Initial Commit (tested training, testing, and TRT conversion)

flightlib/cmake/catkin.cmake

@@ -0,0 +1,29 @@
+# Setup catkin simple
+find_package(catkin_simple REQUIRED)
+
+catkin_simple()
+
+add_definitions(-std=c++17)
+
+# Library and Executables
+cs_add_library(${PROJECT_NAME} ${FLIGHTLIB_SOURCES})
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${BLAS_LIBRARIES}
+  ${LAPACK_LIBRARIES}
+  ${LAPACKE_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+  yaml-cpp
+  zmq
+  zmqpp
+)
+
+# Build tests
+if(BUILD_TESTS)
+  catkin_add_gtest(flightlib_tests ${FLIGHTLIB_TEST_SOURCES})
+  target_link_libraries(flightlib_tests ${PROJECT_NAME} gtest gtest_main)
+endif()
+
+# Finish catkin simple
+cs_install()
+cs_export()

flightlib/cmake/eigen.cmake

@@ -0,0 +1,25 @@
+# Download and unpack eigen at configure time
+message(STATUS "Getting Eigen...")
+
+configure_file(
+  cmake/eigen_download.cmake
+  ${PROJECT_SOURCE_DIR}/externals/eigen/CMakeLists.txt)
+
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "Download of Eigen failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "Build step for eigen failed: ${result}")
+endif()
+
+message(STATUS "Eigen downloaded!")
+
+set(EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/externals/eigen)

flightlib/cmake/eigen_download.cmake

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.0.0)
+
+project(eigen-external)
+
+include(ExternalProject)
+ExternalProject_Add(eigen
+  GIT_REPOSITORY    https://gitlab.com/libeigen/eigen.git
+  GIT_TAG           3.3.4
+  SOURCE_DIR        "${PROJECT_SOURCE_DIR}/externals/eigen/eigen3"
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+  UPDATE_DISCONNECTED ON
+)

flightlib/cmake/gtest.cmake

@@ -0,0 +1,37 @@
+# Download and unpack googletest at configure time
+message(STATUS "Getting gtests...")
+
+configure_file(cmake/gtest_download.cmake ${PROJECT_SOURCE_DIR}/externals/googletest-download/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "CMake step for googletest failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "Build step for googletest failed: ${result}")
+endif()
+
+message(STATUS "gtests downloaded!")
+
+# Prevent overriding the parent project's compiler/linker
+# settings on Windows
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+# Add googletest directly to our build. This defines
+# the gtest and gtest_main targets.
+add_subdirectory(${PROJECT_SOURCE_DIR}/externals/googletest-src
+                 ${PROJECT_SOURCE_DIR}/externals/googletest-build
+                 EXCLUDE_FROM_ALL)
+
+# The gtest/gtest_main targets carry header search path
+# dependencies automatically when using CMake 2.8.11 or
+# later. Otherwise we have to add them here ourselves.
+if (CMAKE_VERSION VERSION_LESS 2.8.11)
+  include_directories("${gtest_SOURCE_DIR}/include")
+endif()

flightlib/cmake/gtest_download.cmake

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.0.0)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+  GIT_REPOSITORY    https://github.com/google/googletest.git
+  GIT_TAG           main
+  SOURCE_DIR        "${PROJECT_SOURCE_DIR}/externals/googletest-src"
+  BINARY_DIR        "${PROJECT_SOURCE_DIR}/externals/googletest-build"
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+  UPDATE_DISCONNECTED ON
+)

flightlib/cmake/pybind11.cmake

@@ -0,0 +1,33 @@
+# Download and unpack pybind11 at configure time
+message(STATUS "Getting Pybind11...")
+
+# set(PYBIND11_PYTHON_VERSION 3.6)
+set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING})   
+
+configure_file(
+  cmake/pybind11_download.cmake
+  ${PROJECT_SOURCE_DIR}/externals/pybind11-download/CMakeLists.txt)
+
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . 
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "Cmake Step for Pybind11 failed: ${result}")
+endif()
+
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download
+  OUTPUT_QUIET)
+if(result)
+  message(FATAL_ERROR "Build step for eigen failed: ${result}")
+endif()
+
+message(STATUS "Pybind11 downloaded!")
+
+set(PYBIND11_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include)
+add_subdirectory(${PROJECT_SOURCE_DIR}/externals/pybind11-src
+                 EXCLUDE_FROM_ALL)
+
+include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/pybind11-src/include")

flightlib/cmake/pybind11_download.cmake

@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.0.0)
+
+project(pybind11-download)
+
+include(ExternalProject)
+ExternalProject_Add(pybind11
+  GIT_REPOSITORY    https://cf.ghproxy.cc/https://github.com/pybind/pybind11
+  GIT_TAG           master 
+  SOURCE_DIR        "${PROJECT_SOURCE_DIR}/externals/pybind11-src"
+  BINARY_DIR        "${PROJECT_SOURCE_DIR}/externals/pybind11-bin"
+  CONFIGURE_COMMAND ""
+  CMAKE_ARGS        ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+  UPDATE_DISCONNECTED ON
+)

flightlib/cmake/yaml.cmake

@@ -0,0 +1,33 @@
+# Download and unpack eigen at configure time
+message(STATUS "Getting yaml-cpp...")
+
+configure_file(
+  cmake/yaml_download.cmake
+  ${PROJECT_SOURCE_DIR}/externals/yaml-download/CMakeLists.txt)
+
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . 
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download
+  OUTPUT_QUIET
+  ERROR_QUIET)
+if(result)
+  message(FATAL_ERROR "CMake step for yaml-cpp failed: ${result}")
+endif()
+execute_process(COMMAND ${CMAKE_COMMAND} --build .
+  RESULT_VARIABLE result
+  WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download
+  OUTPUT_QUIET
+  ERROR_QUIET)
+if(result)
+  message(FATAL_ERROR "Build step for yaml failed: ${result}")
+endif()
+
+message(STATUS "Yaml downloaded!")
+
+add_subdirectory(${PROJECT_SOURCE_DIR}/externals/yaml-src
+                 ${PROJECT_SOURCE_DIR}/externals/yaml-build
+                 EXCLUDE_FROM_ALL)
+target_compile_options(yaml-cpp PUBLIC -fPIC -w)
+
+include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/yaml-src/include")
+link_directories("${PROJECT_SOURCE_DIR}/externals/yaml-build")

flightlib/cmake/yaml_download.cmake

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.0.0)
+
+project(yaml-download)
+
+include(ExternalProject)
+ExternalProject_Add(yaml
+  GIT_REPOSITORY    https://cf.ghproxy.cc/https://github.com/jbeder/yaml-cpp
+  GIT_TAG           master
+  SOURCE_DIR        "${PROJECT_SOURCE_DIR}/externals/yaml-src"
+  BINARY_DIR        "${PROJECT_SOURCE_DIR}/externals/yaml-bin"
+  CONFIGURE_COMMAND ""
+  CMAKE_ARGS        "-DBUILD_TESTING=OFF -DYAML_CPP_INSTALL=OFF"
+  CMAKE_CACHE_ARGS  -DBUILD_TESTING:BOOL=OFF -DYAML_CPP_INSTALLC:BOOL=ON
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+  UPDATE_DISCONNECTED ON
+)