mit-biomimetics · davood-dorostkar · Oct 17, 2023 · Oct 18, 2023
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
@@ -1,55 +1,55 @@
 # Source/Include files
 include_directories(".")
-include_directories("include/" )                 # common includes
-include_directories("/usr/local/include/lcm/")   # lcm includes
+include_directories("include/") # common includes
+include_directories("/usr/local/include/lcm/") # lcm includes
 include_directories("../lcm-types/cpp/")
-include_directories("../third-party/inih")       # inih includes
-include_directories("../third-party/osqp/include")       # osqp includes
+include_directories("../third-party/inih") # inih includes
+include_directories("../third-party/osqp/include") # osqp includes
 include_directories("../third-party/ParamHandler")
-include_directories("/usr/local/include/eigen3")   # lcm includes
+include_directories("/usr/include/eigen3") # lcm includes
 include_directories("FootstepPlanner")
 include_directories(${CMAKE_BINARY_DIR})
 include_directories(${PROJECT_SOURCE_DIR})
-file(GLOB_RECURSE sources "src/*.cpp")                   # common library cpp files
+file(GLOB_RECURSE sources "src/*.cpp") # common library cpp files
 
 # Library
-add_library(biomimetics SHARED ${sources})       # produce a library used by sim/robot
+add_library(biomimetics SHARED ${sources}) # produce a library used by sim/robot
 target_link_libraries(biomimetics inih dynacore_param_handler JCQP osqp)
 
 if(CMAKE_SYSTEM_NAME MATCHES Linux)
-# Pull in Google Test
-include(CTest)
-if (CMAKE_VERSION VERSION_LESS 3.2)
-    set(UPDATE_DISCONNECTED_IF_AVAILABLE "")
-else()
-    set(UPDATE_DISCONNECTED_IF_AVAILABLE "UPDATE_DISCONNECTED 1")
-endif()
-include(DownloadProject.cmake)
-download_project(PROJ                googletest
-                 GIT_REPOSITORY      https://github.com/google/googletest.git
-                 GIT_TAG             master
-                 ${UPDATE_DISCONNECTED_IF_AVAILABLE}
-                 QUIET
-)
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR})
-if (CMAKE_VERSION VERSION_LESS 2.8.11)
-    include_directories("${gtest_SOURCE_DIR}/include"
-                        "${gmock_SOURCE_DIR}/include")
-endif()
-
-# Test
-file(GLOB_RECURSE test_sources "test/test_*.cpp")             # test cpp files
-add_executable(test-common ${test_sources})
-target_link_libraries(test-common gtest gmock_main lcm rt inih osqp dynacore_param_handler pthread biomimetics)
-target_link_libraries(test-common Goldfarb_Optimizer)
-target_link_libraries(test-common JCQP)
-
-
-add_test(NAME example_test COMMAND test-common)
-
+    # Pull in Google Test
+    include(CTest)
+
+    if(CMAKE_VERSION VERSION_LESS 3.2)
+        set(UPDATE_DISCONNECTED_IF_AVAILABLE "")
+    else()
+        set(UPDATE_DISCONNECTED_IF_AVAILABLE "UPDATE_DISCONNECTED 1")
+    endif()
+
+    include(DownloadProject.cmake)
+    download_project(PROJ googletest
+        GIT_REPOSITORY https://github.com/google/googletest.git
+        GIT_TAG main
+        ${UPDATE_DISCONNECTED_IF_AVAILABLE}
+        QUIET
+    )
+    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR})
+
+    if(CMAKE_VERSION VERSION_LESS 2.8.11)
+        include_directories("${gtest_SOURCE_DIR}/include"
+            "${gmock_SOURCE_DIR}/include")
+    endif()
+
+    # Test
+    file(GLOB_RECURSE test_sources "test/test_*.cpp") # test cpp files
+    add_executable(test-common ${test_sources})
+    target_link_libraries(test-common gtest gmock_main lcm rt inih osqp dynacore_param_handler pthread biomimetics)
+    target_link_libraries(test-common Goldfarb_Optimizer)
+    target_link_libraries(test-common JCQP)
+
+    add_test(NAME example_test COMMAND test-common)
 endif(CMAKE_SYSTEM_NAME MATCHES Linux)
 
 # Our libraries
 add_subdirectory(FootstepPlanner)
-
diff --git a/common/DownloadProject.cmake b/common/DownloadProject.cmake
@@ -79,7 +79,7 @@
 #   include(DownloadProject)
 #   download_project(PROJ                googletest
 #                    GIT_REPOSITORY      https://github.com/google/googletest.git
-#                    GIT_TAG             master
+#                    GIT_TAG             main
 #                    UPDATE_DISCONNECTED 1
 #                    QUIET
 #   )

diff --git a/file_list.txt b/file_list.txt
@@ -0,0 +1 @@
+
diff --git a/scripts/find_qt_path.sh b/scripts/find_qt_path.sh
@@ -1,6 +1,6 @@
 #/bin/bash
 
-QT_VER="$(ls ~/Qt/ | grep 5 -m1)"
+QT_VER="$(ls ~/Qt* | grep 5 -m1)"
 
-printf "${HOME}/Qt/${QT_VER}/gcc_64/"
+printf "${HOME}/Qt${QT_VER}/${QT_VER}/gcc_64/"
 
diff --git a/scripts/lcm-log2smat/find_qt_path.sh b/scripts/lcm-log2smat/find_qt_path.sh
@@ -0,0 +1,6 @@
+#/bin/bash
+
+QT_VER="$(ls ~/Qt* | grep 5 -m1)"
+
+printf "${HOME}/Qt${QT_VER}/${QT_VER}/gcc_64/"
+
diff --git a/scripts/network_config.py b/scripts/network_config.py
diff --git a/scripts/setup_network_mc.py b/scripts/setup_network_mc.py
diff --git a/sim/CMakeLists.txt b/sim/CMakeLists.txt
@@ -3,17 +3,17 @@ project(sim)
 
 SET(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-
 execute_process(COMMAND ${CMAKE_SOURCE_DIR}/scripts/find_qt_path.sh OUTPUT_VARIABLE CMAKE_PREFIX_PATH_1)
 SET(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH_1})
-# message("CMAKE_PREFIX_PATH: ${CMAKE_PREFIX_PATH}")
 
+# message("CMAKE_PREFIX_PATH: ${CMAKE_PREFIX_PATH}")
 if(POLICY CMP0071)
   cmake_policy(SET CMP0071 OLD)
 endif()
 
 # Instruct CMake to run moc automatically when needed
 set(CMAKE_AUTOMOC ON)
+
 # Create code from a list of Qt designer ui files
 set(CMAKE_AUTOUIC ON)
 find_package(Qt5Core CONFIG REQUIRED)
@@ -23,20 +23,20 @@ message(STATUS ${QtCore_location})
 find_package(Qt5Gui CONFIG REQUIRED)
 
 set(QOBJECT_HEADERS
-        include/Graphics3D.h
-        include/GameController.h
-        include/SimControlPanel.h
-        include/JoystickTest.h)
-#        include/main_window.h
-#        include/gamepad_monitor.h
-#        include/spi_debug.h)
-
+  include/Graphics3D.h
+  include/GameController.h
+  include/SimControlPanel.h
+  include/JoystickTest.h)
+
+# include/main_window.h
+# include/gamepad_monitor.h
+# include/spi_debug.h)
 QT5_WRAP_CPP(tst_hdr_moc ${QOBJECT_HEADERS})
 
 include_directories("include/")
 include_directories("../common/include/")
 include_directories("../lcm-types/cpp")
-include_directories("/usr/local/include/lcm/")   # lcm includes
+include_directories("/usr/local/include/lcm/") # lcm includes
 include_directories("../third-party/ParamHandler")
 include_directories(${CMAKE_BINARY_DIR})
 file(GLOB sources "src/*.cpp")
@@ -50,16 +50,14 @@ find_package(OpenGL REQUIRED)
 include_directories(${OPENGL_INCLUDE_DIR})
 
 add_executable(sim ${sources} ${tst_hdr_moc})
-target_link_libraries(sim biomimetics pthread lcm inih dynacore_param_handler 
-    Qt5::Widgets Qt5::Core Qt5::Gui Qt5::Gamepad ${QT_LIBRARIES} ${OPENGL_LIBRARIES})
+target_link_libraries(sim biomimetics pthread lcm inih dynacore_param_handler
+  Qt5::Widgets Qt5::Core Qt5::Gui Qt5::Gamepad ${QT_LIBRARIES} ${OPENGL_LIBRARIES})
 
-if (CMAKE_SYSTEM_NAME MATCHES Linux)
+if(CMAKE_SYSTEM_NAME MATCHES Linux)
   target_link_libraries(sim rt ${GLUT_glut_LIBRARIES})
-  include (CheckIncludeFileCXX)
-endif (CMAKE_SYSTEM_NAME MATCHES Linux)
+  include(CheckIncludeFileCXX)
+endif(CMAKE_SYSTEM_NAME MATCHES Linux)
 
-if (APPLE)
+if(APPLE)
   target_link_libraries(sim "-framework GLUT")
-endif (APPLE)
-
-
+endif(APPLE)
diff --git a/user/MIT_Controller/CMakeLists.txt b/user/MIT_Controller/CMakeLists.txt
@@ -8,16 +8,16 @@ include_directories(SYSTEM "../../third-party/qpOASES/include")
 include_directories("../../third-party/ParamHandler")
 
 include_directories("../../lcm-types/cpp")
-include_directories("/usr/local/include/lcm/")   # lcm includes
-include_directories("/usr/local/include/eigen3")   # lcm includes
+include_directories("/usr/local/include/lcm/") # lcm includes
+include_directories("/usr/include/eigen3") # lcm includes
 include_directories(${CMAKE_BINARY_DIR})
 include_directories(${PROJECT_SOURCE_DIR})
 
 file(GLOB_RECURSE sources
-"./*.cpp"
-"FSM_States/*.cpp" 
-"Controllers/BalanceController/*.cpp" 
-"Controllers/convexMPC/*.cpp")
+    "./*.cpp"
+    "FSM_States/*.cpp"
+    "Controllers/BalanceController/*.cpp"
+    "Controllers/convexMPC/*.cpp")
 
 add_subdirectory(Controllers/WBC)
 add_subdirectory(Controllers/WBC_Ctrl)