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ZhenshengLeeZhenshengLee
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add dwcgf helloworld sample.
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‎.gitignore

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*.mp4*
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driveworks-5.8/tools/stm*
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driverorks-5.10/tools/stm*
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.vscode/
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# .vscode/
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docker/
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target/
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.dev_bash_hist

‎.vscode/tasks.json

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{
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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// args is not allowed in docker exec
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{
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// rsync
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"label": "pub2orin-dw514-check",
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"type": "shell",
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"command": "rsync -avzhlce ssh ./target/dw514/install/usr nvidia@192.168.137.113:~/zhensheng/orin_ws/nv_driveworks/target/dw514/ -Pin --update --inplace --delete-delay --compress-level=3 --safe-links --munge-links --max-delete=5000",
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"options": {
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"cwd": "${workspaceFolder}"
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},
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"args": [],
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"problemMatcher": {
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"fileLocation": [
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"autoDetect",
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"${workspaceFolder}"
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]
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},
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"group": {
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"kind": "none",
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"isDefault": false
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},
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"presentation": {
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"reveal": "always",
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"panel": "dedicated",
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"clear": true,
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"focus": true,
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"group": "setup"
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},
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},
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{
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// rsync
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"label": "pub2orin-dw514",
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"type": "shell",
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"command": "rsync -avzhlce ssh ./target/dw514/install/usr nvidia@192.168.137.113:~/zhensheng/orin_ws/nv_driveworks/target/dw514/ -Pi --update --inplace --delete-delay --compress-level=3 --safe-links --munge-links --max-delete=5000",
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"options": {
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"cwd": "${workspaceFolder}"
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},
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"args": [],
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"problemMatcher": {
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"fileLocation": [
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"autoDetect",
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"${workspaceFolder}"
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]
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},
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"group": {
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"kind": "none",
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"isDefault": false
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},
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"presentation": {
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"reveal": "always",
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"panel": "dedicated",
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"clear": true,
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"focus": true,
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"group": "setup"
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},
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},
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],
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"inputs": [
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{
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"type": "pickString",
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"id": "cgfappType",
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"description": "What type of cgfapp do you want to run?",
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"options": [
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"team_node/runHelloworld",
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],
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"default": "team_node/runHelloworld"
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},
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{
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"type": "pickString",
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"id": "sampleAppType",
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"description": "What type of sample do you want to run?",
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"options": [
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"sample_hello_world",
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"sample_camera",
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"sample_renderer",
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],
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"default": "sample_hello_world"
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},
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{
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"type": "promptString",
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"id": "libName",
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"description": "What type of lib do you want to search?",
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"default": "libnvsipl_devblk_campwr_max20087_fusa",
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},
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]
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}

‎README_en.md

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rm -rf ./target/dw514
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cmake -B ./target/dw514/ -DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5L.cmake -DVIBRANTE_PDK=/drive/drive-linux -S ./driveworks-5.14/samples
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make -C ./target/dw514/ -j $(($(nproc)-1)) install
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# the installation folder is target/dw514/install/usr/local/driveworks/samples
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```
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### build cgf schedule
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the schedule yaml, stm, html are auto-generated in `target/dw514/schedule/cgf_custom_nodes`, which is defined in `driveworks-5.14/samples/src/cgf_nodes/CMakeLists.txt`
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```sh
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target/dw514/schedule/cgf_custom_nodes/DWCGFHelloworld__standardSchedule.stm
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target/dw514/schedule/cgf_custom_nodes/DWCGFHelloworld__standardSchedule.yaml
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```
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### release to orin
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cp the install folder `target/dw514/install/usr/local/driveworks/samples` to drive-orin-machine
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the recommended way is to use rsync, first of all install the rsync in orin.
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```sh
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sudo apt install rsync
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```
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```sh
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rsync -avzhlce ssh ./target/dw514/install nvidia@192.168.137.113:~/zhensheng/orin_ws/nv_driveworks/target/dw514/ \
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-Pi \
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--update \
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--inplace --delete-delay --compress-level=3 --safe-links --munge-links \
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--max-delete=5000
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```
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### run cgf app
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```sh
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# in orin
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cd ~/zhensheng/orin_ws/nv_driveworks/target/dw514/usr/local/driveworks/samples
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sudo ./bin/cgf_custom_nodes/example/runHelloworld.sh
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# config the ip stack if it prompts
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# check the logFolder log, remove the log before next running app
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sudo rm -rf ./LogFolder/
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```
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### modify the graph and run again (nvsci bug)
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‎driveworks-5.14/samples/src/cgf_nodes/CMakeLists.txt

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project(cgf_custom_nodes)
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set(DRIVEWORKS_PATH "/usr/local/driveworks")
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set(NSIGHT_SYS_PATH "/opt/nvidia/nsight-systems/2023.1.3/")
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set(DWCGF_RUNNER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/bin)
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set(DWCGF_NODES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/nodes)
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set(DWCGF_GRAPHS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/graphs)
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set(DWCGF_APPS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/graphs/apps)
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set(DWCGF_NVSCI_RST ${CMAKE_CURRENT_SOURCE_DIR}/bin/nvsciipc_reset)
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set(DWCGF_SCHE_DIR ${SDK_BINARY_DIR}/schedule/${PROJECT_NAME})
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file(MAKE_DIRECTORY ${DWCGF_SCHE_DIR})
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set(DWCGF_DATA_DIR ${CMAKE_CURRENT_SOURCE_DIR}/data)
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file(GLOB_RECURSE DWCGF_NODES_FILES
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${DWCGF_NODES_DIR}/*.hpp
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${DWCGF_NODES_DIR}/*.cpp
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)
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#-------------------------------------------------------------------------------
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# Project files
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#-------------------------------------------------------------------------------
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dwframework
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)
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file(GLOB_RECURSE DWCGF_GRAPHS_FILES
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${DWCGF_GRAPHS_DIR}/*.yaml
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${DWCGF_GRAPHS_DIR}/*.json
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)
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# json-validater execute during configuring time.
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execute_process(
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COMMAND ${DRIVEWORKS_PATH}/tools/schema/validate_cgfdescriptors.py --ignore-order --ignore-array-order --ignore-indentation ${DWCGF_GRAPHS_DIR}
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WORKING_DIRECTORY ${DWCGF_GRAPHS_DIR}
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TIMEOUT 3
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RESULT_VARIABLE _EXIT_CODE
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OUTPUT_VARIABLE _OUTPUT_CODE
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COMMAND_ECHO STDOUT
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# OUTPUT_QUIET
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# ERROR_QUIET
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# ECHO_OUTPUT_VARIABLE
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# https://cmake.org/cmake/help/v3.16/command/execute_process.html
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)
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message(STATUS "${_OUTPUT_CODE}")
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if(NOT _EXIT_CODE EQUAL 0)
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message(FATAL_ERROR "validate_cgfdescriptors.py failed: please check the json files.")
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endif()
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#-------------------------------------------------------------------------------
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# Custom nodes shared library
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#-------------------------------------------------------------------------------
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add_library(${PROJECT_NAME} SHARED ${SOURCES})
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add_library(${PROJECT_NAME} SHARED ${SOURCES} ${DWCGF_NODES_FILES})
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target_link_libraries(${PROJECT_NAME} PRIVATE ${LIBRARIES})
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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include
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${CUDA_DIR}/include
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${DW_ROOT}/include
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${DW_ROOT}/include/3rdparty
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${DW_ROOT}/include/dwshared/dwfoundation
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${DW_ROOT}/include/dwshared/dwtrace
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${NSIGHT_SYS_PATH}/target-linux-tegra-armv8/nvtx/include)
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# cgf generation
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set(GW_MODULE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
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set(GW_MODULE_BINARY_DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}/)
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set(GW_MODULE_LIBRARY_DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/)
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set(GW_MODULE_ARCHIVE_DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_NAME}/)
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set(GW_MODULE_DATA_DESTINATION ${CMAKE_INSTALL_PREFIX}/data/${PROJECT_NAME})
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set(GW_MODULE_GRAPHS_DESTINATION ${CMAKE_INSTALL_PREFIX}/graphs/${PROJECT_NAME})
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set(DWCGF_APP_LIST
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example/appHelloworld;
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)
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foreach(DWCGF_APP ${DWCGF_APP_LIST})
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get_filename_component(DWCGF_APP_DIRNAME ${DWCGF_APPS_DIR}/${DWCGF_APP} NAME)
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get_filename_component(DWCGF_APP_FOLDERPATH ${DWCGF_APPS_DIR}/${DWCGF_APP} PATH)
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get_filename_component(DWCGF_APP_FOLDERNAME ${DWCGF_APP_FOLDERPATH} NAME)
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string(REGEX REPLACE "^app" "" DWCGF_APP_TYPE ${DWCGF_APP_DIRNAME})
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set(DWCGF_FILE_PREFIX DWCGF${DWCGF_APP_TYPE})
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set(DWCGF_RUNNER ${DWCGF_RUNNER_DIR}/${DWCGF_APP_FOLDERNAME}/run${DWCGF_APP_TYPE}.sh)
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set(DWCGF_YAML ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.yaml)
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set(DWCGF_YAML_LOG ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.yaml.log)
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set(DWCGF_STM ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.stm)
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set(DWCGF_STM_LOG ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.stm.log)
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set(DWCGF_SVG ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.svg)
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set(DWCGF_SVG_LOG ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.svg.log)
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set(DWCGF_HTML ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.html)
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set(DWCGF_HTML_LOG ${DWCGF_SCHE_DIR}/${DWCGF_FILE_PREFIX}__standardSchedule.html.log)
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# app2yaml
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add_custom_command(
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OUTPUT ${DWCGF_YAML}
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COMMAND ${DRIVEWORKS_PATH}/tools/descriptionScheduleYamlGenerator/descriptionScheduleYamlGenerator.py --app ${DWCGF_APPS_DIR}/${DWCGF_APP}/${DWCGF_FILE_PREFIX}.app.json --output ${DWCGF_YAML} 2>&1 | tee ${DWCGF_YAML_LOG}
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WORKING_DIRECTORY ${DWCGF_SCHE_DIR}
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MAIN_DEPENDENCY ${DWCGF_APPS_DIR}/${DWCGF_APP}/${DWCGF_FILE_PREFIX}.app.json
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DEPENDS ${DWCGF_GRAPHS_FILES}
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COMMENT "app2yaml[${DWCGF_APP_TYPE}]...!"
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VERBATIM
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)
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add_custom_target(${PROJECT_NAME}_yaml${DWCGF_APP_TYPE} ALL DEPENDS ${DWCGF_YAML})
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# yaml2stm
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add_custom_command(
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OUTPUT ${DWCGF_STM}
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COMMAND ${DRIVEWORKS_PATH}/tools/stmcompiler -i ${DWCGF_YAML} -k 2>&1 | tee ${DWCGF_STM_LOG}
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WORKING_DIRECTORY ${DWCGF_SCHE_DIR}
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MAIN_DEPENDENCY ${DWCGF_YAML}
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DEPENDS ${PROJECT_NAME}_yaml${DWCGF_APP_TYPE}
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COMMENT "yaml2stm[${DWCGF_APP_TYPE}]...!"
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VERBATIM
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)
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add_custom_target(${PROJECT_NAME}_stm${DWCGF_APP_TYPE} ALL DEPENDS ${DWCGF_STM})
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# yaml2svg
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# add_custom_command(
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# OUTPUT ${DWCGF_SVG}
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# COMMAND ${DRIVEWORKS_PATH}/tools/stmvizgraph -i ${DWCGF_YAML} -o ${DWCGF_SVG} 2>&1 | tee ${DWCGF_SVG_LOG}
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# WORKING_DIRECTORY ${DWCGF_SCHE_DIR}
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# MAIN_DEPENDENCY ${DWCGF_YAML}
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# DEPENDS ${PROJECT_NAME}_yaml${DWCGF_APP_TYPE}
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# COMMENT "yaml2svg[${DWCGF_APP_TYPE}]...!"
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# VERBATIM
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# )
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# add_custom_target(${PROJECT_NAME}_svg${DWCGF_APP_TYPE} ALL DEPENDS ${DWCGF_SVG})
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# stm2html
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add_custom_command(
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OUTPUT ${DWCGF_HTML}
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COMMAND ${DRIVEWORKS_PATH}/tools/stmcompiler -i ${DWCGF_YAML} -o ${DWCGF_STM} -k 2>&1 | tee ${DWCGF_STM_LOG}
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COMMAND ${DRIVEWORKS_PATH}/tools/stmvizschedule -i ${DWCGF_STM} -o ${DWCGF_HTML} 2>&1 | tee ${DWCGF_HTML_LOG}
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WORKING_DIRECTORY ${DWCGF_SCHE_DIR}
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MAIN_DEPENDENCY ${DWCGF_STM}
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DEPENDS ${PROJECT_NAME}_stm${DWCGF_APP_TYPE}
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COMMENT "stm2html[${DWCGF_APP_TYPE}]...!"
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VERBATIM
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)
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add_custom_target(${PROJECT_NAME}_html${DWCGF_APP_TYPE} ALL DEPENDS ${DWCGF_HTML})
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install(FILES ${DWCGF_YAML} DESTINATION "${GW_MODULE_BINARY_DESTINATION}")
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# install(FILES ${DWCGF_SVG} DESTINATION "${GW_MODULE_BINARY_DESTINATION}")
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install(FILES ${DWCGF_STM} DESTINATION "${GW_MODULE_BINARY_DESTINATION}")
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install(FILES ${DWCGF_HTML} DESTINATION "${GW_MODULE_BINARY_DESTINATION}")
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install(PROGRAMS ${DWCGF_RUNNER} DESTINATION ${GW_MODULE_BINARY_DESTINATION}/${DWCGF_APP_FOLDERNAME})
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endforeach()
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# ------------------------------------------------------------------------------
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# Install target
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# ------------------------------------------------------------------------------
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sdk_add_sample(${PROJECT_NAME})
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install(DIRECTORY ${DWCGF_GRAPHS_DIR}/ DESTINATION ${GW_MODULE_GRAPHS_DESTINATION})
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install(DIRECTORY ${DWCGF_DATA_DIR}/ DESTINATION ${GW_MODULE_DATA_DESTINATION})
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install(PROGRAMS ${DWCGF_NVSCI_RST} DESTINATION ${GW_MODULE_BINARY_DESTINATION})

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