realsense2-all #12310
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| # License: Apache 2.0. See LICENSE file in root directory. | ||
| # Copyright(c) 2023 Intel Corporation. All Rights Reserved. | ||
| cmake_minimum_required( VERSION 3.15 ) | ||
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| # | ||
| # This tests whether we can link with realsense2-all and not have any missing external symbols. | ||
| # Without realsense2-all, we'd need to link with: | ||
| # realsense2 realsense-file rsutils | ||
| # Or, if DDS was enabled: | ||
| # realsense2 realsense-file rsutils fastcdr fastrtps foonathan_memory realdds | ||
| # And the list gets longer if we add libraries. | ||
| # | ||
| # On Windows, no additional special libraries are needed. | ||
| # On Linux, we have other dependencies: | ||
| # libusb udev | ||
| # These are not part of realsense2-all, even though we depend on them! | ||
| # | ||
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| project( rs-all-client ) | ||
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| option( BUILD_SHARED_LIBS "Build using shared libraries" OFF ) | ||
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| if( WIN32 ) | ||
| # Take away the other configurations because they'd require we picked another link | ||
| # directory and target... keep it simple... | ||
| set( CMAKE_CONFIGURATION_TYPES "Release" ) | ||
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There was a problem hiding this comment. This is for the unit-test, which only runs in GHA and compiles a specific build. |
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| endif() | ||
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| add_executable( ${PROJECT_NAME} main.cpp ) | ||
| set_target_properties( ${PROJECT_NAME} PROPERTIES | ||
| CXX_STANDARD 14 | ||
| MSVC_RUNTIME_LIBRARY MultiThreaded$<$<CONFIG:Debug>:Debug> # New in version 3.15; ignored in Linux | ||
| ) | ||
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| target_include_directories( ${PROJECT_NAME} PRIVATE | ||
| ../../../include | ||
| ../../../third-party/rsutils/include | ||
| ) | ||
| target_link_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_BINARY_DIR}/../Release ) | ||
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| target_link_libraries( ${PROJECT_NAME} PRIVATE realsense2-all ) | ||
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| if( NOT WIN32 ) | ||
| find_library( LIBUSB NAMES usb-1.0 ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE pthread ${LIBUSB} ) | ||
| if( NOT FORCE_RSUSB_BACKEND ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE udev ) | ||
| endif() | ||
| if( BUILD_WITH_DDS ) | ||
| target_link_libraries( ${PROJECT_NAME} PRIVATE ssl crypto rt ) | ||
| endif() | ||
| endif() | ||
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| // License: Apache 2.0. See LICENSE file in root directory. | ||
| // Copyright(c) 2023 Intel Corporation. All Rights Reserved. | ||
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| #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API | ||
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| #include <rsutils/time/timer.h> | ||
| #include <iostream> // for cout | ||
| #include <chrono> | ||
| #include <thread> | ||
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| int main(int argc, char * argv[]) try | ||
| { | ||
| rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG ); | ||
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| rs2::context context; | ||
| auto devices = context.query_devices(); | ||
| if( devices.size() ) | ||
| { | ||
| // This can run under GHA, too -- so we don't always have devices | ||
| // Run for just a little bit, count the frames | ||
| size_t n_frames = 0; | ||
| { | ||
| rs2::pipeline p( context ); | ||
| auto profile = p.start(); | ||
| auto device = profile.get_device(); | ||
| std::cout << "Streaming on " << device.get_info( RS2_CAMERA_INFO_NAME ) << std::endl; | ||
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| rsutils::time::timer timer( std::chrono::seconds( 3 ) ); | ||
| while( ! timer.has_expired() ) | ||
| { | ||
| // Block program until frames arrive | ||
| rs2::frameset frames = p.wait_for_frames(); | ||
| ++n_frames; | ||
| } | ||
| } | ||
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| std::cout << "Got " << n_frames << " frames" << std::endl; | ||
| } | ||
| else | ||
| { | ||
| // Allow enough time for DDS enumeration | ||
| std::this_thread::sleep_for( std::chrono::seconds( 3 ) ); | ||
| } | ||
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| return EXIT_SUCCESS; | ||
| } | ||
| catch (const rs2::error & e) | ||
| { | ||
| std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; | ||
| return EXIT_FAILURE; | ||
| } | ||
| catch (const std::exception& e) | ||
| { | ||
| std::cerr << e.what() << std::endl; | ||
| return EXIT_FAILURE; | ||
| } |
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| # This is a dummy file, just so CMake does not complain: | ||
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| # CMake Error at build/third-party/fastdds/CMakeLists.txt:239 (find_package): | ||
| # By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this | ||
| # project has asked CMake to find a package configuration file provided by | ||
| # "foonathan_memory", but CMake did not find one. | ||
| # | ||
| # Could not find a package configuration file provided by "foonathan_memory" | ||
| # with any of the following names: | ||
| # | ||
| # foonathan_memoryConfig.cmake | ||
| # foonathan_memory-config.cmake | ||
| # | ||
| # Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or | ||
| # set "foonathan_memory_DIR" to a directory containing one of the above | ||
| # files. If "foonathan_memory" provides a separate development package or | ||
| # SDK, be sure it has been installed. | ||
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| # FastDDS requires foonathan_memory and will not find it if we do not provide this | ||
| # file. | ||
| # | ||
| # Since all the variables should already be set by external_foonathan_memory.cmake, | ||
| # we don't really do anything. | ||
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| # This may not be the proper way to do this. But it works... | ||
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| #message( "In Findfoonathan_memory.cmake" ) | ||
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| #find_package( PkgConfig ) | ||
| #pkg_check_modules( foonathan_memory QUIET foonathan_memory ) | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,83 +1,44 @@ | ||
| cmake_minimum_required(VERSION 3.11) | ||
| include(FetchContent) | ||
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| # We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well) | ||
| function(get_foonathan_memory) | ||
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| # Mark new options from FetchContent as advanced options | ||
| mark_as_advanced(FETCHCONTENT_QUIET) | ||
| mark_as_advanced(FETCHCONTENT_BASE_DIR) | ||
| mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED) | ||
| mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED) | ||
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| message(CHECK_START "Fetching foonathan_memory...") | ||
| list(APPEND CMAKE_MESSAGE_INDENT " ") | ||
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| FetchContent_Declare( | ||
| foonathan_memory | ||
| GIT_REPOSITORY https://github.com/foonathan/memory.git | ||
| GIT_TAG "v0.7-3" | ||
| GIT_SHALLOW ON # No history needed | ||
| SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory | ||
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| ) | ||
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| # Always a static library | ||
| set( BUILD_SHARED_LIBS OFF ) | ||
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| # Set foonathan_memory variables | ||
| # These are exposed options; not internal | ||
| set( FOONATHAN_MEMORY_BUILD_EXAMPLES OFF ) | ||
| set( FOONATHAN_MEMORY_BUILD_TESTS OFF ) | ||
| set( FOONATHAN_MEMORY_BUILD_TOOLS OFF ) | ||
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| FetchContent_MakeAvailable( foonathan_memory ) | ||
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| # Mark new options from FetchContent as advanced options | ||
| mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY) | ||
| mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY) | ||
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| list(POP_BACK CMAKE_MESSAGE_INDENT) | ||
| message(CHECK_PASS "Done") | ||
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| endfunction() | ||
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| get_foonathan_memory() | ||
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This bump our minimal CMake version.
For windows it's less painfull but I believe we can condition it with the version.
<3.15 dont build it?
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Oh, it's just the test, forget it :)
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You're right... wouldn't the static analysis catch this?? Weird.
I'll try it on U18.
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Oh!
Duh...
This is the GHA client!
It doesn't run on U18...
realsense2-allmakefile works fine in U18. But this client is made for U20+. That's fine.