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add cpp benchmark

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cyy_mac
2026-07-30 17:25:39 +08:00
parent 3008203f82
commit bd07331734
7 changed files with 226 additions and 24 deletions
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14
CMakeLists.txt
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@@ -12,6 +12,7 @@ find_package(Boost REQUIRED)
option(GO1_PRO_BUILD_EXAMPLES "Build portable official-API C++ examples" ON)
option(GO1_PRO_BUILD_TESTS "Build C++ compatibility tests" ON)
option(GO1_PRO_BUILD_BENCHMARKS "Build C++ codec benchmarks" OFF)
add_library(unitree_legged_sdk
src/loop.cpp
@@ -89,6 +90,19 @@ if(GO1_PRO_BUILD_TESTS)
set_tests_properties(cpp_package_run PROPERTIES DEPENDS cpp_package_build)
endif()
if(GO1_PRO_BUILD_BENCHMARKS)
add_executable(benchmark_cpp_codec tests/cpp/benchmark_codec.cpp)
target_include_directories(benchmark_cpp_codec PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
set(GO1_PRO_BENCHMARK_CAPTURE
"${CMAKE_CURRENT_SOURCE_DIR}/data/captures/mcu_response_new.bin" CACHE FILEPATH
"Optional real-robot LowState packet used by the C++ codec benchmark")
if(EXISTS "${GO1_PRO_BENCHMARK_CAPTURE}")
target_compile_definitions(benchmark_cpp_codec PRIVATE
GO1_PRO_BENCHMARK_CAPTURE="${GO1_PRO_BENCHMARK_CAPTURE}")
endif()
target_link_libraries(benchmark_cpp_codec PRIVATE unitree_legged_sdk)
endif()
install(TARGETS unitree_legged_sdk EXPORT unitree_legged_sdkTargets
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}