feat: add IMU Python package with pybind11 bindings
- Add dm_imu_pkg/__init__.py to dynamically load compiled IMU module during development and installation - Update .vscode/settings.json to ignore missing CMakeLists for flexible builds - Generate egg-info metadata and package structure for distribution
This commit is contained in:
3
.vscode/settings.json
vendored
3
.vscode/settings.json
vendored
@@ -1,3 +1,4 @@
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File diff suppressed because it is too large
Load Diff
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56
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|
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|
||||
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|
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|
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|
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|
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|
||||
imu_py = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(imu_py) # type: ignore
|
||||
return imu_py
|
||||
|
||||
raise ImportError(
|
||||
"Unable to locate the compiled 'imu_py' module. "
|
||||
"Make sure the package is installed with the compiled extension "
|
||||
"or run the build step before importing."
|
||||
)
|
||||
|
||||
# Expose the DmImu class at package level for convenience
|
||||
_imu_mod = _load_imu_module()
|
||||
DmImu = _imu_mod.DmImu
|
||||
BIN
dm_imu_pkg/__pycache__/__init__.cpython-310.pyc
Normal file
BIN
dm_imu_pkg/__pycache__/__init__.cpython-310.pyc
Normal file
Binary file not shown.
128
dm_imu_pkg/balance_pkg.egg-info/PKG-INFO
Normal file
128
dm_imu_pkg/balance_pkg.egg-info/PKG-INFO
Normal file
@@ -0,0 +1,128 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: balance-pkg
|
||||
Version: 0.1.0
|
||||
Summary: Balance project with pybind11 IMU driver
|
||||
Author: Your Name
|
||||
Author-email: Your Name <you@example.com>
|
||||
License-Expression: MIT
|
||||
Classifier: Programming Language :: Python :: 3
|
||||
Classifier: Operating System :: OS Independent
|
||||
Requires-Python: >=3.8
|
||||
Description-Content-Type: text/markdown
|
||||
License-File: LICENSE
|
||||
Requires-Dist: pybind11>=2.10
|
||||
Dynamic: author
|
||||
Dynamic: license-file
|
||||
Dynamic: requires-python
|
||||
|
||||
# DM‑IMU USB 驱动库
|
||||
|
||||
## 项目简介
|
||||
`dm_imu` 目录下实现了一个 **纯 C++ 的 USB IMU 驱动库**，原始代码基于 ROS，但已完全去除 ROS 依赖，使用 POSIX 串口 API 与 IMU 通信。库提供：
|
||||
|
||||
- 串口初始化、波特率配置
|
||||
- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等）
|
||||
- 线程安全的数据采集（`IMU_Data` 结构体）
|
||||
- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用
|
||||
|
||||
## 目录结构
|
||||
```
|
||||
dm_imu/
|
||||
├─ bsp_crc.cpp / bsp_crc.h # CRC 校验实现
|
||||
├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS）
|
||||
├─ test_imu.cpp # 示例程序，演示如何使用库
|
||||
└─ README.md # 本文档
|
||||
```
|
||||
|
||||
## 编译方法
|
||||
|
||||
### 依赖
|
||||
- **C++17** 编译器（gcc/clang）
|
||||
- POSIX 系统（Linux）提供的串口头文件 `<fcntl.h>、<unistd.h>、<termios.h>`
|
||||
- 标准库（`<thread>、<mutex>、<atomic>` 等）
|
||||
|
||||
### 编译示例
|
||||
```bash
|
||||
# 进入项目根目录
|
||||
cd /home/allenyuan/balance
|
||||
|
||||
# 编译库源码（生成目标文件）
|
||||
g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o
|
||||
g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o
|
||||
|
||||
# 编译示例程序并链接
|
||||
g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
|
||||
```
|
||||
|
||||
> **说明**：如果你希望将库封装为静态或动态库，只需将 `bsp_crc.o` 与 `imu_driver.o` 打包为 `libdm_imu.a`（或 `libdm_imu.so`），然后在链接时使用 `-L. -ldm_imu`。
|
||||
|
||||
## 示例程序 `test_imu.cpp`
|
||||
|
||||
```cpp
|
||||
// test_imu.cpp
|
||||
// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据
|
||||
|
||||
#include "imu_driver.h"
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
int main()
|
||||
{
|
||||
// 根据实际设备路径与波特率创建对象
|
||||
dmbot_serial::DmImu imu("/dev/ttyACM1", 921600);
|
||||
|
||||
// 启动采集线程
|
||||
if (!imu.start()) {
|
||||
std::cerr << "Failed to start IMU driver." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 连续读取 1000 次数据（约 10 秒）
|
||||
for (int i = 0; i < 1000; ++i) {
|
||||
IMU_Data d = imu.getData();
|
||||
|
||||
std::cout << "Roll: " << d.roll << " Pitch: " << d.pitch
|
||||
<< " Yaw: " << d.yaw << std::endl;
|
||||
std::cout << "Acc : [" << d.accx << ", " << d.accy << ", " << d.accz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "-----------------------------------------" << std::endl;
|
||||
|
||||
// 10 ms 间隔（约 100 Hz）
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
|
||||
// 停止采集并关闭串口
|
||||
imu.stop();
|
||||
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
### 运行示例
|
||||
```bash
|
||||
# 编译（参考上面的编译示例）
|
||||
g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
|
||||
|
||||
# 运行
|
||||
./test_imu
|
||||
```
|
||||
|
||||
运行后，程序会在终端持续打印 IMU 的欧拉角、加速度和陀螺仪数据。若串口未打开或设备路径错误，程序会在初始化阶段输出错误信息并退出。
|
||||
|
||||
## 常见问题
|
||||
|
||||
| 问题 | 可能原因 | 解决办法 |
|
||||
|------|----------|----------|
|
||||
| 程序启动后没有数据输出 | 串口未打开或设备路径错误 | 确认 IMU 已正确连接，`/dev/ttyACM1` 是否存在；如有不同，请在 `test_imu.cpp` 中修改构造函数的 `port` 参数 |
|
||||
| `write` / `read` 返回错误 | 波特率不匹配 | 检查 IMU 手册，确认波特率是否为 921600；如需修改，请在 `DmImu` 构造函数的 `baud` 参数中传入正确值 |
|
||||
| 编译报缺少头文件 | 开发环境缺少 POSIX 串口头文件 | 在 Linux 上默认可用；若使用交叉编译，请确保交叉工具链包含对应头文件 |
|
||||
|
||||
## 许可证
|
||||
本项目采用 MIT 许可证，详情见 `LICENSE`（若项目中未提供，请自行添加）。
|
||||
|
||||
---
|
||||
|
||||
**祝你使用愉快！** 如有其他需求（如添加四元数计算、回调机制等），欢迎进一步扩展此库。
|
||||
10
dm_imu_pkg/balance_pkg.egg-info/SOURCES.txt
Normal file
10
dm_imu_pkg/balance_pkg.egg-info/SOURCES.txt
Normal file
@@ -0,0 +1,10 @@
|
||||
LICENSE
|
||||
README.md
|
||||
pyproject.toml
|
||||
setup.py
|
||||
balance_pkg/balance_pkg.egg-info/PKG-INFO
|
||||
balance_pkg/balance_pkg.egg-info/SOURCES.txt
|
||||
balance_pkg/balance_pkg.egg-info/dependency_links.txt
|
||||
balance_pkg/balance_pkg.egg-info/not-zip-safe
|
||||
balance_pkg/balance_pkg.egg-info/requires.txt
|
||||
balance_pkg/balance_pkg.egg-info/top_level.txt
|
||||
1
dm_imu_pkg/balance_pkg.egg-info/dependency_links.txt
Normal file
1
dm_imu_pkg/balance_pkg.egg-info/dependency_links.txt
Normal file
@@ -0,0 +1 @@
|
||||
|
||||
1
dm_imu_pkg/balance_pkg.egg-info/not-zip-safe
Normal file
1
dm_imu_pkg/balance_pkg.egg-info/not-zip-safe
Normal file
@@ -0,0 +1 @@
|
||||
|
||||
1
dm_imu_pkg/balance_pkg.egg-info/requires.txt
Normal file
1
dm_imu_pkg/balance_pkg.egg-info/requires.txt
Normal file
@@ -0,0 +1 @@
|
||||
pybind11>=2.10
|
||||
1
dm_imu_pkg/balance_pkg.egg-info/top_level.txt
Normal file
1
dm_imu_pkg/balance_pkg.egg-info/top_level.txt
Normal file
@@ -0,0 +1 @@
|
||||
imu_py
|
||||
128
dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
Normal file
128
dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
Normal file
@@ -0,0 +1,128 @@
|
||||
Metadata-Version: 2.4
|
||||
Name: dm_imu_pkg
|
||||
Version: 0.1.0
|
||||
Summary: Balance project with pybind11 IMU driver
|
||||
Author: allenyuan
|
||||
Author-email: allenyuan <allenyuan410@gmail.com>
|
||||
License-Expression: MIT
|
||||
Classifier: Programming Language :: Python :: 3
|
||||
Classifier: Operating System :: OS Independent
|
||||
Requires-Python: >=3.8
|
||||
Description-Content-Type: text/markdown
|
||||
License-File: LICENSE
|
||||
Requires-Dist: pybind11>=2.10
|
||||
Dynamic: author
|
||||
Dynamic: license-file
|
||||
Dynamic: requires-python
|
||||
|
||||
# DM‑IMU USB 驱动库
|
||||
|
||||
## 项目简介
|
||||
`dm_imu` 目录下实现了一个 **纯 C++ 的 USB IMU 驱动库**，原始代码基于 ROS，但已完全去除 ROS 依赖，使用 POSIX 串口 API 与 IMU 通信。库提供：
|
||||
|
||||
- 串口初始化、波特率配置
|
||||
- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等）
|
||||
- 线程安全的数据采集（`IMU_Data` 结构体）
|
||||
- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用
|
||||
|
||||
## 目录结构
|
||||
```
|
||||
dm_imu/
|
||||
├─ bsp_crc.cpp / bsp_crc.h # CRC 校验实现
|
||||
├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS）
|
||||
├─ test_imu.cpp # 示例程序，演示如何使用库
|
||||
└─ README.md # 本文档
|
||||
```
|
||||
|
||||
## 编译方法
|
||||
|
||||
### 依赖
|
||||
- **C++17** 编译器（gcc/clang）
|
||||
- POSIX 系统（Linux）提供的串口头文件 `<fcntl.h>、<unistd.h>、<termios.h>`
|
||||
- 标准库（`<thread>、<mutex>、<atomic>` 等）
|
||||
|
||||
### 编译示例
|
||||
```bash
|
||||
# 进入项目根目录
|
||||
cd /home/allenyuan/balance
|
||||
|
||||
# 编译库源码（生成目标文件）
|
||||
g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o
|
||||
g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o
|
||||
|
||||
# 编译示例程序并链接
|
||||
g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
|
||||
```
|
||||
|
||||
> **说明**：如果你希望将库封装为静态或动态库，只需将 `bsp_crc.o` 与 `imu_driver.o` 打包为 `libdm_imu.a`（或 `libdm_imu.so`），然后在链接时使用 `-L. -ldm_imu`。
|
||||
|
||||
## 示例程序 `test_imu.cpp`
|
||||
|
||||
```cpp
|
||||
// test_imu.cpp
|
||||
// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据
|
||||
|
||||
#include "imu_driver.h"
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
int main()
|
||||
{
|
||||
// 根据实际设备路径与波特率创建对象
|
||||
dmbot_serial::DmImu imu("/dev/ttyACM1", 921600);
|
||||
|
||||
// 启动采集线程
|
||||
if (!imu.start()) {
|
||||
std::cerr << "Failed to start IMU driver." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 连续读取 1000 次数据（约 10 秒）
|
||||
for (int i = 0; i < 1000; ++i) {
|
||||
IMU_Data d = imu.getData();
|
||||
|
||||
std::cout << "Roll: " << d.roll << " Pitch: " << d.pitch
|
||||
<< " Yaw: " << d.yaw << std::endl;
|
||||
std::cout << "Acc : [" << d.accx << ", " << d.accy << ", " << d.accz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "-----------------------------------------" << std::endl;
|
||||
|
||||
// 10 ms 间隔（约 100 Hz）
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
|
||||
// 停止采集并关闭串口
|
||||
imu.stop();
|
||||
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
### 运行示例
|
||||
```bash
|
||||
# 编译（参考上面的编译示例）
|
||||
g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
|
||||
|
||||
# 运行
|
||||
./test_imu
|
||||
```
|
||||
|
||||
运行后，程序会在终端持续打印 IMU 的欧拉角、加速度和陀螺仪数据。若串口未打开或设备路径错误，程序会在初始化阶段输出错误信息并退出。
|
||||
|
||||
## 常见问题
|
||||
|
||||
| 问题 | 可能原因 | 解决办法 |
|
||||
|------|----------|----------|
|
||||
| 程序启动后没有数据输出 | 串口未打开或设备路径错误 | 确认 IMU 已正确连接，`/dev/ttyACM1` 是否存在；如有不同，请在 `test_imu.cpp` 中修改构造函数的 `port` 参数 |
|
||||
| `write` / `read` 返回错误 | 波特率不匹配 | 检查 IMU 手册，确认波特率是否为 921600；如需修改，请在 `DmImu` 构造函数的 `baud` 参数中传入正确值 |
|
||||
| 编译报缺少头文件 | 开发环境缺少 POSIX 串口头文件 | 在 Linux 上默认可用；若使用交叉编译，请确保交叉工具链包含对应头文件 |
|
||||
|
||||
## 许可证
|
||||
本项目采用 MIT 许可证，详情见 `LICENSE`（若项目中未提供，请自行添加）。
|
||||
|
||||
---
|
||||
|
||||
**祝你使用愉快！** 如有其他需求（如添加四元数计算、回调机制等），欢迎进一步扩展此库。
|
||||
10
dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt
Normal file
10
dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt
Normal file
@@ -0,0 +1,10 @@
|
||||
LICENSE
|
||||
README.md
|
||||
pyproject.toml
|
||||
setup.py
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt
|
||||
1
dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt
Normal file
1
dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt
Normal file
@@ -0,0 +1 @@
|
||||
|
||||
1
dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe
Normal file
1
dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe
Normal file
@@ -0,0 +1 @@
|
||||
|
||||
1
dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
Normal file
1
dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
Normal file
@@ -0,0 +1 @@
|
||||
pybind11>=2.10
|
||||
1
dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt
Normal file
1
dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt
Normal file
@@ -0,0 +1 @@
|
||||
imu_py
|
||||
BIN
dm_imu_pkg/imu_py.cpython-310-darwin.so
Executable file
BIN
dm_imu_pkg/imu_py.cpython-310-darwin.so
Executable file
Binary file not shown.
Binary file not shown.
@@ -1,15 +0,0 @@
|
||||
set(CMAKE_HOST_SYSTEM "Linux-5.15.148-tegra")
|
||||
set(CMAKE_HOST_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_HOST_SYSTEM_VERSION "5.15.148-tegra")
|
||||
set(CMAKE_HOST_SYSTEM_PROCESSOR "aarch64")
|
||||
|
||||
|
||||
|
||||
set(CMAKE_SYSTEM "Linux-5.15.148-tegra")
|
||||
set(CMAKE_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_SYSTEM_VERSION "5.15.148-tegra")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "aarch64")
|
||||
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
|
||||
set(CMAKE_SYSTEM_LOADED 1)
|
||||
@@ -1,791 +0,0 @@
|
||||
/* This source file must have a .cpp extension so that all C++ compilers
|
||||
recognize the extension without flags. Borland does not know .cxx for
|
||||
example. */
|
||||
#ifndef __cplusplus
|
||||
# error "A C compiler has been selected for C++."
|
||||
#endif
|
||||
|
||||
#if !defined(__has_include)
|
||||
/* If the compiler does not have __has_include, pretend the answer is
|
||||
always no. */
|
||||
# define __has_include(x) 0
|
||||
#endif
|
||||
|
||||
|
||||
/* Version number components: V=Version, R=Revision, P=Patch
|
||||
Version date components: YYYY=Year, MM=Month, DD=Day */
|
||||
|
||||
#if defined(__COMO__)
|
||||
# define COMPILER_ID "Comeau"
|
||||
/* __COMO_VERSION__ = VRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
|
||||
|
||||
#elif defined(__INTEL_COMPILER) || defined(__ICC)
|
||||
# define COMPILER_ID "Intel"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# if defined(__GNUC__)
|
||||
# define SIMULATE_ID "GNU"
|
||||
# endif
|
||||
/* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
|
||||
except that a few beta releases use the old format with V=2021. */
|
||||
# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
|
||||
# if defined(__INTEL_COMPILER_UPDATE)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
|
||||
# else
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
|
||||
# endif
|
||||
# else
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
|
||||
/* The third version component from --version is an update index,
|
||||
but no macro is provided for it. */
|
||||
# define COMPILER_VERSION_PATCH DEC(0)
|
||||
# endif
|
||||
# if defined(__INTEL_COMPILER_BUILD_DATE)
|
||||
/* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
|
||||
# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
|
||||
# endif
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# if defined(__GNUC__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
|
||||
# elif defined(__GNUG__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
|
||||
# endif
|
||||
# if defined(__GNUC_MINOR__)
|
||||
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
# endif
|
||||
# if defined(__GNUC_PATCHLEVEL__)
|
||||
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
|
||||
# define COMPILER_ID "IntelLLVM"
|
||||
#if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
#endif
|
||||
#if defined(__GNUC__)
|
||||
# define SIMULATE_ID "GNU"
|
||||
#endif
|
||||
/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
|
||||
* later. Look for 6 digit vs. 8 digit version number to decide encoding.
|
||||
* VVVV is no smaller than the current year when a version is released.
|
||||
*/
|
||||
#if __INTEL_LLVM_COMPILER < 1000000L
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10)
|
||||
#else
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100)
|
||||
#endif
|
||||
#if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
#endif
|
||||
#if defined(__GNUC__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
|
||||
#elif defined(__GNUG__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
|
||||
#endif
|
||||
#if defined(__GNUC_MINOR__)
|
||||
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
#endif
|
||||
#if defined(__GNUC_PATCHLEVEL__)
|
||||
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
#endif
|
||||
|
||||
#elif defined(__PATHCC__)
|
||||
# define COMPILER_ID "PathScale"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
|
||||
# if defined(__PATHCC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
|
||||
# define COMPILER_ID "Embarcadero"
|
||||
# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
|
||||
# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
|
||||
# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
|
||||
|
||||
#elif defined(__BORLANDC__)
|
||||
# define COMPILER_ID "Borland"
|
||||
/* __BORLANDC__ = 0xVRR */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
|
||||
# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
|
||||
|
||||
#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
|
||||
# define COMPILER_ID "Watcom"
|
||||
/* __WATCOMC__ = VVRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
|
||||
# if (__WATCOMC__ % 10) > 0
|
||||
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__WATCOMC__)
|
||||
# define COMPILER_ID "OpenWatcom"
|
||||
/* __WATCOMC__ = VVRP + 1100 */
|
||||
# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
|
||||
# if (__WATCOMC__ % 10) > 0
|
||||
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__SUNPRO_CC)
|
||||
# define COMPILER_ID "SunPro"
|
||||
# if __SUNPRO_CC >= 0x5100
|
||||
/* __SUNPRO_CC = 0xVRRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
|
||||
# else
|
||||
/* __SUNPRO_CC = 0xVRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
|
||||
# endif
|
||||
|
||||
#elif defined(__HP_aCC)
|
||||
# define COMPILER_ID "HP"
|
||||
/* __HP_aCC = VVRRPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
|
||||
|
||||
#elif defined(__DECCXX)
|
||||
# define COMPILER_ID "Compaq"
|
||||
/* __DECCXX_VER = VVRRTPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
|
||||
|
||||
#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
|
||||
# define COMPILER_ID "zOS"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__ibmxl__) && defined(__clang__)
|
||||
# define COMPILER_ID "XLClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
|
||||
# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
|
||||
|
||||
|
||||
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
|
||||
# define COMPILER_ID "XL"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
|
||||
# define COMPILER_ID "VisualAge"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__NVCOMPILER)
|
||||
# define COMPILER_ID "NVHPC"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
|
||||
# if defined(__NVCOMPILER_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(__PGI)
|
||||
# define COMPILER_ID "PGI"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
|
||||
# if defined(__PGIC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(_CRAYC)
|
||||
# define COMPILER_ID "Cray"
|
||||
# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
|
||||
# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
|
||||
|
||||
#elif defined(__TI_COMPILER_VERSION__)
|
||||
# define COMPILER_ID "TI"
|
||||
/* __TI_COMPILER_VERSION__ = VVVRRRPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
|
||||
# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
|
||||
|
||||
#elif defined(__CLANG_FUJITSU)
|
||||
# define COMPILER_ID "FujitsuClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
|
||||
# define COMPILER_VERSION_INTERNAL_STR __clang_version__
|
||||
|
||||
|
||||
#elif defined(__FUJITSU)
|
||||
# define COMPILER_ID "Fujitsu"
|
||||
# if defined(__FCC_version__)
|
||||
# define COMPILER_VERSION __FCC_version__
|
||||
# elif defined(__FCC_major__)
|
||||
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
|
||||
# endif
|
||||
# if defined(__fcc_version)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
|
||||
# elif defined(__FCC_VERSION)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
|
||||
# endif
|
||||
|
||||
|
||||
#elif defined(__ghs__)
|
||||
# define COMPILER_ID "GHS"
|
||||
/* __GHS_VERSION_NUMBER = VVVVRP */
|
||||
# ifdef __GHS_VERSION_NUMBER
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__SCO_VERSION__)
|
||||
# define COMPILER_ID "SCO"
|
||||
|
||||
#elif defined(__ARMCC_VERSION) && !defined(__clang__)
|
||||
# define COMPILER_ID "ARMCC"
|
||||
#if __ARMCC_VERSION >= 1000000
|
||||
/* __ARMCC_VERSION = VRRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#else
|
||||
/* __ARMCC_VERSION = VRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#endif
|
||||
|
||||
|
||||
#elif defined(__clang__) && defined(__apple_build_version__)
|
||||
# define COMPILER_ID "AppleClang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
|
||||
|
||||
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
|
||||
# define COMPILER_ID "ARMClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
|
||||
|
||||
#elif defined(__clang__)
|
||||
# define COMPILER_ID "Clang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
|
||||
#elif defined(__GNUC__) || defined(__GNUG__)
|
||||
# define COMPILER_ID "GNU"
|
||||
# if defined(__GNUC__)
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
|
||||
# else
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
|
||||
# endif
|
||||
# if defined(__GNUC_MINOR__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
# endif
|
||||
# if defined(__GNUC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(_MSC_VER)
|
||||
# define COMPILER_ID "MSVC"
|
||||
/* _MSC_VER = VVRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# if defined(_MSC_FULL_VER)
|
||||
# if _MSC_VER >= 1400
|
||||
/* _MSC_FULL_VER = VVRRPPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
|
||||
# else
|
||||
/* _MSC_FULL_VER = VVRRPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
|
||||
# endif
|
||||
# endif
|
||||
# if defined(_MSC_BUILD)
|
||||
# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
|
||||
# endif
|
||||
|
||||
#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
|
||||
# define COMPILER_ID "ADSP"
|
||||
#if defined(__VISUALDSPVERSION__)
|
||||
/* __VISUALDSPVERSION__ = 0xVVRRPP00 */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
|
||||
# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
|
||||
#endif
|
||||
|
||||
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||
# define COMPILER_ID "IAR"
|
||||
# if defined(__VER__) && defined(__ICCARM__)
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
|
||||
# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
|
||||
# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# endif
|
||||
|
||||
|
||||
/* These compilers are either not known or too old to define an
|
||||
identification macro. Try to identify the platform and guess that
|
||||
it is the native compiler. */
|
||||
#elif defined(__hpux) || defined(__hpua)
|
||||
# define COMPILER_ID "HP"
|
||||
|
||||
#else /* unknown compiler */
|
||||
# define COMPILER_ID ""
|
||||
#endif
|
||||
|
||||
/* Construct the string literal in pieces to prevent the source from
|
||||
getting matched. Store it in a pointer rather than an array
|
||||
because some compilers will just produce instructions to fill the
|
||||
array rather than assigning a pointer to a static array. */
|
||||
char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
|
||||
#ifdef SIMULATE_ID
|
||||
char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
|
||||
#endif
|
||||
|
||||
#ifdef __QNXNTO__
|
||||
char const* qnxnto = "INFO" ":" "qnxnto[]";
|
||||
#endif
|
||||
|
||||
#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
|
||||
char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
|
||||
#endif
|
||||
|
||||
#define STRINGIFY_HELPER(X) #X
|
||||
#define STRINGIFY(X) STRINGIFY_HELPER(X)
|
||||
|
||||
/* Identify known platforms by name. */
|
||||
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"pybind11>=2.10",
|
||||
]
|
||||
classifiers = [
|
||||
"Programming Language :: Python :: 3",
|
||||
"Operating System :: OS Independent",
|
||||
]
|
||||
|
||||
[tool.setuptools.packages.find]
|
||||
where = ["dm_imu_pkg"]
|
||||
72
setup.py
Normal file
72
setup.py
Normal file
@@ -0,0 +1,72 @@
|
||||
import pathlib
|
||||
import sys
|
||||
import os
|
||||
from setuptools import setup, find_packages, Extension
|
||||
from setuptools.command.build_ext import build_ext
|
||||
|
||||
class CMakeExtension(Extension):
|
||||
"""
|
||||
A custom setuptools Extension that knows how to invoke CMake.
|
||||
"""
|
||||
def __init__(self, name, sourcedir=""):
|
||||
super().__init__(name, sources=[])
|
||||
self.sourcedir = pathlib.Path(sourcedir).resolve()
|
||||
|
||||
class CMakeBuild(build_ext):
|
||||
"""
|
||||
Build the CMake project when ``python setup.py build_ext`` is invoked.
|
||||
"""
|
||||
def run(self):
|
||||
# Verify that CMake is installed.
|
||||
try:
|
||||
self.spawn(["cmake", "--version"])
|
||||
except OSError as e:
|
||||
raise RuntimeError("CMake must be installed to build the extensions") from e
|
||||
|
||||
for ext in self.extensions:
|
||||
self.build_extension(ext)
|
||||
|
||||
def build_extension(self, ext):
|
||||
extdir = pathlib.Path(self.get_ext_fullpath(ext.name)).parent.resolve()
|
||||
cfg = "Release"
|
||||
|
||||
# Ensure the build directory exists.
|
||||
build_temp = pathlib.Path(self.build_temp) / ext.name
|
||||
build_temp.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
cmake_args = [
|
||||
f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={extdir}",
|
||||
f"-DPYTHON_EXECUTABLE={sys.executable}",
|
||||
f"-DCMAKE_BUILD_TYPE={cfg}",
|
||||
]
|
||||
|
||||
# 1) configure
|
||||
os.chdir(str(build_temp))
|
||||
self.spawn(["cmake", str(ext.sourcedir)] + cmake_args)
|
||||
# 2) build
|
||||
self.spawn(
|
||||
["cmake", "--build", ".", "--config", cfg, "--", f"-j{os.cpu_count() or 1}"],
|
||||
)
|
||||
|
||||
# Path to the pybind11 C++ source directory.
|
||||
pybind_src = pathlib.Path(__file__).parent / "src" / "pybind_imu"
|
||||
|
||||
setup(
|
||||
name="dm_imu_pkg",
|
||||
version="0.1.0",
|
||||
author="allenyuan",
|
||||
description="DM IMU driver with pybind11",
|
||||
long_description=open("README.md", encoding="utf-8").read(),
|
||||
long_description_content_type="text/markdown",
|
||||
packages=find_packages(where="dm_imu_pkg"),
|
||||
package_dir={"": "dm_imu_pkg"},
|
||||
ext_modules=[CMakeExtension("imu_py", sourcedir=str(pybind_src))],
|
||||
cmdclass={"build_ext": CMakeBuild},
|
||||
zip_safe=False,
|
||||
python_requires=">=3.8",
|
||||
|
||||
classifiers=[
|
||||
"Programming Language :: Python :: 3",
|
||||
"Operating System :: OS Independent",
|
||||
],
|
||||
)
|
||||
@@ -5,6 +5,13 @@
|
||||
#include <unistd.h>
|
||||
#include <termios.h>
|
||||
|
||||
#ifndef B460800
|
||||
#define B460800 460800
|
||||
#endif
|
||||
#ifndef B921600
|
||||
#define B921600 921600
|
||||
#endif
|
||||
|
||||
namespace dmbot_serial
|
||||
{
|
||||
|
||||
|
Before Width: | Height: | Size: 208 KiB After Width: | Height: | Size: 208 KiB |
@@ -6,12 +6,11 @@ set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
|
||||
# 查找 pybind11（已通过 pip 安装）
|
||||
# 添加 CMake 前缀路径，使 CMake 能找到 pybind11 的配置文件
|
||||
set(CMAKE_PREFIX_PATH "/home/allenyuan/.local/lib/python3.10/site-packages/pybind11/share/cmake" ${CMAKE_PREFIX_PATH})
|
||||
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pybind11; print(pybind11.get_cmake_dir())" OUTPUT_VARIABLE PYBIND11_CMAKE_DIR OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
set(CMAKE_PREFIX_PATH "${PYBIND11_CMAKE_DIR}" ${CMAKE_PREFIX_PATH})
|
||||
|
||||
include_directories(
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/..
|
||||
/home/allenyuan/.local/lib/python3.10/site-packages/pybind11/include
|
||||
)
|
||||
|
||||
find_package(pybind11 REQUIRED)
|
||||
Reference in New Issue
Block a user