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171930433 · Mar 15, 2024 · e189c82 · e189c82
1 parent e6ae53f
commit e189c82
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -44,7 +44,7 @@ endif()
 
 # 指定struct_pb库目录
 set(struct_pb_plugin_DIRS ${CMAKE_CURRENT_LIST_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} )     # 设置protoc --proto_path参数
+set(Protobuf_IMPORT_DIRS ${CMAKE_SOURCE_DIR})     # 设置protoc --proto_path参数
 
 
 # add_subdirectory(src/protoc-plugin)

diff --git a/src/example/CMakeLists.txt b/src/example/CMakeLists.txt
@@ -10,16 +10,29 @@ include(${struct_pb_plugin_DIRS}/cmake/struct_pb.cmake)
 find_package(PCL REQUIRED COMPONENTS common io)
 find_package(OpenCV REQUIRED COMPONENTS core)
 
-file(GLOB PROTO_FILES "*.proto")
+# file(GLOB PROTO_FILES "*.proto")
+
+# set(PROTO_FILES "base.proto" "zframe.proto" "imu.proto")
+set(PROTO_FILES "/home/gsk/pro/yalantinglibs/src/example/base.proto" "/home/gsk/pro/yalantinglibs/src/example/zframe.proto")
+
+
+# 输出到指定目录
+message(!!!!!!"${CMAKE_BINARY_DIR}"!!!!!!!)
+protobuf_generate_cpp(COMMON_PROTO_SRCS COMMON_PROTO_HDRS
+  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/src/protoc-plugin
+)
+protobuf_generate_python(COMMON_PROTO_PYTHON_SRCS
+  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
+  PROTOC_OUT_DIR ${CMAKE_BINARY_DIR}/src/protoc-plugin
+)
 
 # generate .pb.cc .pb.h
 protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
 )
 
 protobuf_generate_python(PROTO_PYTHON_SRCS
-  ${struct_pb_plugin_DIRS}/proto_to_struct.proto
   ${PROTO_FILES}
 )
 
@@ -30,15 +43,19 @@ list(FILTER PROTO_FILES EXCLUDE REGEX "pointcloud\\.proto$|image\\.proto$")
 
 protobuf_generate_struct_pb(PROTO_STRUCT_SRCS PROTO_STRUCT_HDRS
   ${PROTO_FILES}
-OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter")
+OPTION "namespace=zhito.inner_struct,converter_namespace=zhito.converter"
+# PROTOC_OUT_DIR ${CMAKE_CURRENT_BINARY_DIR}
+)
 
 add_executable(struct_pb_tutorial tutorial.cpp 
-  zpointcloud.cpp zimage.cpp
+  # 
+  ${COMMON_PROTO_SRCS}  ${COMMON_PROTO_HDRS} ${COMMON_PROTO_PYTHON_SRCS}
+  # zpointcloud.cpp zimage.cpp
   ${PROTO_SRCS}
   ${PROTO_HDRS}
   ${PROTO_STRUCT_SRCS}
   ${PROTO_STRUCT_HDRS}
-  ${PROTO_PYTHON_SRCS}
+  # ${PROTO_PYTHON_SRCS}
 )
 
 target_link_libraries(struct_pb_tutorial protobuf::libprotobuf 
@@ -52,6 +69,7 @@ target_include_directories(struct_pb_tutorial PUBLIC
   ${CMAKE_CURRENT_LIST_DIR}
   ${PCL_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${CMAKE_BINARY_DIR}/src/protoc-plugin
 )
 
 
diff --git a/src/example/base.proto b/src/example/base.proto
@@ -1,8 +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/chasis.proto b/src/example/chasis.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "proto_to_struct.proto";
-
 message ZChassis
 {
   ZFrame header = 1 [(inherits_from) = true];

diff --git a/src/example/gnss.proto b/src/example/gnss.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "proto_to_struct.proto";
-
 message ZGnss
 {
   ZFrame header = 1 [(inherits_from) = true];;

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

diff --git a/src/example/imu.proto b/src/example/imu.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "proto_to_struct.proto";
-
 message ZImu
 {
     ZFrame header = 1 [(inherits_from) = true];

diff --git a/src/example/perception.proto b/src/example/perception.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "proto_to_struct.proto";
-
 message ZPercBase
 {
   int32 track_id = 1;

diff --git a/src/example/pointcloud.proto b/src/example/pointcloud.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "proto_to_struct.proto";
-
 message ZPointCloudXYZIT
 {
     ZFrame header = 1 ;

diff --git a/src/example/state.proto b/src/example/state.proto
@@ -1,10 +1,9 @@
 syntax = "proto3";
 package zhito.inner_class;
 
-import "zframe.proto";
-import "base.proto";
+import "src/example/zframe.proto";
+import "src/example/base.proto";
 import "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/tutorial.cpp b/src/example/tutorial.cpp
@@ -4,60 +4,60 @@
 #include <string>
 
 // #include "addressbook.struct_pb.h"
-#include "imu.struct_pb.h"
-#include "zimage.hpp"
-#include "zpointcloud.hpp"
+// #include "imu.struct_pb.h"
+// #include "zimage.hpp"
+// #include "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_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_class::ZPointCloudXYZIT pc2 = converter::StructToClass(pc);
+//   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();
-  ImageDemo();
+  // ImageDemo();
 
   std::cout << "Done!!!" << std::endl;
 

diff --git a/src/example/zframe.proto b/src/example/zframe.proto
@@ -1,9 +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/protoc-plugin/cmake/struct_pb.cmake b/src/protoc-plugin/cmake/struct_pb.cmake
@@ -119,7 +119,7 @@ function(protobuf_generate_modified)
 
 
         # message(status _out!!!!!!!!${protobuf_generate_LANGUAGE}_out})
-        # message(status _opt!!!!!!!!${_opt}${protobuf_generate_PROTOC_OUT_DIR})
+        message(status _opt!!!!!!!!${_opt}${protobuf_generate_PROTOC_OUT_DIR})
 
 
         add_custom_command(

diff --git a/src/struct_pb/examples/addressbook.proto b/src/struct_pb/examples/addressbook.proto
@@ -2,7 +2,6 @@ syntax = "proto3";
 
 import "proto_to_struct.proto";
 
-
 package tutorial;
 
 enum MyType {