文章目录
1、简述
本文主要讲述 C++开源库 CSerialPort 的使用，主要在Windows和Linux两个平台分别应用。
有需要了解 C++开源库 CSerialPort 的小伙伴，可以先去这边文章下了解下为什么要用 CSerialPort 和 CSerialPort 的介绍。
文章链接：【C/C++】轻量级跨平台 开源串口库 CSerialPort
2、效果图
2.1、命令行（不带GUI）
Windows效果如下，Linux一样可以运行，只是串口名称不一样。因为还要切换系统，我就不截Linux图了
2.2、GUI（这里用的Qt）
放开pro里面的这两行即可，注释掉就是命令行，Windows效果图如下。Linux下这台没装Qt，没尝试，串口名称改下问题不大。
DEFINES += SHASHIDI_GUICONFIG += SHASHIDI_GUI
3、串口硬件知识普及
因为只测试串口的收发消息，把发送和接收的两个端口短接。找一个杜邦线直接串联起来就可以，这样发什么消息，就收到什么消息。如图是1口和3口短接。
4、核心实现
4.1、Qt的pro文件
Qt 的 pro 文件，如下。这里我用了一个宏来区分，一个是Pro的区分，一个是代码里面的区分
DEFINES+=SHASHIDI_GUICONFIG+=SHASHIDI_GUISHASHIDI_GUI{QT+= core guigreaterThan(QT_MAJOR_VERSION,4):QT+= widgetsTARGET= Demo_SerialPortSOURCES+= main.cpp \mainwindow.cppFORMS+= \mainwindow.uiHEADERS+= \mainwindow.h}else{TARGET= Demo_SerialPort_ConsoleCONFIG+= console c++11CONFIG-= app_bundleCONFIG-= qtHEADERS+= \jsserialport.hSOURCES+= main.cpp \jsserialport.cpp}TEMPLATE= appDEFINES+= _UNICODEinclude($$PWD/CSerialPort/CSerialPort.pri)win32*:{#about windows regLIBS+= $$PWD/CSerialPort/windows/x86/advapi32.lib#about windows setupapiLIBS+= $$PWD/CSerialPort/windows/x86/setupapi.lib}CONFIG(debug, debug|release){DESTDIR= $$PWD/bin_debug}else{DESTDIR= $$PWD/bin_release}HEADERS+= \CommonSerialPort.h
4.2、main文件
#ifdefSHASHIDI_GUI#include"mainwindow.h"#include<QApplication>#else#include"jsserialport.h"#include<iostream>using namespace std;#endif#ifdefSHASHIDI_GUIintmain(int argc,char*argv[]){QApplication a(argc, argv);MainWindow w;w.show();return a.exec();#elseintmain(){JSSerialPort js;js.doWork();return0;#endif}
4.3、SSerialPort类
4.3.1、头文件
#ifndefSSERIALPORT_H#defineSSERIALPORT_H#include<iostream>#include"CSerialPort/SerialPort.h"#include"CSerialPort/SerialPortInfo.h"#include"CommonSerialPort.h"using namespace std;using namespace itas109;class SSerialPort : public CSerialPortListener{public:SSerialPort();// 工作voiddoWork();// 校验voiddoCheck(char receiveBuf[],int receiveSize);// 串口信号bool m_flag_serialport = false;// 发出消息voidsendMessage();// 读取全部数据voidreadAllData();private:// 获取端口列表vector<SerialPortInfo>getSerialPortList();// 打开串口bool openSerialPort(constchar*portName,int baudRate =9600,itas109::Parity parity = itas109::Parity::ParityNone,itas109::DataBits dataBits = itas109::DataBits::DataBits8,itas109::StopBits stopbits = itas109::StopBits::StopOne,itas109::FlowControl flowControl = itas109::FlowControl::FlowNone,unsignedint readBufferSize =4096,int timeout =0);// 关闭串口voidcloseSerialPort();// 收到消息voidonReadEvent(constchar*portName,unsignedint readBufferLen);// 设置串口模式 同步\异步voidsetSync(bool isSync);// 设置DTRvoidsetDTR(bool isDTR);// 设置RTSvoidsetRTS(bool isRTS);// 初始化串口voidinitSerialPort();// 初始化发送消息voidinitSendMessage();private:CSerialPort m_SerialPort;// 串口structTERMINAL_TO_FIRECONTROL*m_terminal_to_firecontrol;// 终端到火控structFIRECONTROL_TO_TERMINAL*m_firecontrol_to_terminal;// 火控到终端int m_packet_frame_count =0;// 报文帧号累计int m_buffer_size =2048;int m_frame_length =34;unsignedchar m_firstChar =161;// 0xA1unsignedchar m_secondChar =177;// 0xB1unsignedchar m_thirdChar =50;// 0x32int m_tx =0;int m_rx =0;};#endif// SSERIALPORT_H
4.3.2、源文件
#include"sserialport.h"#include<iostream>#include<iomanip>SSerialPort::SSerialPort(){}void SSerialPort::doWork(){cout <<"doWork: initSerialPort"<< endl;initSerialPort();cout <<"doWork: initSendMessage"<< endl;initSendMessage();cout <<"doWork: sendMessage"<< endl;sendMessage();cout <<"doWork: readAllData"<< endl;readAllData();}void SSerialPort::doCheck(char receiveBuf[],int receiveSize){cout <<"doCheck: start"<< receiveSize << endl;for(int i =0; i < receiveSize; i++){if(( receiveSize - i )< m_frame_length ){//不足一帧则退出break;}cout <<"doCheck1: "<< receiveBuf[i]<< endl;if((receiveBuf[i]== m_secondChar)&&(receiveBuf[i+1]== m_firstChar)){//发现帧头，取出一帧校验cout <<"doCheck: "<< receiveBuf[i]<< endl;string aa(receiveBuf);cout <<"doCheck: "<< aa << endl;string tmp_s(aa, i, m_frame_length);cout <<"doCheck: "<< tmp_s << endl;int data =0;for(int i =0; i <(m_frame_length -1); i++){data = data + tmp_s[i];}unsignedchar data1 = data &0x7f;if(data1 != tmp_s[m_frame_length -1]){i = i +1;continue;}//校验通过，取值m_firecontrol_to_terminal->send_address = tmp_s[0];m_firecontrol_to_terminal->receive_address = tmp_s[1];m_firecontrol_to_terminal->packet_length = tmp_s[2];m_firecontrol_to_terminal->packet_frame_number_low = tmp_s[3];m_firecontrol_to_terminal->packet_frame_number_high = tmp_s[4];m_firecontrol_to_terminal->light_aiming_status_word_1.all = tmp_s[5];m_firecontrol_to_terminal->light_aiming_status_word_2.all = tmp_s[6];m_firecontrol_to_terminal->laser_ranging_distance_low = tmp_s[7];m_firecontrol_to_terminal->laser_ranging_distance_high = tmp_s[8];m_firecontrol_to_terminal->servo_status_word_1.all = tmp_s[9];m_firecontrol_to_terminal->servo_status_word_2.all = tmp_s[10];m_firecontrol_to_terminal->speed_of_chassis = tmp_s[11];m_firecontrol_to_terminal->chassis_battery_power = tmp_s[12];m_firecontrol_to_terminal->front_flip_arm_angle_low = tmp_s[13];m_firecontrol_to_terminal->front_flip_arm_angle_high = tmp_s[14];m_firecontrol_to_terminal->back_flip_arm_angle_low = tmp_s[15];m_firecontrol_to_terminal->back_flip_arm_angle_high = tmp_s[16];m_firecontrol_to_terminal->relay_status_word.all = tmp_s[17];m_firecontrol_to_terminal->light_azimuth_position_low = tmp_s[18];m_firecontrol_to_terminal->light_azimuth_position_high = tmp_s[19];m_firecontrol_to_terminal->light_pitch_position_low = tmp_s[20];m_firecontrol_to_terminal->light_pitch_position_high = tmp_s[21];m_firecontrol_to_terminal->weapon_azimuth_position_low = tmp_s[22];m_firecontrol_to_terminal->weapon_azimuth_position_high = tmp_s[23];m_firecontrol_to_terminal->weapon_pitch_position_low = tmp_s[24];m_firecontrol_to_terminal->weapon_pitch_position_high = tmp_s[25];m_firecontrol_to_terminal->platform_pitch = tmp_s[26];m_firecontrol_to_terminal->platform_roll_angle = tmp_s[27];m_firecontrol_to_terminal->residual_bullet_low = tmp_s[28];m_firecontrol_to_terminal->residual_bullet_high = tmp_s[29];m_firecontrol_to_terminal->rsve1 = tmp_s[30];m_firecontrol_to_terminal->rsve2 = tmp_s[31];m_firecontrol_to_terminal->rsve3 = tmp_s[32];m_firecontrol_to_terminal->check = tmp_s[33];cout <<"doCheck: send_address"<< tmp_s << endl;// emit sig_check(data1);}}}vector<SerialPortInfo> SSerialPort::getSerialPortList(){vector<SerialPortInfo> portNameList = CSerialPortInfo::availablePortInfos();for(size_t i =0; i < portNameList.size(); i++){cout <<"getSerialPortList:"<< portNameList[i].portName << endl;}if( portNameList.size()==0){cout <<"getSerialPortList is Null"<< endl;}return portNameList;}bool SSerialPort::openSerialPort(constchar*portName,int baudRate, Parity parity, DataBits dataBits, StopBits stopbits, FlowControl flowControl,unsignedint readBufferSize,int timeout){cout <<"openSerialPort-----------------------------------start"<< endl;bool isOpen = false;if(getSerialPortList().size()>0){m_SerialPort.init(portName, baudRate, parity, dataBits, stopbits, flowControl, readBufferSize);cout <<"portName:"<< portName << endl;cout <<"baudRate:"<< baudRate << endl;cout <<"parity:"<< parity << endl;cout <<"dataBits:"<< dataBits << endl;cout <<"stopbits:"<< stopbits << endl;cout <<"flowControl:"<< flowControl << endl;cout <<"readBufferSize:"<< readBufferSize << endl;m_SerialPort.setReadIntervalTimeout(timeout);isOpen = m_SerialPort.open();if(!isOpen){cerr <<"open port error"<< m_SerialPort.getLastError()<< m_SerialPort.getLastErrorMsg()<< endl;}}else{cerr <<"This Computer no avaiable port!"<< endl;}cout <<"openSerialPort-----------------------------------end"<< endl;return isOpen;}void SSerialPort::closeSerialPort(){m_SerialPort.close();}void SSerialPort::onReadEvent(constchar*portName,unsignedint readBufferLen){cout <<"onReadEvent:"<< portName << readBufferLen << endl;if(readBufferLen >0){unsignedlong recLen =0;char* str =NULL;str = new char[readBufferLen];recLen = m_SerialPort.readData(str, readBufferLen);if(recLen >0){// TODO: 中文需要由两个字符拼接，否则显示为空""cout <<"onReadEvent:"<< portName << str << recLen << endl;doCheck(str, recLen);}else{}if(str){delete[] str;str =NULL;}}}void SSerialPort::sendMessage(){char message[50];if(m_SerialPort.isOpen()){// 伺服旋转限制// 高位低位赋值m_terminal_to_firecontrol->packet_frame_number_low = m_packet_frame_count &0x00ff;m_terminal_to_firecontrol->packet_frame_number_high =(m_packet_frame_count >>8)&0x00ff;message[0]= m_firstChar;message[1]= m_secondChar;message[2]= m_thirdChar;cout <<"m_terminal_to_firecontrol->packet_frame_number_low: "<< m_terminal_to_firecontrol->packet_frame_number_low << endl;message[3]= m_terminal_to_firecontrol->packet_frame_number_low;message[4]= m_terminal_to_firecontrol->packet_frame_number_high;message[5]= m_terminal_to_firecontrol->light_aiming_control_word_1.all;//变化message[6]= m_terminal_to_firecontrol->light_aiming_control_word_2.all;message[7]= m_terminal_to_firecontrol->light_aiming_control_word_3.all;message[8]= m_terminal_to_firecontrol->servo_control_word_1.all;message[9]= m_terminal_to_firecontrol->servo_control_word_2.all;message[10]= m_terminal_to_firecontrol->chassis_control_word_1.all;message[11]= m_terminal_to_firecontrol->relay_control_word.all;message[12]= m_terminal_to_firecontrol->light_azimuth_rotation_speed_low;message[13]= m_terminal_to_firecontrol->light_azimuth_rotation_speed_high;message[14]= m_terminal_to_firecontrol->light_pitch_rotation_speed_low;message[15]= m_terminal_to_firecontrol->light_pitch_rotation_speed_high;message[16]= m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle;message[17]= m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle;message[18]= m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle;message[19]= m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle;message[20]= m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low;message[21]= m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high;message[22]= m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low;message[23]= m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high;message[24]= m_terminal_to_firecontrol->left_track_speed_low;message[25]= m_terminal_to_firecontrol->left_track_speed_high;message[26]= m_terminal_to_firecontrol->right_track_speed_low;message[27]= m_terminal_to_firecontrol->right_track_speed_high;message[28]= m_terminal_to_firecontrol->forward_arm_speed;message[29]= m_terminal_to_firecontrol->back_arm_speed;message[30]= m_terminal_to_firecontrol->residual_low;message[31]= m_terminal_to_firecontrol->residual_high;message[32]= m_terminal_to_firecontrol->azimuth_correction;message[33]= m_terminal_to_firecontrol->pitch_correction;message[34]= m_terminal_to_firecontrol->delay_correction;message[35]= m_terminal_to_firecontrol->light_aiming_control_word_4.all;message[36]= m_terminal_to_firecontrol->light_aiming_control_word_5.all;message[37]= m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low;message[38]= m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high;message[39]= m_terminal_to_firecontrol->servo_pitch_rotation_speed_low;message[40]= m_terminal_to_firecontrol->servo_pitch_rotation_speed_high;message[41]= m_terminal_to_firecontrol->firing_servo_start_low;message[42]= m_terminal_to_firecontrol->firing_servo_start_high;message[43]= m_terminal_to_firecontrol->firing_servo_stop_low;message[44]= m_terminal_to_firecontrol->firing_servo_stop_high;message[45]= m_terminal_to_firecontrol->firing_insurance_close_low;message[46]= m_terminal_to_firecontrol->firing_insurance_close_high;message[47]= m_terminal_to_firecontrol->firing_insurance_open_low;message[48]= m_terminal_to_firecontrol->firing_insurance_open_high;int data =0;for(int i =0; i <49; i++){cout <<"sendMessage: "<< message[i]<< endl;data = data + message[i];}message[49]= data &0x7f;int length =sizeof(message)/sizeof(char);if(!m_flag_serialport ){// 支持中文并获取正确的长度m_SerialPort.writeData(message, length);}else{}if( m_packet_frame_count >=0xffff){m_packet_frame_count =1;}else{m_packet_frame_count++;}cout <<"sendMessage:"<< message <<" length: "<< length << endl;}else{cerr <<"please open serial port first!"<< endl;}}void SSerialPort::readAllData(){int recLen =0;char str[4096]={0};recLen = m_SerialPort.readAllData(str);if(recLen >0){// TODO: 中文需要由两个字符拼接，否则显示为空""cout <<"readAllData:"<< str <<" length: "<< recLen << endl;doCheck(str, recLen);}else{}}void SSerialPort::setSync(bool isSync){if(isSync){m_SerialPort.setOperateMode(itas109::SynchronousOperate);}else{m_SerialPort.setOperateMode(itas109::AsynchronousOperate);}}void SSerialPort::setDTR(bool isDTR){m_SerialPort.setDtr(isDTR);}void SSerialPort::setRTS(bool isRTS){m_SerialPort.setRts(isRTS);}void SSerialPort::initSerialPort(){#ifdefWIN32this->openSerialPort("COM3",115200, itas109::ParityNone,itas109::DataBits8, itas109::StopOne);#elsethis->openSerialPort("/dev/ttyUSB0",115200, itas109::ParityNone,itas109::DataBits8, itas109::StopOne);#endif}void SSerialPort::initSendMessage(){cout <<"initSendMessage-----------------------------------start"<< endl;m_packet_frame_count =1;m_terminal_to_firecontrol =(structTERMINAL_TO_FIRECONTROL*)malloc(sizeof(structTERMINAL_TO_FIRECONTROL));m_firecontrol_to_terminal =(structFIRECONTROL_TO_TERMINAL*)malloc(sizeof(structFIRECONTROL_TO_TERMINAL));m_terminal_to_firecontrol->send_address = m_firstChar;m_terminal_to_firecontrol->receive_address = m_secondChar;m_terminal_to_firecontrol->packet_length = m_thirdChar;m_terminal_to_firecontrol->packet_frame_number_low =1;std::cout << std::hex << std::setw(2)<< std::setfill('0')<< static_cast<int>(m_terminal_to_firecontrol->packet_frame_number_low)<<endl;m_terminal_to_firecontrol->packet_frame_number_high =0;m_terminal_to_firecontrol->light_aiming_control_word_1.all =0x01;m_terminal_to_firecontrol->light_aiming_control_word_2.all =0x00;m_terminal_to_firecontrol->light_aiming_control_word_3.all =0x00;m_terminal_to_firecontrol->servo_control_word_1.all =0x09;m_terminal_to_firecontrol->servo_control_word_2.all =0x02;m_terminal_to_firecontrol->chassis_control_word_1.all =0x00;m_terminal_to_firecontrol->relay_control_word.all =0x00;m_terminal_to_firecontrol->light_azimuth_rotation_speed_low =0x00;m_terminal_to_firecontrol->light_azimuth_rotation_speed_high =0X00;m_terminal_to_firecontrol->light_pitch_rotation_speed_low =0;m_terminal_to_firecontrol->light_pitch_rotation_speed_high =0;m_terminal_to_firecontrol->fan_sweep_azimuth_setting_Angle =0;m_terminal_to_firecontrol->fan_sweep_azimuth_fu_setting_Angle =0;m_terminal_to_firecontrol->fan_sweep_pitch_setting_Angle =0;m_terminal_to_firecontrol->fan_sweep_pitch_fu_setting_Angle =0;m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_low =0;m_terminal_to_firecontrol->quick_boot_azimuth_coordinates_high =0;m_terminal_to_firecontrol->quick_boot_pitch_coordinates_low =0;m_terminal_to_firecontrol->quick_boot_pitch_coordinates_high =0;m_terminal_to_firecontrol->left_track_speed_low =0;m_terminal_to_firecontrol->left_track_speed_high =0;m_terminal_to_firecontrol->right_track_speed_low =0;m_terminal_to_firecontrol->right_track_speed_high =0;m_terminal_to_firecontrol->forward_arm_speed =0;m_terminal_to_firecontrol->back_arm_speed =0;m_terminal_to_firecontrol->residual_low =0;m_terminal_to_firecontrol->residual_high =0;m_terminal_to_firecontrol->azimuth_correction =0;m_terminal_to_firecontrol->pitch_correction =0;m_terminal_to_firecontrol->delay_correction =0;m_terminal_to_firecontrol->light_aiming_control_word_4.all =0;m_terminal_to_firecontrol->light_aiming_control_word_5.all =0;m_terminal_to_firecontrol->servo_azimuth_rotation_speed_low =0x00;m_terminal_to_firecontrol->servo_azimuth_rotation_speed_high =0x00;m_terminal_to_firecontrol->servo_pitch_rotation_speed_low =0;m_terminal_to_firecontrol->servo_pitch_rotation_speed_high =0;m_terminal_to_firecontrol->firing_servo_start_low =0;m_terminal_to_firecontrol->firing_servo_start_high =0;m_terminal_to_firecontrol->firing_servo_stop_low =0;m_terminal_to_firecontrol->firing_servo_stop_high =0;m_terminal_to_firecontrol->firing_insurance_close_low =0;m_terminal_to_firecontrol->firing_insurance_close_high =0;m_terminal_to_firecontrol->firing_insurance_open_low =0;m_terminal_to_firecontrol->firing_insurance_open_high =0;;m_terminal_to_firecontrol->check =0;cout <<"initSendMessage-----------------------------------end"<< endl;}
4.4、Linux下的CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)project(electro_optical_system)## Compile as C++11, supported in ROS Kinetic and neweradd_compile_options(-std=c++11)## Find catkin macros and libraries## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)## is used, also find other catkin packagesfind_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs)## System dependencies are found with CMake's conventions#find_package(Boost REQUIRED COMPONENTS system)find_package(OpenCV REQUIRED)## Uncomment this if the package has a setup.py. This macro ensures## modules and global scripts declared therein get installed## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html#catkin_python_setup()################################################## Declare ROS messages, services and actions #################################################### To declare and build messages, services or actions from within this## package, follow these steps:## * Let MSG_DEP_SET be the set of packages whose message types you use in## your messages/services/actions(e.g. std_msgs, actionlib_msgs,...).## * In the file package.xml:## * add a build_depend tag for"message_generation"## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET## * If MSG_DEP_SET isn't empty the following dependency has been pulled in## but can be declared for certainty nonetheless:## * add a exec_depend tag for"message_runtime"## * In this file(CMakeLists.txt):## * add "message_generation" and every package in MSG_DEP_SET to## find_package(catkin REQUIRED COMPONENTS ...)## * add "message_runtime" and every package in MSG_DEP_SET to## catkin_package(CATKIN_DEPENDS ...)## * uncomment the add_*_files sections below as needed## and list every .msg/.srv/.action file to be processed## * uncomment the generate_messages entry below## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder#add_message_files(#FILES#Message1.msg#Message2.msg# )## Generate services in the 'srv' folder#add_service_files(#FILES#Service1.srv#Service2.srv# )## Generate actions in the 'action' folder#add_action_files(#FILES#Action1.action#Action2.action# )## Generate added messages and services with any dependencies listed here#generate_messages(#DEPENDENCIES#std_msgs# )################################################## Declare ROS dynamic reconfigure parameters #################################################### To declare and build dynamic reconfigure parameters within this## package, follow these steps:## * In the file package.xml:## * add a build_depend and a exec_depend tag for"dynamic_reconfigure"## * In this file(CMakeLists.txt):## * add "dynamic_reconfigure" to## find_package(catkin REQUIRED COMPONENTS ...)## * uncomment the "generate_dynamic_reconfigure_options" section below## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder#generate_dynamic_reconfigure_options(#cfg/DynReconf1.cfg#cfg/DynReconf2.cfg# )##################################### catkin specific configuration ####################################### The catkin_package macro generates cmake config files for your package## Declare things to be passed to dependent projects## INCLUDE_DIRS: uncomment this if your package contains header files## LIBRARIES: libraries you create in this project that dependent projects also need## CATKIN_DEPENDS: catkin_packages dependent projects also need## DEPENDS: system dependencies of this project that dependent projects also needcatkin_package(#INCLUDE_DIRS include#LIBRARIES electro_optical_system#CATKIN_DEPENDS roscpp rospy std_msgs#DEPENDS system_lib)############# Build ############### Specify additional locations of header files## Your package locations should be listed before other locationsinclude_directories(#include${catkin_INCLUDE_DIRS})## Declare a C++ library#add_library(${PROJECT_NAME}#src/${PROJECT_NAME}/electro_optical_system.cpp# )## Add cmake target dependencies of the library## as an example, code may need to be generated before libraries## either from message generation or dynamic reconfigure#add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable## With catkin_make all packages are built within a single CMake context## The recommended prefix ensures that target names across packages don't collide#add_executable(${PROJECT_NAME}_node src/electro_optical_system_node.cpp)## Rename C++ executable without prefix## The above recommended prefix causes long target names, the following renames the## target back to the shorter version for ease of user use## e.g."rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"#set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable## same as for the library above#add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against#target_link_libraries(${PROJECT_NAME}_node# ${catkin_LIBRARIES}# )############### Install ################allinstall targets should use catkin DESTINATION variables#See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts(Python etc.)for installation## in contrast to setup.py, you can choose the destination#catkin_install_python(PROGRAMS#scripts/my_python_script#DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark executables for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html#install(TARGETS ${PROJECT_NAME}_node#RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}# )## Mark libraries for installation## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html#install(TARGETS ${PROJECT_NAME}#ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}#LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}#RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}# )## Mark cpp header files for installation#install(DIRECTORY include/${PROJECT_NAME}/#DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}#FILES_MATCHING PATTERN "*.h"#PATTERN ".svn"EXCLUDE# )## Mark other files forinstallation(e.g. launch and bag files, etc.)#install(FILES# # myfile1# # myfile2#DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}# )############### Testing ################# Add gtest based cpp test target and link libraries#catkin_add_gtest(${PROJECT_NAME}-test test/test_electro_optical_system.cpp)#if(TARGET ${PROJECT_NAME}-test)#target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})#endif()## Add folders to be run by python nosetests#catkin_add_nosetests(test)add_executable(EOS src/main.cpp src/jsserialport.cpp src/CSerialPort/SerialPort.cpp src/CSerialPort/SerialPortInfo.cpp src/CSerialPort/SerialPortUnixBase.cpp src/CSerialPort/SerialPortBase.cpp src/CSerialPort/SerialPortInfoUnixBase.cpp src/CSerialPort/SerialPortInfoBase.cpp)target_link_libraries(EOS ${catkin_LIBRARIES}${OpenCV_LIBS})add_dependencies(EOS ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
本文转载自: https://blog.csdn.net/u014597198/article/details/135415039
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版权归原作者 沙振宇 所有， 如有侵权，请联系我们删除。