hayodea
156da322b6
The OFM algo runs in fractions of a millisecond. GP3 runs in fractions of a second. I think if we can get more input data to the OFM or something akin to it, we will have a winner.
67 lines
1.8 KiB
CMake
67 lines
1.8 KiB
CMake
cmake_dependent_option(ENABLE_STIMBUFFAPI_livoxGen1
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"Enable Livox Gen1 LiDAR stim buff API" ON
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"ENABLE_LIB_livoxProto1" OFF)
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if(ENABLE_STIMBUFFAPI_livoxGen1)
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# Set CONFIG variable for config.h
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set(CONFIG_STIMBUFFAPI_LIVOXGEN1_ENABLED 1)
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# Find liburing using pkg-config
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pkg_check_modules(URING REQUIRED liburing)
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# Enable assembly language
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enable_language(ASM)
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add_library(livoxGen1 SHARED
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livoxGen1.cpp
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pcloudStimulusProducer.cpp
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livoxPcloudFrameDumper.cpp
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ioUringAssemblyEngine.cpp
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openClCollatingAndMeshingEngine.cpp
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openClKernels.cl.S
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)
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set_target_properties(livoxGen1 PROPERTIES
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VERSION ${PROJECT_VERSION}
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SOVERSION ${PROJECT_VERSION_MAJOR}
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)
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# Set assembler working directory so .incbin can find the .cl file
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# Also declare dependency on collateDgrams.cl and slotCompactor.cl
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set_source_files_properties(openClKernels.cl.S PROPERTIES
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COMPILE_FLAGS "-I${CMAKE_CURRENT_SOURCE_DIR}"
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OBJECT_DEPENDS
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"${CMAKE_CURRENT_SOURCE_DIR}/collateDgrams.cl;${CMAKE_CURRENT_SOURCE_DIR}/slotCompactor.cl"
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)
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target_include_directories(livoxGen1 PUBLIC
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${Boost_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/commonLibs
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${URING_INCLUDE_DIRS}
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${OPENCL_INCLUDE_DIRS}
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)
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target_link_libraries(livoxGen1 PUBLIC
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Boost::system
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Boost::log
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${URING_LIBRARIES}
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${OPENCL_LIBRARIES}
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attachmentSupport
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)
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target_link_directories(livoxGen1 PUBLIC
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${URING_LIBRARY_DIRS}
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${OPENCL_LIBRARY_DIRS}
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)
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# Verify Boost dynamic dependencies after build
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add_custom_command(TARGET livoxGen1 POST_BUILD
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COMMAND ${CMAKE_COMMAND} -DVERIFY_FILE="$<TARGET_FILE:livoxGen1>"
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-P ${CMAKE_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake
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COMMENT "Verifying Boost dynamic dependencies for livoxGen1"
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)
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# Install rules
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install(TARGETS livoxGen1
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} NAMELINK_SKIP
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)
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endif()
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