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_GUI
CONFIG += 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 gui
greaterThan(QT_MAJOR_VERSION,4):QT+= widgets
TARGET= Demo_SerialPort
SOURCES+= main.cpp \
mainwindow.cpp
FORMS+= \
mainwindow.ui
HEADERS+= \
mainwindow.h
}else{TARGET= Demo_SerialPort_Console
CONFIG+= console c++11CONFIG-= app_bundle
CONFIG-= qt
HEADERS+= \
jsserialport.h
SOURCES+= main.cpp \
jsserialport.cpp
}TEMPLATE= app
DEFINES+= _UNICODE
include($$PWD/CSerialPort/CSerialPort.pri)
win32*:{
#about windows reg
LIBS+= $$PWD/CSerialPort/windows/x86/advapi32.lib
#about windows setupapi
LIBS+= $$PWD/CSerialPort/windows/x86/setupapi.lib
}CONFIG(debug, debug|release){DESTDIR= $$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(){#ifdefWIN32
this->openSerialPort("COM3",115200, itas109::ParityNone,
itas109::DataBits8, itas109::StopOne);#else
this->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 newer
add_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 packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_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 need
catkin_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 locations
include_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
版权归原作者 沙振宇 所有， 如有侵权，请联系我们删除。
版权归原作者 沙振宇 所有， 如有侵权，请联系我们删除。