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Makefile
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Makefile
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BUILD_CHANNEL?=local
TOOL_BIN = bin/gotools/$(shell uname -s)-$(shell uname -m)
PATH_WITH_TOOLS="`pwd`/$(TOOL_BIN):${PATH}"
bufinstall:
sudo apt-get install -y protobuf-compiler-grpc libgrpc-dev libgrpc++-dev || brew install grpc openssl --quiet
bufsetup:
GOBIN=`pwd`/grpc/bin go install github.com/bufbuild/buf/cmd/[email protected]
ln -sf `which grpc_cpp_plugin` grpc/bin/protoc-gen-grpc-cpp
pkg-config openssl || export PKG_CONFIG_PATH=$$PKG_CONFIG_PATH:`find \`which brew > /dev/null && brew --prefix\` -name openssl.pc | head -n1 | xargs dirname`
buf: bufsetup
PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.gen.yaml buf.build/viamrobotics/api
PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.grpc.gen.yaml buf.build/viamrobotics/api
PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.gen.yaml buf.build/googleapis/googleapis
clean:
rm -rf grpc
rm -rf bin
rm -rf viam-orb-slam3/build
rm -rf viam-orb-slam3/ORB_SLAM3/build
rm -rf viam-orb-slam3/ORB_SLAM3/lib
rm -rf viam-orb-slam3/ORB_SLAM3/Thirdparty/DBoW2/build
rm -rf viam-orb-slam3/ORB_SLAM3/Thirdparty/g2o/build
rm -rf viam-orb-slam3/ORB_SLAM3/Thirdparty/Sophus/build
rm -rf viam-orb-slam3/bin
clean-all:
git clean -fxd
ensure-submodule-initialized:
@if [ ! -d "viam-orb-slam3/ORB_SLAM3/src" ]; then \
echo "Submodule was not initialized. Initializing..."; \
git submodule update --init; \
else \
echo "Submodule found successfully"; \
fi
lint-setup-cpp:
ifeq ("Darwin", "$(shell uname -s)")
brew install clang-format
else
sudo apt-get install -y clang-format
endif
lint-setup-go:
GOBIN=`pwd`/$(TOOL_BIN) go install \
github.com/edaniels/golinters/cmd/combined \
github.com/golangci/golangci-lint/cmd/golangci-lint \
github.com/rhysd/actionlint/cmd/actionlint
lint-setup: lint-setup-cpp lint-setup-go
lint-go: lint-setup-go
go vet -vettool=$(TOOL_BIN)/combined ./...
GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/golangci.yaml
PATH=$(PATH_WITH_TOOLS) actionlint
lint-cpp: lint-setup-cpp
find . -type f -not -path \
-and ! -path '*viam-orb-slam3/ORB_SLAM3*' \
-and ! -path '*api*' \
-and ! -path '*grpc*' \
-and \( -iname '*.h' -o -iname '*.cpp' -o -iname '*.cc' \) \
| xargs clang-format -i --style="{BasedOnStyle: Google, IndentWidth: 4}"
lint: ensure-submodule-initialized lint-go lint-cpp
setup: ensure-submodule-initialized
ifeq ("Darwin", "$(shell uname -s)")
cd viam-orb-slam3 && ./scripts/setup_orbslam_macos.sh
else
cd viam-orb-slam3 && ./scripts/setup_orbslam_linux.sh
endif
build: build-module
cd viam-orb-slam3 && ./scripts/build_orbslam.sh
build-module:
mkdir -p bin && go build -o bin/orb-slam3-module module/main.go
test-module-wrapper:
go test -race ./...
test-core:
cd viam-orb-slam3 && ./scripts/test_orbslam.sh
test: test-core test-module-wrapper
install:
sudo cp viam-orb-slam3/bin/orb_grpc_server /usr/local/bin/orb_grpc_server
sudo cp bin/orb-slam3-module /usr/local/bin/orb-slam3-module
appimage: build
cd etc/packaging/appimages && BUILD_CHANNEL=${BUILD_CHANNEL} appimage-builder --recipe orb-slam3-module-`uname -m`.yml
cd etc/packaging/appimages && ./package_release_module.sh
mkdir -p etc/packaging/appimages/deploy/
mv etc/packaging/appimages/*.AppImage* etc/packaging/appimages/deploy/
chmod 755 etc/packaging/appimages/deploy/*.AppImage