile_definitions(_USE_MATH_DEFINES)
-  add_compile_definitions(NOMINMAX)
-  add_compile_definitions(_DEBUG)   
-  add_compile_definitions(_WEBSOCKETPP_CPP11_RANDOM_DEVICE_)
-  add_compile_options("$<$<C_COMPILER_ID:MSVC>:/utf-8>")
-  add_compile_options("$<$<CXX_COMPILER_ID:MSVC>:/utf-8>")
-  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-  # for multi-config builds (e.g. msvc)
-  foreach(OutputConfig IN LISTS CMAKE_CONFIGURATION_TYPES)
-    string(TOUPPER ${OutputConfig} OUTPUTCONFIG)
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
-  endforeach()
-endif()
-
-option(ENABLE_TSAN "Enable thread sanitier" OFF)
-if(UNIX)
-  if(ENABLE_TSAN)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")
-    set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fsanitize=thread")
-  endif()
-endif()
-
-# By default only the C++ library is built.
-option(BUILD_CXX "Build C++ library" ON)
-message(STATUS "Build C++ library: ${BUILD_CXX}")
-
-option(BUILD_PYTHON "Build Python Library" OFF)
-message(STATUS "Build Python: ${BUILD_PYTHON}")
-
-option(BUILD_PYTHON2 "Build Python2 Library" OFF)
-message(STATUS "Build Python2: ${BUILD_PYTHON2}")
-
-option(BUILD_DOTNET "Build .NET Library" OFF)
-message(STATUS "Build .Net: ${BUILD_DOTNET}")
-
-option(BUILD_JAVA "Build Java Library" OFF)
-message(STATUS "Build Java: ${BUILD_JAVA}")
-
-if(BUILD_PYTHON AND BUILD_PYTHON2)
-  message(FATAL_ERROR "Can only build one of python2 and python3.")
-endif()
-
-if(BUILD_PYTHON)
-  option(FETCH_PYTHON_DEPS "Install python required modules if not available" ON)
-  message(STATUS "Python fetch dependencies: ${FETCH_PYTHON_DEPS}")
-   if(DEFINED PYTHONPATH)
-     message(STATUS "Python path: ${PYTHONPATH}")
-     set(Python3_ROOT_DIR ${PYTHONPATH})
-   endif()
-endif()
-
-if(BUILD_PYTHON2)
-   if(DEFINED PYTHONPATH)
-     message(STATUS "Python path: ${PYTHON2PATH}")
-     set(Python2_ROOT_DIR ${PYTHONPATH})
-   endif()
-endif()
-
-# Disable CTest targets
-set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
-include(CTest)
-include(cpp)
-
-if(WIN32 AND (BUILD_DOTNET OR BUILD_JAVA OR BUILD_PYTHON))
-  message(STATUS "Getting SWIG: ...")
-  include(swig)
-  message(STATUS "Getting SWIG: ...DONE")
-endif()
-
-
-if(BUILD_PYTHON)
-  option(FETCH_PYTHON_DEPS "Install python required modules if not available" ON)
-  message(STATUS "Python fetch dependencies: ${FETCH_PYTHON_DEPS}")
-endif()
-include(python)
-
-include(python2)
-
-
-if(BUILD_DOTNET)
-  # .Net Core 3.1 LTS is not available for osx arm64
-  if(APPLE AND CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)")
-    set(USE_DOTNET_CORE_31 OFF)
-  else()
-    option(USE_DOTNET_CORE_31 "Use .Net Core 3.1 LTS support" ON)
-  endif()
-  message(STATUS ".Net: Use .Net Core 3.1 LTS support: ${USE_DOTNET_CORE_31}")
-
-  option(USE_DOTNET_6 "Use .Net 6.0 LTS support" ON)
-  message(STATUS ".Net: Use .Net 6.0 LTS support: ${USE_DOTNET_6}")
-endif()
-include(dotnet)
-
-if(BUILD_JAVA)
-  option(SKIP_GPG "Skip gpg sign" ON)
-  message(STATUS "Maven skip GPG sign: ${SKIP_GPG}")
-endif()
-include(java)
-
-
-# add_subdirectory(tests)
-
-option(BUILD_EXAMPLES "Build examples" ON)
-message(STATUS "Build examples: ${BUILD_EXAMPLES}")
-add_subdirectory(examples)
-
-
-find_package(Doxygen)
-option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ON)
-
-if(BUILD_DOCUMENTATION AND DOXYGEN_FOUND)
-    if(NOT DOXYGEN_FOUND)      
-      message(FATAL_ERROR "Doxygen is needed to build the documentation.")
-    endif()
-
-    set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile  )
-    set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-    configure_file(${doxyfile_in} ${doxyfile} @ONLY)
-
-    add_custom_target(doc ALL
-        COMMAND ${DOXYGEN_EXECUTABLE} ${doxyfile}
-        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-        COMMENT "Generating API documentation with Doxygen"
-        VERBATIM)
-
-    install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html DESTINATION share/doc/${PROJECT_NAME})
-endif()
-
-
-
-
+cmake_minimum_required(VERSION 3.18)
+if (POLICY CMP0122)
+  cmake_policy(SET CMP0122 NEW)
+endif()
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
+
+project(lebai VERSION 1.0.20 LANGUAGES CXX)
+set(PROJECT_NAMESPACE lebai)
+message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
+# message(STATUS "major: ${PROJECT_VERSION_MAJOR}")
+# message(STATUS "minor: ${PROJECT_VERSION_MINOR}")
+# message(STATUS "patch: ${PROJECT_VERSION_PATCH}")
+
+get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+if(isMultiConfig)
+  if(NOT CMAKE_CONFIGURATION_TYPES)
+    set(CMAKE_CONFIGURATION_TYPES "Release;Debug" CACHE STRING
+    "Choose the type ofgi builds, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release;Debug)"
+    FORCE)
+  endif()
+  message(STATUS "Configuration types: ${CMAKE_CONFIGURATION_TYPES}")
+else()
+  if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release" CACHE STRING
+    "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel. (default: Release)"
+    FORCE)
+  endif()
+  message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+endif()
+
+# Layout build dir like install dir
+include(GNUInstallDirs)
+if(UNIX)
+  option(BUILD_SHARED_LIBS "Build shared libraries (.so or .dyld)." ON)
+  set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+  # for multi-config build system (e.g. Xcode, Ninja Multi-Config)
+  foreach(OutputConfig IN LISTS CMAKE_CONFIGURATION_TYPES)
+    string(TOUPPER ${OutputConfig} OUTPUTCONFIG)
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_LIBDIR})
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_LIBDIR})
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
+  endforeach()
+else()
+  # Currently Only support static build for windows
+  option(BUILD_SHARED_LIBS "Build shared libraries (.dll)." OFF)
+  add_compile_definitions(_USE_MATH_DEFINES)
+  add_compile_definitions(_WEBSOCKETPP_CPP11_RANDOM_DEVICE_)
+  # add_compile_definitions(NOMINMAX)
+  # add_compile_definitions(_DEBUG)   
+  # add_compile_options("$<$<C_COMPILER_ID:MSVC>:/utf-8>")
+  # add_compile_options("$<$<CXX_COMPILER_ID:MSVC>:/utf-8>")
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+  # for multi-config builds (e.g. msvc)
+  foreach(OutputConfig IN LISTS CMAKE_CONFIGURATION_TYPES)
+    string(TOUPPER ${OutputConfig} OUTPUTCONFIG)
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${OUTPUTCONFIG} ${CMAKE_BINARY_DIR}/${OutputConfig}/${CMAKE_INSTALL_BINDIR})
+  endforeach()
+endif()
+
+option(ENABLE_TSAN "Enable thread sanitier" OFF)
+if(UNIX)
+  if(ENABLE_TSAN)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=thread -g")
+    set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fsanitize=thread")
+  endif()
+endif()
+
+# By default only the C++ library is built.
+option(BUILD_CXX "Build C++ library" ON)
+message(STATUS "Build C++ library: ${BUILD_CXX}")
+
+option(BUILD_PYTHON "Build Python Library" OFF)
+message(STATUS "Build Python: ${BUILD_PYTHON}")
+
+option(BUILD_PYTHON2 "Build Python2 Library" OFF)
+message(STATUS "Build Python2: ${BUILD_PYTHON2}")
+
+option(BUILD_DOTNET "Build .NET Library" OFF)
+message(STATUS "Build .Net: ${BUILD_DOTNET}")
+
+option(BUILD_JAVA "Build Java Library" OFF)
+message(STATUS "Build Java: ${BUILD_JAVA}")
+
+if(BUILD_PYTHON AND BUILD_PYTHON2)
+  message(FATAL_ERROR "Can only build one of python2 and python3.")
+endif()
+if(UNIX)
+if(BUILD_PYTHON)
+  option(FETCH_PYTHON_DEPS "Install python required modules if not available" ON)
+  message(STATUS "Python fetch dependencies: ${FETCH_PYTHON_DEPS}")
+   if(DEFINED PYTHONPATH)
+     message(STATUS "Python path: ${PYTHONPATH}")
+     set(Python3_ROOT_DIR ${PYTHONPATH})
+   endif()
+   include(python)
+endif()
+
+if(BUILD_PYTHON2)
+   if(DEFINED PYTHONPATH)
+     message(STATUS "Python path: ${PYTHON2PATH}")
+     set(Python2_ROOT_DIR ${PYTHONPATH})
+   endif()
+   include(python2)
+
+endif()
+endif()
+# Disable CTest targets
+set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
+include(CTest)
+include(cpp)
+
+if(WIN32 AND (BUILD_DOTNET OR BUILD_JAVA OR BUILD_PYTHON))
+  message(STATUS "Getting SWIG: ...")
+  include(swig)
+  message(STATUS "Getting SWIG: ...DONE")
+endif()
+
+
+if(BUILD_PYTHON)
+  option(FETCH_PYTHON_DEPS "Install python required modules if not available" ON)
+  message(STATUS "Python fetch dependencies: ${FETCH_PYTHON_DEPS}")
+endif()
+
+
+if(BUILD_DOTNET)
+  # .Net Core 3.1 LTS is not available for osx arm64
+  if(APPLE AND CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)")
+    set(USE_DOTNET_CORE_31 OFF)
+  else()
+    option(USE_DOTNET_CORE_31 "Use .Net Core 3.1 LTS support" ON)
+  endif()
+  message(STATUS ".Net: Use .Net Core 3.1 LTS support: ${USE_DOTNET_CORE_31}")
+
+  option(USE_DOTNET_6 "Use .Net 6.0 LTS support" ON)
+  message(STATUS ".Net: Use .Net 6.0 LTS support: ${USE_DOTNET_6}")
+endif()
+include(dotnet)
+
+if(BUILD_JAVA)
+  option(SKIP_GPG "Skip gpg sign" ON)
+  message(STATUS "Maven skip GPG sign: ${SKIP_GPG}")
+endif()
+include(java)
+
+
+# add_subdirectory(tests)
+
+option(BUILD_EXAMPLES "Build examples" ON)
+message(STATUS "Build examples: ${BUILD_EXAMPLES}")
+add_subdirectory(examples)
+
+
+find_package(Doxygen)
+option(BUILD_DOCUMENTATION "Create and install the HTML based API documentation (requires Doxygen)" ON)
+
+if(BUILD_DOCUMENTATION AND DOXYGEN_FOUND)
+    if(NOT DOXYGEN_FOUND)      
+      message(FATAL_ERROR "Doxygen is needed to build the documentation.")
+    endif()
+
+    set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile  )
+    set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+    configure_file(${doxyfile_in} ${doxyfile} @ONLY)
+
+    add_custom_target(doc ALL
+        COMMAND ${DOXYGEN_EXECUTABLE} ${doxyfile}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        COMMENT "Generating API documentation with Doxygen"
+        VERBATIM)
+
+    install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html DESTINATION share/doc/${PROJECT_NAME})
+endif()
+
+
+
+