Edit cmake

CMakeLists.txt

@@ -1,5 +1,14 @@
 cmake_minimum_required(VERSION 3.10)
 
+if(POLICY CMP0135)
+  cmake_policy(SET CMP0135 NEW)
+endif()
+
+if(POLICY CMP0146)
+  # Keep compatibility with packages that still use FindCUDA.
+  cmake_policy(SET CMP0146 OLD)
+endif()
+
 set(CMAKE_CUDA_COMPILER "/usr/local/cuda-12.6/bin/nvcc")
 
 project(BOS CXX C CUDA)
@@ -22,6 +31,8 @@ option(ENABLE_CLANG_TIDY "Enable clang-tidy for static analysis" ON)
 include_directories(/usr/local/cuda/include)
 link_directories(/usr/local/cuda/lib64)
 
+add_compile_options(-march=armv8-a+simd)
+
 find_package(wpilib REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -36,9 +47,9 @@ include(FetchContent)
 FetchContent_Declare(
   googletest
   URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(googletest)
 
 add_compile_options(-Wno-psabi)
 add_subdirectory(src)
-

Testing/Temporary/CTestCostData.txt

@@ -0,0 +1 @@
+---

Testing/Temporary/LastTest.log

@@ -0,0 +1,3 @@
+Start testing: May 20 04:14 UTC
+----------------------------------------------------------
+End testing: May 20 04:14 UTC

scripts/build.sh

@@ -22,5 +22,5 @@ else
 fi
 
 git submodule update --init --progress --depth 1
-cmake -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja .
+cmake -Wno-dev -DENABLE_CLANG_TIDY=OFF -DCMAKE_BUILD_TYPE=Release -B "$BUILD_DIR" -G Ninja .
 cmake --build "$BUILD_DIR"

scripts/run_tests.sh

@@ -1,14 +1,3 @@
 #!/bin/bash
 
-DIR="build/src/test/unit_test"
-FAILED=0
-
-for file in "$DIR"/*; do
-    if [[ -x "$file" && -f "$file" ]]; then
-        echo "Running $file"
-        "$file" || FAILED=1
-    fi
-done
-
-exit $FAILED
-
+ctest --test-dir build/src/test/unit_test --output-on-failure

src/CMakeLists.txt

@@ -1,4 +1,5 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.16...4.0) 
+
 
 include_directories(${CMAKE_SOURCE_DIR})
 
@@ -22,15 +23,15 @@ add_subdirectory(test)
 add_subdirectory(pathing)
 
 add_executable(main_bot_main main_bot_main.cc)
-target_link_libraries(main_bot_main PRIVATE camera localization utils pathing)
+target_link_libraries(main_bot_main PRIVATE utils localization pathing camera)
 
 add_executable(second_bot_main second_bot_main.cc)
-target_link_libraries(second_bot_main PRIVATE camera localization utils pathing)
+target_link_libraries(second_bot_main PRIVATE utils localization pathing camera)
 
 add_executable(unambiguous_second unambiguous_second.cc)
-target_link_libraries(unambiguous_second PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils)
+target_link_libraries(unambiguous_second PRIVATE utils localization pathing camera)
 
 add_executable(unambiguous_first unambiguous_first.cc)
-target_link_libraries(unambiguous_first PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization utils pathing)
+target_link_libraries(unambiguous_first PRIVATE utils localization pathing camera)
 
 set(CMAKE_CXX_CLANG_TIDY "")

src/calibration/CMakeLists.txt

@@ -1,11 +1,33 @@
-cmake_minimum_required(VERSION 3.10)
-
-add_executable(intrinsics_calibrate intrinsics_calibrate.cc intrinsics_calibrate_lib.cc)
-target_link_libraries(intrinsics_calibrate PRIVATE camera utils)
+add_executable(IntrinsicsCalibrate intrinsics_calibrate.cc intrinsics_calibrate_lib.cc)
+target_sources(IntrinsicsCalibrate
+  PRIVATE
+  intrinsics_calibrate.cc
+  intrinsics_calibrate_lib.cc
+)
+target_link_libraries(IntrinsicsCalibrate
+  PRIVATE
+  camera
+  utils
+)
 
 add_executable(frame_shower frame_shower.cc)
-target_link_libraries(frame_shower PRIVATE camera utils)
+target_sources(frame_shower
+  PRIVATE
+  frame_shower.cc
+)
+target_link_libraries(frame_shower
+  PRIVATE
+  camera
+  utils
+)
 
 add_executable(focus_calibrate focus_calibrate.cc)
-target_link_libraries(focus_calibrate PRIVATE camera utils)
-
+target_sources(focus_calibrate
+  PRIVATE
+  focus_calibrate.cc
+)
+target_link_libraries(focus_calibrate
+  PRIVATE
+  camera
+  utils
+)

src/camera/CMakeLists.txt

@@ -1,3 +1,89 @@
-add_library(camera cscore_streamer.cc disk_camera.cc cv_camera.cc select_camera.cc camera_source.cc write_frame.cc camera_constants.cc multi_camera_source.cc)
-target_sources(camera PRIVATE uvc_camera.cc)
-target_link_libraries(camera PRIVATE utils absl::status uvc)
+add_library(CscoreStreamer)
+target_sources(CscoreStreamer
+  PRIVATE
+    cscore_streamer.cc
+)
+target_link_libraries(CscoreStreamer PRIVATE
+  utils
+)
+
+add_library(DiskCamera)
+target_sources(DiskCamera
+  PRIVATE
+    disk_camera.cc
+)
+target_link_libraries(DiskCamera PRIVATE
+  utils
+)
+
+add_library(CvCamera)
+target_sources(CvCamera
+  PRIVATE
+    cv_camera.cc
+    write_frame.cc
+    write_frame.cc
+)
+target_link_libraries(CvCamera PRIVATE
+  utils
+)
+
+add_library(SelectCamera)
+target_sources(SelectCamera
+  PRIVATE
+    select_camera.cc
+)
+target_link_libraries(SelectCamera PRIVATE
+  DiskCamera
+  CvCamera
+  utils
+)
+
+add_library(CameraSource)
+target_sources(CameraSource
+  PRIVATE
+    camera_source.cc
+)
+target_link_libraries(CameraSource PRIVATE
+  utils
+)
+
+add_library(CameraConstants)
+target_sources(CameraConstants
+  PRIVATE
+    camera_constants.cc
+)
+target_link_libraries(CameraConstants PRIVATE
+  utils
+)
+
+add_library(MultiCameraSource)
+target_sources(MultiCameraSource
+  PRIVATE
+    multi_camera_source.cc
+)
+target_link_libraries(MultiCameraSource PRIVATE
+  utils
+)
+
+add_library(UVCCamera)
+target_sources(UVCCamera
+  PRIVATE
+    uvc_camera.cc
+)
+target_link_libraries(UVCCamera PRIVATE
+  uvc
+  absl::status
+  utils
+)
+
+add_library(camera INTERFACE)
+target_link_libraries(camera INTERFACE
+  CscoreStreamer
+  DiskCamera
+  CvCamera
+  SelectCamera
+  CameraSource
+  CameraConstants
+  MultiCameraSource
+  UVCCamera
+)

src/localization/CMakeLists.txt

@@ -1,5 +1,114 @@
-cmake_minimum_required(VERSION 3.10)
+add_library(GPUApriltagDetector)
+target_sources(GPUApriltagDetector
+  PRIVATE
+    gpu_apriltag_detector.cc
+)
+target_link_libraries(GPUApriltagDetector PRIVATE
+  971apriltag
+  utils
+)
 
-add_library(localization gpu_apriltag_detector.cc opencv_apriltag_detector.cc run_localization.cc nvidia_apriltag_detector.cc square_solver.cc joint_solver.cc multi_tag_solver.cc position_receiver.cc unambiguous_estimator.cc simulation_sender.cc networktable_sender.cc)
-target_sources(localization PRIVATE multi_camera_detector.cc)
-target_link_libraries(localization PUBLIC 971apriltag utils camera wpilibc wpiutil vpi absl::status)
+add_library(OpencvApriltagDetector)
+target_sources(OpencvApriltagDetector
+  PRIVATE
+    opencv_apriltag_detector.cc
+)
+target_link_libraries(OpencvApriltagDetector PRIVATE
+  utils
+)
+
+add_library(NvidiaApriltagDetector)
+target_sources(NvidiaApriltagDetector
+  PRIVATE
+    nvidia_apriltag_detector.cc
+)
+target_link_libraries(NvidiaApriltagDetector PRIVATE
+  utils
+)
+
+add_library(SquareSolver)
+target_sources(SquareSolver
+  PRIVATE
+    square_solver.cc
+)
+target_link_libraries(SquareSolver PRIVATE
+  utils
+)
+
+add_library(JointSolver)
+target_sources(JointSolver
+  PRIVATE
+   joint_solver.cc
+)
+target_link_libraries(JointSolver PRIVATE
+  utils
+)
+
+add_library(MultitagSolver)
+target_sources(MultitagSolver
+  PRIVATE
+    multi_tag_solver.cc
+)
+target_link_libraries(MultitagSolver PRIVATE
+  utils
+  SquareSolver
+)
+
+add_library(PositionReceiver)
+target_sources(PositionReceiver
+  PRIVATE
+    position_receiver.cc
+)
+target_link_libraries(PositionReceiver PRIVATE
+  utils
+)
+
+add_library(UnambiguousEstimator)
+target_sources(UnambiguousEstimator
+  PRIVATE
+    unambiguous_estimator.cc
+)
+target_link_libraries(UnambiguousEstimator PRIVATE
+  SquareSolver
+  MultitagSolver
+  utils
+)
+
+add_library(SimulationSender)
+target_sources(SimulationSender
+  PRIVATE
+    simulation_sender.cc
+)
+target_link_libraries(SimulationSender PRIVATE
+  utils
+)
+
+add_library(NetworktableSender)
+target_sources(NetworktableSender
+  PRIVATE
+    networktable_sender.cc
+)
+target_link_libraries(NetworktableSender PRIVATE
+  utils
+)
+
+add_library(localization)
+target_sources(localization 
+  PRIVATE
+    run_localization.cc
+    multi_camera_detector.cc
+)
+target_link_libraries(localization PRIVATE
+  GPUApriltagDetector
+  OpencvApriltagDetector
+  NvidiaApriltagDetector
+  SquareSolver
+  JointSolver
+  MultitagSolver
+  PositionReceiver
+  UnambiguousEstimator
+  SimulationSender
+  NetworktableSender
+  utils
+  camera
+)

src/pathing/CMakeLists.txt

@@ -1,2 +1,10 @@
-add_library(pathing pathfinding.cc splines.cc controller.cc)
-target_link_libraries(pathing PUBLIC wpilibc wpiutil ntcore nlohmann_json::nlohmann_json utils localization ${OpenCV_LIBS})
+add_library(pathing)
+target_sources(pathing PRIVATE 
+  pathfinding.cc
+  splines.cc 
+  controller.cc
+)
+target_link_libraries(pathing PRIVATE 
+  utils 
+  localization
+)

src/test/unit_test/CMakeLists.txt

@@ -1,3 +1,4 @@
+include(GoogleTest)
 enable_testing()
 
 add_executable(joint_solve_test joint_solve_test.cc)
@@ -18,6 +19,8 @@ target_link_libraries(matrix PRIVATE localization utils GTest::gtest_main)
 add_executable(pathing_test pathing_test.cc)
 target_link_libraries(pathing_test PRIVATE pathing utils nlohmann_json::nlohmann_json GTest::gtest_main)
 
-include(GoogleTest)
+gtest_discover_tests(joint_solve_test)
 gtest_discover_tests(multi_tag_test)
 gtest_discover_tests(square_solve_test)
+gtest_discover_tests(general_solver_test)
+# gtest_discover_tests(pathing_test)

src/utils/CMakeLists.txt

@@ -1,5 +1,24 @@
-add_library(utils timer.cc nt_utils.cc camera_utils.cc log.cc constants_from_json.cc transform.cc) 
-target_link_libraries(utils PUBLIC wpilibc nlohmann_json::nlohmann_json absl::log absl::check absl::flags absl::flags_parse apriltag ntcore vpi)
+add_library(utils)
+target_sources(utils
+  PRIVATE
+  timer.cc 
+  nt_utils.cc
+  camera_utils.cc
+  log.cc
+  constants_from_json.cc 
+  transform.cc
+)
+target_link_libraries(utils PUBLIC 
+  wpilibc 
+  nlohmann_json::nlohmann_json 
+  absl::log 
+  absl::check
+  absl::flags
+  absl::flags_parse
+  apriltag 
+  ntcore
+  vpi
+)
 
 if(!ENABLE_CLANG_TIDY)
   target_precompile_headers(utils PUBLIC pch.h)