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christianrauchchristianrauch
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Merge pull request #28 from humanoid2050/MSPv2_support
Multiwii Serial Protocol Version 2 support - single message base class with encode and decode methods - rudimentary support for different message definitions for the same ID - removal of old synchronous API (class MSP) - auto code formatting via clang-format
2 parents 7ec3162 + 59eee0d commit 21352cd

36 files changed

+8309
-3268
lines changed

‎.clang-format‎

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---
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BasedOnStyle: Google
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AccessModifierOffset: '-4'
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: 'true'
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AlignEscapedNewlines: Left
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AlignOperands: 'true'
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AlignTrailingComments: 'true'
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AllowShortBlocksOnASingleLine: 'false'
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: 'true'
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AllowShortLoopsOnASingleLine: 'true'
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AlwaysBreakAfterReturnType: None
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AlwaysBreakTemplateDeclarations: 'false'
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BinPackArguments: 'false'
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BinPackParameters: 'true'
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BraceWrapping:
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AfterClass: false
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AfterControlStatement: false
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AfterEnum: false
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AfterFunction: false
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AfterNamespace: false
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AfterObjCDeclaration: false
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AfterStruct: false
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AfterUnion: false
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AfterExternBlock: false
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BeforeCatch: true
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BeforeElse: true
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBraces: Custom
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BreakBeforeInheritanceComma: 'false'
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BreakConstructorInitializers: AfterColon
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CompactNamespaces: 'false'
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ContinuationIndentWidth: '4'
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Cpp11BracedListStyle: 'true'
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FixNamespaceComments: 'true'
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IncludeBlocks: Merge
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IndentCaseLabels: 'false'
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IndentWidth: '4'
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IndentWrappedFunctionNames: 'false'
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KeepEmptyLinesAtTheStartOfBlocks: 'false'
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Language: Cpp
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NamespaceIndentation: None
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PointerAlignment: Right
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ReflowComments: 'true'
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SpaceAfterCStyleCast: 'false'
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SpaceAfterTemplateKeyword: 'true'
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SpaceBeforeAssignmentOperators: 'true'
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SpaceBeforeParens: Never
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SpaceInEmptyParentheses: 'false'
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SpacesInAngles: 'false'
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SpacesInCStyleCastParentheses: 'false'
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SpacesInContainerLiterals: 'false'
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SpacesInParentheses: 'false'
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SpacesInSquareBrackets: 'false'
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Standard: Cpp11
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TabWidth: '4'
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UseTab: Never
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...

‎CMakeLists.txt‎

Lines changed: 78 additions & 41 deletions
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@@ -1,11 +1,11 @@
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cmake_minimum_required(VERSION 3.1)
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project(msp)
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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add_compile_options(-Wall -Wextra -Wpedantic -Werror)
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endif()
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if(UNIX)
@@ -18,6 +18,9 @@ if(WIN32)
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include_directories(${ASIO_HEADER_PATH})
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endif()
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OPTION(BUILD_EXAMPLES "Build Library with examples" ON)
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OPTION(BUILD_TESTS "Build Library with tests" OFF)
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find_package(Threads)
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set(MSP_SOURCE_DIR src)
@@ -28,15 +31,8 @@ include_directories(${MSP_INCLUDE_DIR})
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################################################################################
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### libraries
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# low-level API
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add_library(msp ${MSP_SOURCE_DIR}/MSP.cpp)
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target_link_libraries(msp ${CMAKE_THREAD_LIBS_INIT})
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# printing message content
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add_library(msp_msg_print ${MSP_SOURCE_DIR}/msg_print.cpp)
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# client library
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add_library(mspclient ${MSP_SOURCE_DIR}/Client.cpp)
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add_library(mspclient ${MSP_SOURCE_DIR}/Client.cpp ${MSP_SOURCE_DIR}/PeriodicTimer.cpp)
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target_link_libraries(mspclient ${CMAKE_THREAD_LIBS_INIT})
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# high-level API
@@ -47,54 +43,46 @@ target_link_libraries(msp_fcu mspclient)
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################################################################################
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### examples / tests
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# test reading speed
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add_executable(msp_connection_test examples/msp_connection_test.cpp)
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target_link_libraries(msp_connection_test msp)
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if(BUILD_EXAMPLES)
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# test and print all requests
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add_executable(msp_read_test examples/msp_read_test.cpp)
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target_link_libraries(msp_read_test msp msp_msg_print)
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# testing publish/subscribe
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add_executable(fcu_test examples/fcu_test.cpp)
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target_link_libraries(fcu_test msp_fcu)
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# testing publish/subscribe
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add_executable(fcu_test examples/fcu_test.cpp)
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target_link_libraries(fcu_test msp_fcu msp_msg_print)
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# test arming and disarming
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add_executable(fcu_arm examples/fcu_arm_test.cpp)
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target_link_libraries(fcu_arm msp_fcu)
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# test arming and disarming
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add_executable(fcu_arm examples/fcu_arm_test.cpp)
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target_link_libraries(fcu_arm msp_fcu)
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# test setting motors directly
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add_executable(fcu_motors examples/fcu_motor_test.cpp)
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target_link_libraries(fcu_motors msp_fcu)
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# test setting motors directly
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add_executable(fcu_motors examples/fcu_motor_test.cpp)
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target_link_libraries(fcu_motors msp_fcu)
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# subscribing with custom type
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add_executable(fcu_custom_type examples/fcu_custom_type.cpp)
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target_link_libraries(fcu_custom_type msp_fcu)
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# subscribing with custom type
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add_executable(fcu_custom_type examples/fcu_custom_type.cpp)
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target_link_libraries(fcu_custom_type msp_fcu)
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# client test for asynchronous callbacks
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add_executable(client_async_test examples/client_async_test.cpp)
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target_link_libraries(client_async_test mspclient )
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# cleanflight requests
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add_executable(cleanflight_read_test examples/cleanflight_read_test.cpp)
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target_link_libraries(cleanflight_read_test msp msp_msg_print)
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# client test for asynchronous callbacks
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add_executable(client_async_test examples/client_async_test.cpp)
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target_link_libraries(client_async_test mspclient msp_msg_print)
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# client test for blocking read
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add_executable(client_read_test examples/client_read_test.cpp)
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target_link_libraries(client_read_test mspclient msp_msg_print)
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# client test for blocking read
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add_executable(client_read_test examples/client_read_test.cpp)
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target_link_libraries(client_read_test mspclient )
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endif()
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################################################################################
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### installation
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install(TARGETS msp msp_msg_print msp_fcu mspclient
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#install(TARGETS msp msp_msg_print msp_fcu mspclient
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install(TARGETS msp_fcu mspclient
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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install(DIRECTORY ${MSP_INCLUDE_DIR} DESTINATION include/ FILES_MATCHING PATTERN "*.hpp")
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SET(PKG_CONFIG_LIBDIR "\${prefix}/lib" )
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SET(PKG_CONFIG_INCLUDEDIR "\${prefix}/include/" )
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SET(PKG_CONFIG_LIBS "-L\${libdir} -lmsp -lmsp_fcu -lmspclient -lmsp_msg_print" )
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SET(PKG_CONFIG_LIBS "-L\${libdir} -lmsp_fcu -lmspclient" )
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SET(PKG_CONFIG_CFLAGS "-I\${includedir}" )
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CONFIGURE_FILE(
@@ -104,3 +92,52 @@ CONFIGURE_FILE(
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INSTALL(FILES "${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc"
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DESTINATION lib/pkgconfig)
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###############################################################################
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### testing
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if(BUILD_TESTS)
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enable_testing()
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# Download and unpack googletest at configure time
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configure_file(CMakeLists.txt.in googletest/CMakeLists.txt)
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execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
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RESULT_VARIABLE result
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest )
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if(result)
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message(FATAL_ERROR "CMake step for googletest failed: ${result}")
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endif()
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execute_process(COMMAND ${CMAKE_COMMAND} --build .
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RESULT_VARIABLE result
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest )
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if(result)
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message(FATAL_ERROR "Build step for googletest failed: ${result}")
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endif()
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# Prevent overriding the parent project's compiler/linker
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# settings on Windows
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set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
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# Add googletest directly to our build. This defines
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# the gtest and gtest_main targets.
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add_subdirectory(/usr/src/gtest
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${CMAKE_BINARY_DIR}/googletest-build
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EXCLUDE_FROM_ALL)
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# The gtest/gtest_main targets carry header search path
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# dependencies automatically when using CMake 2.8.11 or
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# later. Otherwise we have to add them here ourselves.
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if (CMAKE_VERSION VERSION_LESS 2.8.11)
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include_directories("${gtest_SOURCE_DIR}/include")
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endif()
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add_executable(value_test test/value_test.cpp)
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target_link_libraries(value_test gtest_main)
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add_test(NAME value_test COMMAND value_test)
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add_executable(bytevector_test test/ByteVector_test.cpp)
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target_link_libraries(bytevector_test gtest_main)
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add_test(NAME bytevector_test COMMAND bytevector_test)
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endif()

‎CMakeLists.txt.in‎

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cmake_minimum_required(VERSION 2.8.2)
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project(googletest NONE)
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include(ExternalProject)
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ExternalProject_Add(googletest
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SOURCE_DIR "/usr/src/gtest"
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BINARY_DIR "${CMAKE_BINARY_DIR}/googletest-build"
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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TEST_COMMAND ""
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)

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