mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
298 lines
14 KiB
CMake
298 lines
14 KiB
CMake
# ==============================================================================
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# 大连民族大学创一工作室 达妙开发板脚手架-CMake构建系统
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# ==============================================================================
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cmake_minimum_required(VERSION 3.22)
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#欢迎提示
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message(NOTICE ">> 欢迎使用创一工作室达妙开发板脚手架的CMake构建系统")
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message(NOTICE ">> 如报错信息为未安装环境或找不到可用编译器，请先安装STM32CubeCLT，可以在ST官网找到下载链接 https://www.st.com/en/development-tools/stm32cubeclt.html")
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message(NOTICE ">> 安装完STM32CubeCLT后记得重启刷新编译器环境变量或自己添加到环境变量PATH中")
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message(NOTICE ">> 如使用Makefile，需要自己添加Make构建工具的环境变量，网上搜一搜教程，都有的")
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message(NOTICE ">> 本项目默认使用arm-none-eabi-gcc，如需使用starm-clang请注意编译优化设置，截止发布前暂无法使用starm-clang构建的elf进行debug，无法打断点")
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# ------------------------------------------------------------------------------
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# 1. 机器人兵种选择开关 (Robot Configuration)
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# 请将当前需要编译的机器人设置为 ON，其余保持 OFF
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# ------------------------------------------------------------------------------
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option(INFANTRY_MEC "1. 麦轮步兵 (Mecanum Infantry)" OFF)
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option(INFANTRY_HALF_STEER "2. 半舵步兵 (Half-Steer Infantry)" OFF)
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option(HERO_MEC "3. 麦轮英雄 (Mecanum Hero)" OFF)
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option(SENTRY_STEER "4. 舵轮哨兵 (Steer Sentry)" OFF)
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option(INFANTRY_TRANSFORM "5. 变形步兵 (Transformable Infantry)" OFF)
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option(BALANCE_SERIAL "6. 串联腿平衡步兵 (Serial-Leg Balance)" OFF)
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option(BALANCE_PARALLEL "7. 并联腿平衡步兵 (Parallel-Leg Balance)" OFF)
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option(DART "8. 飞镖架 (Dart System)" OFF)
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option(DEV_DEBUG "9. 调试模式 (Debug Mode)" ON)
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# ------------------------------------------------------------------------------
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# 2. 安全互斥检查 (Safety Check)
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# ------------------------------------------------------------------------------
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set(ROBOT_ENABLE_COUNT 0)
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if(INFANTRY_MEC)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(INFANTRY_HALF_STEER)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(HERO_MEC)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(SENTRY_STEER)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(INFANTRY_TRANSFORM)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(BALANCE_SERIAL)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(BALANCE_PARALLEL)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(DART)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(DEV_DEBUG)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(ROBOT_ENABLE_COUNT GREATER 1)
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message(FATAL_ERROR "【错误】检测到同时开启了 ${ROBOT_ENABLE_COUNT} 个兵种！请检查 option 设置，确保只有一个为 ON。")
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elseif(ROBOT_ENABLE_COUNT EQUAL 0)
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message(WARNING "【警告】未选择任何兵种！将仅编译通用库，无法生成有效固件。")
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endif()
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# ------------------------------------------------------------------------------
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# 3. 基础项目配置 (Project Setup)
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# ------------------------------------------------------------------------------
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include(cmake/DetectToolchain.cmake)
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project(TronOneH7_Scaffold)
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list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
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enable_language(C CXX ASM)
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# 标准设置 (C23 / C++23)
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set(CMAKE_C_STANDARD 23)
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set(CMAKE_C_STANDARD_REQUIRED ON)
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set(CMAKE_C_EXTENSIONS ON)
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set(CMAKE_CXX_STANDARD 23)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS ON)
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#标准提示
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message(NOTICE ">> 本项目使用 C ${CMAKE_C_STANDARD} 及 C++ ${CMAKE_CXX_STANDARD} 标准")
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# 根据构建类型设置不同的编译选项
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if (CMAKE_BUILD_TYPE STREQUAL "Debug")
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set(CMAKE_C_FLAGS_DEBUG "-O0 -g") # 调试模式：无优化，包含调试信息
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set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
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elseif (CMAKE_BUILD_TYPE STREQUAL "Release")
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set(CMAKE_C_FLAGS_RELEASE "-O3") # 发布模式：最高级别优化
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set(CMAKE_CXX_FLAGS_RELEASE "-O3")
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elseif (CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g") # 带调试信息的发布模式：中等优化，包含调试信息
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set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
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elseif (CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
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set(CMAKE_C_FLAGS_MINSIZEREL "-Os") # 最小体积模式：优化代码大小
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set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
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endif ()
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# 输出编译器路径
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message(NOTICE ">> [Assembler] 找到的 C 编译器路径: ${CMAKE_C_COMPILER}")
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message(NOTICE ">> [Assembler] 找到的 C++ 编译器路径: ${CMAKE_CXX_COMPILER}")
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Debug")
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endif ()
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# 编译器标志
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
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message(NOTICE ">> [Build Type] 当前构建类型: ${CMAKE_BUILD_TYPE}")
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# ------------------------------------------------------------------------------
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# 4. 目标与库链接 (Target & Libraries)
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# ------------------------------------------------------------------------------
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add_executable(${CMAKE_PROJECT_NAME})
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include(CompileOptions)
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# FindModules
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# 只有运行了这个，CMake 才会去执行 git clone 云端modules 并配置它的路径
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include(FindModules)
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# 添加 STM32CubeMX 底层库
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add_subdirectory(cmake/stm32cubemx)
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# 链接库
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target_link_libraries(${CMAKE_PROJECT_NAME}
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stm32cubemx
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# 因为 ems 是通过 FindModules 下载的外部库，不在 User_Code 里。
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# 链接这个库会自动把 ems 的头文件路径加入到工程里。
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ems
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${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
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)
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link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a")
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include_directories(
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./Drivers/CMSIS/Include
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./Drivers/CMSIS/DSP/Include/
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)
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link_directories(
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./Drivers/CMSIS/DSP/Lib/GCC
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)
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# ==============================================================================
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# 5. 源码与头文件管理 (Source & Header Management)
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# ==============================================================================
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# ------------------------------------------------------------------------------
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# A. 头文件管理：全自动模式，扫描 User_Code 下的所有头文件。
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# ------------------------------------------------------------------------------
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message(NOTICE ">> [Searching All Header] 正在全自动递归扫描 User_Code 下所有头文件路径...")
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file(GLOB_RECURSE USER_HEADERS "${CMAKE_SOURCE_DIR}/User_Code/*.h" "${CMAKE_SOURCE_DIR}/User_Code/*.hpp")
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foreach (header ${USER_HEADERS})
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get_filename_component(dir ${header} DIRECTORY) # 获取头文件所在目录
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target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${dir}) # 添加为私有包含目录
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endforeach ()
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# ------------------------------------------------------------------------------
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# B. 源文件管理：半自动模式 (防止兵种冲突)
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# 通用部分全自动扫描，特定兵种部分根据开关选择性扫描。
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# ------------------------------------------------------------------------------
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message(NOTICE ">> [INFO] 正在全自动递归扫描 User_Code/bsp下所有源文件路径...")
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message(NOTICE ">> [INFO] 正在全自动递归扫描 User_Code/module下所有源文件路径...")
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message(NOTICE ">> [INFO] 正在全自动递归扫描 User_Code/application下所有通用APP模块的源文件路径...")
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# 1. 添加通用代码 (BSP & Module & Application 通用框架)
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# 包含 bsp, module 以及 application 下的通用组件
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file(GLOB_RECURSE COMMON_SOURCES
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"${PROJECT_SOURCE_DIR}/User_Code/bsp/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/bsp/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/module/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/module/*.cpp"
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# 包含 application 根目录下的 robot.c 等文件 (不递归)
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"${PROJECT_SOURCE_DIR}/User_Code/application/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/application/*.cpp"
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# 包含 application 下的通用模块 (根据目录结构递归)
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"${PROJECT_SOURCE_DIR}/User_Code/application/chassis_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/chassis_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/gimbal_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/gimbal_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/shoot_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/shoot_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/indicator_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/indicator_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/vision_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/vision_app/*.cpp"
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)
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target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${COMMON_SOURCES})
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list(LENGTH COMMON_SOURCES COMMON_SOURCES_COUNT)
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# 输出统计结果
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message(NOTICE ">> [INFO] 通用库源文件扫描结束，在通用库中共扫描到 ${COMMON_SOURCES_COUNT} 个源文件")
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# 2. 根据开关添加特定兵种代码 (Specific Code)
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# 定义一个变量来存储当前激活的 App 路径
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set(ACTIVE_APP_DIR "")
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# 1. 麦轮步兵
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if(INFANTRY_MEC)
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message(WARNING ">> 当前构建兵种: 麦轮步兵 (INFANTRY_MEC)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/infantry_mec")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_MEC)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 麦轮步兵 (INFANTRY_MEC)")
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# 2. 半舵步兵
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elseif(INFANTRY_HALF_STEER)
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message(NOTICE ">> 当前构建兵种: 半舵步兵 (INFANTRY_HALF_STEER)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/infantry_half_steer")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_HALF_STEER)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 半舵步兵 (INFANTRY_HALF_STEER)")
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# 3. 麦轮英雄
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elseif(HERO_MEC)
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message(NOTICE ">> 当前构建兵种: 麦轮英雄 (HERO_MEC)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/hero_mec")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE HERO_MEC)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 麦轮英雄 (HERO_MEC)")
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# 4. 舵轮哨兵
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elseif(SENTRY_STEER)
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message(NOTICE ">> 当前构建兵种: 舵轮哨兵 (SENTRY_STEER)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/sentry_steer")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE SENTRY_STEER SENTRY)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 舵轮哨兵 (SENTRY_STEER)")
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# 5. 变形步兵
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elseif(INFANTRY_TRANSFORM)
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message(NOTICE ">> 当前构建兵种: 变形步兵 (INFANTRY_TRANSFORM)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/infantry_transform")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_TRANSFORM)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 变形步兵 (INFANTRY_TRANSFORM)")
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# 6. 串联腿平衡步兵
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elseif(BALANCE_SERIAL)
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message(NOTICE ">> 当前构建兵种: 串联腿平衡步兵 (BALANCE_SERIAL)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/balance_serial")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE BALANCE_SERIAL BALANCE)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 串联腿平衡步兵 (BALANCE_SERIAL)")
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# 7. 并联腿平衡步兵
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elseif(BALANCE_PARALLEL)
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message(NOTICE ">> 当前构建兵种: 并联腿平衡步兵 (BALANCE_PARALLEL)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/balance_parallel")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE BALANCE_PARALLEL BALANCE)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 并联腿平衡步兵 (BALANCE_PARALLEL)")
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# 8. 飞镖架
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elseif(DART)
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message(NOTICE ">> 当前构建兵种: 飞镖架 (DART)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/dart")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE DART)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 飞镖架 (DART)")
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# 9. 调试模式
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elseif(DEV_DEBUG)
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message(NOTICE ">> 当前构建兵种: 调试模式 (DEV_DEBUG)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/user_task/dev_tasks")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE DEV_DEBUG)
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message(NOTICE ">> [Specific Source] 开始扫描各兵种对应代码，当前选中的兵种为: 调试模式 (DEV_DEBUG)")
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endif()
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# 执行特定代码的添加
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if(ACTIVE_APP_DIR)
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if(EXISTS "${ACTIVE_APP_DIR}")
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# 添加该兵种目录下的所有源码
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file(GLOB_RECURSE APP_SOURCES "${ACTIVE_APP_DIR}/*.c" "${ACTIVE_APP_DIR}/*.cpp")
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# --- 新增：统计文件数量 ---
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list(LENGTH APP_SOURCES APP_SOURCES_COUNT)
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message(NOTICE ">> [INFO] 兵种对应的源文件目录: ${ACTIVE_APP_DIR}")
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message(NOTICE ">> [INFO] 已添加源文件数量: ${APP_SOURCES_COUNT}")
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target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${APP_SOURCES})
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else()
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message(FATAL_ERROR ">> [ERROR] 选中的兵种目录不存在: ${ACTIVE_APP_DIR}")
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endif()
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endif()
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# ------------------------------------------------------------------------------
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# 6. 其他设置
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# ------------------------------------------------------------------------------
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# 其他自定义头文件路径（如果还有不在 User_Code 里的）
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target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
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# 可以在此处添加其他包含目录
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)
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
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# RM_REFEREE
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) |