1. 使用protobuf_generate 生成完毕 cpp-class 和 python

2. python生成的目录有个中划线bug
171930433 · Mar 24, 2024 · da34f9d · da34f9d
1 parent 3ac4252
commit da34f9d
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Showing 13 changed files with 122 additions and 102 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -13,14 +13,14 @@ project(yaLanTingLibs
 
 
 # set(SYSROOT_DIR /opt/zhito/sysroot)
-set(CMAKE_PREFIX_PATH "/home/gsk/pro/ubuntu2204_docker")
+set(CMAKE_PREFIX_PATH "/home/gsk/pro/CyberRT/install")
 
-find_package(Protobuf REQUIRED)
+find_package(protobuf REQUIRED)
 
-add_subdirectory(src/protoc-plugin)
+# add_subdirectory(src/protoc-plugin)
 
 option(BUILD_EXAMPLES OFF)
 
 if(BUILD_EXAMPLES)
-  add_subdirectory(src/example)
 endif()
+add_subdirectory(src/example)
diff --git a/src/example/CMakeLists.txt b/src/example/CMakeLists.txt
@@ -5,55 +5,81 @@ set(ENV{struct_pb_options} "namespace=zhito.inner_struct,converter_namespace=zhi
 # 设置编译器选项
 add_compile_options(-Wno-attributes)
 
+set(protobuf_MODULE_COMPATIBLE ON)
+
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/examples)
 
 # protobuf_generate_struct_pb 函数
 set(struct_pb_plugin_DIRS ${CMAKE_SOURCE_DIR}/src/protoc-plugin)  # struct_pb_plugin_DIRS 将指定 proto_to_struct.proto,struct_pb.cmake等目录
-set(Protobuf_IMPORT_DIRS  ${struct_pb_plugin_DIRS} ${CMAKE_CURRENT_LIST_DIR})     # 设置protoc --proto_path参数
+# set(Protobuf_IMPORT_DIRS  ${struct_pb_plugin_DIRS} ${CMAKE_CURRENT_LIST_DIR})     # 设置protoc --proto_path参数
+set(Protobuf_IMPORT_DIRS  ${CMAKE_SOURCE_DIR})     # 设置protoc --proto_path参数
 include(${struct_pb_plugin_DIRS}/cmake/struct_pb.cmake)
 
-find_package(PCL REQUIRED COMPONENTS common io)
-find_package(OpenCV REQUIRED COMPONENTS core)
+# find_package(PCL REQUIRED COMPONENTS common io)
+# find_package(OpenCV REQUIRED COMPONENTS core)
+
 
+file(GLOB_RECURSE PROTO_FILES "*.proto")
+# set(PROTO_FILES 
+#    "/home/gsk/pro/yalantinglibs/src/example/base.proto"
+#    "/home/gsk/pro/yalantinglibs/src/example/message/zframe.proto" 
+#    "/home/gsk/pro/yalantinglibs/src/example/message/imu.proto" )
 
-file(GLOB PROTO_FILES "*.proto")
 
-# generate .pb.cc .pb.h
-protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
-  ${PROTO_FILES}
+protobuf_generate(
+  LANGUAGE cpp
+  OUT_VAR PROTO_CLASS_SRCS
+  IMPORT_DIRS ${CMAKE_SOURCE_DIR}
+  PROTOS ${struct_pb_plugin_DIRS}/proto_to_struct.proto  ${PROTO_FILES}
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}
 )
 
-protobuf_generate_python(PROTO_PYTHON_SRCS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
-  ${PROTO_FILES}
+
+protobuf_generate(
+  LANGUAGE python
+  OUT_VAR PROTO_PYTHON_SRCS
+  IMPORT_DIRS ${CMAKE_SOURCE_DIR}
+  PROTOS ${struct_pb_plugin_DIRS}/proto_to_struct.proto  ${PROTO_FILES}
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}
 )
 
-protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
-  ${PROTO_FILES}
-OPTION $ENV{struct_pb_options}
+list(FILTER PROTO_FILES EXCLUDE REGEX "proto_to_struct\\.proto$")
+
+
+protobuf_generate_modified(
+  LANGUAGE struct_pb
+  OUT_VAR PROTO_STRUCT_SRCS
+  IMPORT_DIRS ${CMAKE_SOURCE_DIR}
+  PROTOS  ${PROTO_FILES}
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}
 )
 
+# protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
+#   ${PROTO_FILES}
+# OPTION $ENV{struct_pb_options}
+# )
+
 
 add_library(proto_common OBJECT
-  ${PROTO_SRCS}  
-  ${PROTO_STRUCT_SRCS}
+  ${PROTO_CLASS_SRCS}
+  # ${PROTO_STRUCT_SRCS}
   ${PROTO_PYTHON_SRCS}
 )
 
 target_link_libraries(proto_common protobuf::libprotobuf )
 
 target_include_directories(proto_common PUBLIC 
-  ${CMAKE_CURRENT_LIST_DIR} # base.h
-  ${CMAKE_BINARY_DIR}/src/protoc-plugin # proto_to_struct.h
+  ${CMAKE_BINARY_DIR} # base.h
+  ${CMAKE_CURRENT_LIST_DIR}/ # 找到iguana
+
 )
 
 
 add_executable(struct_pb_tutorial tutorial.cpp )
 
 target_link_libraries(struct_pb_tutorial 
   proto_common
-  $ENV{proto_message}
+  # $ENV{proto_message}
 )
 
 target_include_directories(struct_pb_tutorial PUBLIC 
@@ -62,4 +88,4 @@ target_include_directories(struct_pb_tutorial PUBLIC
 )
 
 
-add_subdirectory(message)
+# add_subdirectory(message)
diff --git a/src/example/base.proto b/src/example/base.proto
@@ -1,7 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "proto_to_struct.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 option(write_eigen_helper) = true;
 
 message Vector4f

diff --git a/src/example/message/chasis.proto b/src/example/message/chasis.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
-import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+import "src/example/base.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 message ZChassis
 {
   ZFrame header = 1 [(inherits_from) = true];

diff --git a/src/example/message/gnss.proto b/src/example/message/gnss.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
-import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+import "src/example/base.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 message ZGnss
 {
   ZFrame header = 1 [(inherits_from) = true];;

diff --git a/src/example/message/image.proto b/src/example/message/image.proto
@@ -1,7 +1,7 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
+import "src/example/message/zframe.proto";
 
 message ZImage
 {

diff --git a/src/example/message/imu.proto b/src/example/message/imu.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
-import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+import "src/example/base.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 message ZImu
 {
     ZFrame header = 1 [(inherits_from) = true];

diff --git a/src/example/message/perception.proto b/src/example/message/perception.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
-import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+import "src/example/base.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 message ZPercBase
 {
   int32 track_id = 1;

diff --git a/src/example/message/pointcloud.proto b/src/example/message/pointcloud.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-// import "base.proto";
-// import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+// import "src/example/base.proto";
+// import "src/protoc-plugin/proto_to_struct.proto";
 message ZPointCloudXYZIT
 {
     ZFrame header = 1 ;

diff --git a/src/example/message/state.proto b/src/example/message/state.proto
@@ -1,9 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
-import "proto_to_struct.proto";
+import "src/example/message/zframe.proto";
+import "src/example/base.proto";
+import "src/protoc-plugin/proto_to_struct.proto";
 message ZState{
    ZFrame header = 1 [(inherits_from) = true];
    Vector3d pos = 2;//位置: X Y Z

diff --git a/src/example/message/zframe.proto b/src/example/message/zframe.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-// import "base.proto";
-// import "proto_to_struct.proto";
+// import "src/example/base.proto";
+// import "src/protoc-plugin/proto_to_struct.proto";
 enum  ZFrameType{
      None = 0;
      VEHICLE_MODEL = 1;  // 车辆运动约束虚拟帧

diff --git a/src/example/tutorial.cpp b/src/example/tutorial.cpp
@@ -4,59 +4,59 @@
 #include <string>
 
 // #include "addressbook.struct_pb.h"
-#include "src/example/message/imu.struct_pb.h"
-#include "src/example/message/zimage.hpp"
-#include "src/example/message/zpointcloud.hpp"
+// #include "src/example/message/imu.struct_pb.h"
+// #include "src/example/message/zimage.hpp"
+// #include "src/example/message/zpointcloud.hpp"
 
-void PointcloudDemo() {
-  using namespace zhito;
-  pcl::PointXYZIT p2{1, 2};
+// void PointcloudDemo() {
+//   using namespace zhito;
+//   pcl::PointXYZIT p2{1, 2};
 
-  inner_struct::spZPointCloudXYZIT pc = std::make_shared<inner_struct::ZPointCloudXYZIT>();
-  *(std::shared_ptr<inner_struct::ZFrame>)pc =
-      inner_struct::ZFrame{1, 2, 3, inner_struct::ZFrameType::PointCloud, "/zhito/pointcloud"};
-  for (int i = 0; i < 1e5; ++i) {
-    p2.x += (rand() % 10000 * 0.0001);
-    pc->push_back(p2);
-  }
-  inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
+//   inner_struct::spZPointCloudXYZIT pc = std::make_shared<inner_struct::ZPointCloudXYZIT>();
+//   *(std::shared_ptr<inner_struct::ZFrame>)pc =
+//       inner_struct::ZFrame{1, 2, 3, inner_struct::ZFrameType::PointCloud, "/zhito/pointcloud"};
+//   for (int i = 0; i < 1e5; ++i) {
+//     p2.x += (rand() % 10000 * 0.0001);
+//     pc->push_back(p2);
+//   }
+//   inner_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
 
-  inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
+//   inner_struct::spZPointCloudXYZIT pc3 = converter::ClassToStruct(pc2);
 
-  // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
+//   // pcl::io::savePCDFileBinaryCompressed("1.pcd", *pc3);
 
-  std::cout << *pc3 << std::endl;
-}
+//   std::cout << *pc3 << std::endl;
+// }
 
-void ImuDemo() {
-  using namespace zhito;
+// void ImuDemo() {
+//   using namespace zhito;
 
-  inner_struct::ZImu imu1{1, 2, 3, inner_struct::ZFrameType::IMU, "channel_name", {4, 5, 6}, {7, 8, 9}, 10};
-  inner_class::ZImu imu2 = converter::StructToClass(imu1);
-  inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
+//   inner_struct::ZImu imu1{1, 2, 3, inner_struct::ZFrameType::IMU, "channel_name", {4, 5, 6}, {7, 8, 9}, 10};
+//   inner_class::ZImu imu2 = converter::StructToClass(imu1);
+//   inner_struct::ZImu imu3 = converter::ClassToStruct(imu2);
 
-  std::cout << imu1 << std::endl;
-  std::cout << imu2.ShortDebugString() << std::endl;
-  std::cout << imu3 << std::endl;
-}
+//   std::cout << imu1 << std::endl;
+//   std::cout << imu2.ShortDebugString() << std::endl;
+//   std::cout << imu3 << std::endl;
+// }
 
-void ImageDemo() {
-  using namespace zhito;
+// void ImageDemo() {
+//   using namespace zhito;
 
-  inner_struct::ZImage image1{1, 2, 3, inner_struct::ZFrameType::CvImage, "/zhito/image"};
-  (cv::Mat&)image1 = cv::Mat::eye(4, 4, CV_64F);
+//   inner_struct::ZImage image1{1, 2, 3, inner_struct::ZFrameType::CvImage, "/zhito/image"};
+//   (cv::Mat&)image1 = cv::Mat::eye(4, 4, CV_64F);
 
-  inner_class::ZImage image2 = converter::StructToClass(image1);
-  inner_struct::ZImage image3 = converter::ClassToStruct(image2);
+//   inner_class::ZImage image2 = converter::StructToClass(image1);
+//   inner_struct::ZImage image3 = converter::ClassToStruct(image2);
 
-  std::cout << image1 << std::endl;
-  std::cout << image2.ShortDebugString() << std::endl;
-  std::cout << image3 << std::endl;
-}
+//   std::cout << image1 << std::endl;
+//   std::cout << image2.ShortDebugString() << std::endl;
+//   std::cout << image3 << std::endl;
+// }
 
 int main() {
   // ImuDemo();
-  PointcloudDemo();
+  // PointcloudDemo();
   // ImageDemo();
 
   std::cout << "Done!!!" << std::endl;

diff --git a/src/protoc-plugin/CMakeLists.txt b/src/protoc-plugin/CMakeLists.txt
@@ -7,24 +7,18 @@ project(protoc-gen-struct_pb)
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/output/bin)
 
-find_package(Protobuf QUIET)
-if (Protobuf_FOUND)
+find_package(Protobuf REQUIRED)
+file(GLOB SRCS "*.cpp" "*.cc" "*.h")
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto_to_struct.proto)
 
-    file(GLOB SRCS "*.cpp" "*.cc" "*.h")
-    protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS proto_to_struct.proto)
+add_executable(protoc-gen-struct_pb ${SRCS} ${PROTO_SRCS} ${PROTO_HDRS})
+target_include_directories(protoc-gen-struct_pb PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(protoc-gen-struct_pb PUBLIC protobuf::libprotoc protobuf::libprotobuf)
+install(
+    TARGETS protoc-gen-struct_pb
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    RUNTIME DESTINATION bin
+)
 
-    add_executable(protoc-gen-struct_pb ${SRCS} ${PROTO_SRCS} ${PROTO_HDRS})
-    target_include_directories(protoc-gen-struct_pb PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
-    target_link_libraries(protoc-gen-struct_pb PUBLIC protobuf::libprotoc protobuf::libprotobuf)
-    install(
-        TARGETS protoc-gen-struct_pb
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin
-    )
-else ()
-    message(INFO "struct_pb is skipped. To build struct_pb protoc plugin, you must install libprotoc first\n"
 
-            "see https://alibaba.github.io/yalantinglibs/en/struct_pb/struct_pb_generating_your_struct.html"
-            )
-endif ()