Beckhoff Ubuntu ADS库结构、编译与使用优化
库结构优化
倍福官方的ADS库结构看着不简洁，比较冗余，编译起来效果一般，而且不便于使用
官方ADS库原结构
redwall@redwall-G3-3500:~/3rd_party/ADS$ tree
.
├── AdsLib
│ ├── AdsDef.cpp
│ ├── AdsDef.h
│ ├── AdsDevice.cpp
│ ├── AdsDevice.h
│ ├── AdsException.h
│ ├── AdsFile.cpp
│ ├── AdsFile.h
│ ├── AdsLib.cpp
│ ├── AdsLib.h
│ ├── AdsNotification.h
│ ├── AdsNotificationOOI.h
│ ├── AdsVariable.h
│ ├── AmsConnection.h
│ ├── AmsHeader.h
│ ├── AmsPort.h
│ ├── AmsRouter.h
│ ├── CMakeLists.txt
│ ├── Frame.cpp
│ ├── Frame.h
│ ├── LicenseAccess.cpp
│ ├── LicenseAccess.h
│ ├── Log.cpp
│ ├── Log.h
│ ├── NotificationDispatcher.h
│ ├── RingBuffer.h
│ ├── RouterAccess.cpp
│ ├── RouterAccess.h
│ ├── Router.h
│ ├── RTimeAccess.cpp
│ ├── RTimeAccess.h
│ ├── Semaphore.h
│ ├── Sockets.cpp
│ ├── Sockets.h
│ ├── standalone
│ │ ├── AdsDef.h
│ │ ├── AdsLib.cpp
│ │ ├── AdsLib.h
│ │ ├── AmsConnection.cpp
│ │ ├── AmsNetId.cpp
│ │ ├── AmsPort.cpp
│ │ ├── AmsRouter.cpp
│ │ └── NotificationDispatcher.cpp
│ ├── TwinCAT
│ │ ├── AdsDef.h
│ │ ├── AdsLib.cpp
│ │ └── AdsLib.h
│ ├── wrap_endian.h
│ └── wrap_socket.h
├── AdsLibOOITest
│ └── main.cpp
├── AdsLibTest
│ ├── CMakeLists.txt
│ └── main.cpp
├── AdsLibTestRef
│ └── main.cpp
├── AdsTool
│ ├── main.cpp
│ ├── ParameterList.cpp
│ └── ParameterList.h
├── build
│ ├── AdsLibOOITest
│ ├── AdsLibOOITest@exe
│ │ └── AdsLibOOITest_main.cpp.o
│ ├── AdsLib@sta
│ │ ├── AdsLib_AdsDef.cpp.o
│ │ ├── AdsLib_AdsDevice.cpp.o
│ │ ├── AdsLib_AdsFile.cpp.o
│ │ ├── AdsLib_AdsLib.cpp.o
│ │ ├── AdsLib_Frame.cpp.o
│ │ ├── AdsLib_LicenseAccess.cpp.o
│ │ ├── AdsLib_Log.cpp.o
│ │ ├── AdsLib_RouterAccess.cpp.o
│ │ ├── AdsLib_RTimeAccess.cpp.o
│ │ ├── AdsLib_Sockets.cpp.o
│ │ ├── AdsLib_standalone_AdsLib.cpp.o
│ │ ├── AdsLib_standalone_AmsConnection.cpp.o
│ │ ├── AdsLib_standalone_AmsNetId.cpp.o
│ │ ├── AdsLib_standalone_AmsPort.cpp.o
│ │ ├── AdsLib_standalone_AmsRouter.cpp.o
│ │ └── AdsLib_standalone_NotificationDispatcher.cpp.o
│ ├── AdsLibTest
│ ├── AdsLibTest@exe
│ │ └── AdsLibTest_main.cpp.o
│ ├── adstool
│ ├── adstool@exe
│ │ ├── AdsTool_main.cpp.o
│ │ └── AdsTool_ParameterList.cpp.o
│ ├── build.ninja
│ ├── compile_commands.json
│ ├── libAdsLib.a
│ ├── meson-logs
│ │ └── meson-log.txt
│ └── meson-private
│ ├── build.dat
│ ├── coredata.dat
│ ├── install.dat
│ ├── meson_benchmark_setup.dat
│ ├── meson_test_setup.dat
│ ├── sanitycheckcpp.cc
│ └── sanitycheckcpp.exe
├── CHANGES
├── CMakeLists.txt
├── CONTRIBUTING
├── debian
│ ├── adstool.install
│ ├── changelog
│ ├── compat
│ ├── control
│ ├── copyright
│ ├── libads-dev.install
│ ├── rules
│ └── source
│ └── format
├── doc
│ ├── Makefile
│ └── source
│ ├── adstool.rst
│ ├── conf.py
│ └── index.rst
├── docs
│ ├── Doxyfile
│ └── mainpage.dox
├── example
│ ├── CMakeLists.txt
│ ├── example.cpp
│ ├── Makefile
│ ├── meson.build
│ └── meson_options.txt
├── LICENSE
├── Makefile
├── meson.build
├── meson.cross.amd64-linux.i386
├── meson.cross.amd64-linux.mips
├── meson.cross.amd64-linux.win32
├── meson_options.txt
├── PLC-TestProject
│ ├── _Boot
│ │ └── TwinCAT RT (x86)
│ │ └── Plc
│ │ ├── Port_851.autostart
│ │ ├── Port_851.cid
│ │ └── Port_851.occ
│ ├── NotificationTest.sln
│ ├── NotificationTest.tsproj
│ └── Untitled1
│ ├── ExternalTypes.tmc
│ ├── _Libraries
│ │ └── beckhoff automation gmbh
│ │ ├── tc2_standard
│ │ │ └── 3.3.0.0
│ │ │ └── tc2_standard.compiled-library
│ │ ├── tc2_system
│ │ │ └── 3.3.8.1
│ │ │ └── tc2_system.compiled-library
│ │ ├── tc3_interfaces
│ │ │ └── 3.3.0.0
│ │ │ └── tc3_interfaces.compiled-library
│ │ └── tc3_module
│ │ └── 3.3.6.0
│ │ └── tc3_module.compiled-library
│ ├── PlcTask.TcTTO
│ ├── POUs
│ │ └── MAIN.TcPOU
│ ├── Untitled1.plcproj
│ └── Untitled1.tpy
├── README
└── tools├── 10_get_fructose.sh├── 80_ads_route.sh├── 90_run_tests.sh├── 91_test_AdsTool.sh├── add-route.py├── canonicalize_filename.sh├── fructose│ ├── double_compare.h│ ├── fructose.h│ ├── test_base.h│ └── test_root.h├── fructose-1.4.0.sha512├── pre-commit.settings├── pre-commit.uncrustify└── uncrustify.cfg38 directories, 145 files
实际上我们编程控制时只会用到AdsLib文件夹下的内容，对AdsLib目录下的文件整理即可
经调整后的结构，h文件归入include文件夹，cpp文件归入src文件夹，二进制文件归入bin文件夹，库文件归入lib文件夹，这样比较符合规范
redwall@redwall-G3-3500:~/3rd_party/AdsLib$ tree
.
├── ADSConfig.cmake
├── bin
├── build
├── CMakeLists.txt
├── go.sh
├── include
│ ├── AdsDef.h
│ ├── AdsDevice.h
│ ├── AdsException.h
│ ├── AdsFile.h
│ ├── AdsLib.h
│ ├── AdsNotification.h
│ ├── AdsNotificationOOI.h
│ ├── AdsVariable.h
│ ├── AmsConnection.h
│ ├── AmsHeader.h
│ ├── AmsPort.h
│ ├── AmsRouter.h
│ ├── Frame.h
│ ├── LicenseAccess.h
│ ├── Log.h
│ ├── NotificationDispatcher.h
│ ├── RingBuffer.h
│ ├── RouterAccess.h
│ ├── Router.h
│ ├── RTimeAccess.h
│ ├── Semaphore.h
│ ├── Sockets.h
│ ├── wrap_endian.h
│ └── wrap_socket.h
├── lib
├── src
│ ├── AdsDef.cpp
│ ├── AdsDevice.cpp
│ ├── AdsFile.cpp
│ ├── AdsLib.cpp
│ ├── Frame.cpp
│ ├── LicenseAccess.cpp
│ ├── Log.cpp
│ ├── RouterAccess.cpp
│ ├── RTimeAccess.cpp
│ └── Sockets.cpp
├── standalone
│ ├── AdsDef.h
│ ├── AdsLib.cpp
│ ├── AdsLib.h
│ ├── AmsConnection.cpp
│ ├── AmsNetId.cpp
│ ├── AmsPort.cpp
│ ├── AmsRouter.cpp
│ └── NotificationDispatcher.cpp
└── TwinCAT├── AdsDef.h├── AdsLib.cpp└── AdsLib.h7 directories, 48 files
编译优化
AdsLib文件夹下原版的CMakeLists.txt内容如下
set(SOURCESAdsDef.cppAdsDevice.cppAdsFile.cppAdsLib.cppFrame.cppLicenseAccess.cppLog.cppRouterAccess.cppRTimeAccess.cppSockets.cppstandalone/AdsLib.cppstandalone/AmsConnection.cppstandalone/AmsNetId.cppstandalone/AmsPort.cppstandalone/AmsRouter.cppstandalone/NotificationDispatcher.cpp
)add_library(ads ${SOURCES})target_include_directories(ads PUBLIC .)if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")target_link_libraries(ads PUBLIC wsock32)
endif()if(WIN32 EQUAL 1)target_link_libraries(ads PUBLIC ws2_32)
endif()target_link_libraries(ads PUBLIC Threads::Threads)
有一个错误是Thread在Linux下是找不到的，因此编译时会报错
ADS文件夹下原版的CMakeLists.txt内容如下
cmake_minimum_required(VERSION 3.10.2)project(ads)find_package(Threads)set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")set(COMPILE_OPTIONS-pedantic-Wall-Wextra)add_definitions(-D_GNU_SOURCE)
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")# Compiler flags and definitions for Visual Studio come here
endif()option(BUILD_SHARED_LIBS "Build using shared libraries" ON)add_subdirectory(AdsLib)
add_subdirectory(AdsLibTest)
add_subdirectory(example)
官方提供的编译指导
# clone the repository
git clone https://github.com/Beckhoff/ADS.git
# change into root of the cloned repository
cd ADS
# configure meson to build the library into "build" dir
meson setup build
# let ninja build the library
ninja -C build
看到编译后只在build目录下存在一个libAdsLib.a的静态库
首先在别的程序中链接到这个静态库就不方便，其次静态库每次使用都要生成一遍副本，占内存
比较好的处理应当是只编译一次AdsLib，将头文件安装到系统中，生成一份动态库，这样头文件的引入和库文件的链接都会清晰很多
直接上优化后的CMakeLists.txt
cmake_minimum_required(VERSION 3.10)
project(adslib)include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/standalone)set(SOURCESsrc/AdsDef.cppsrc/AdsDevice.cppsrc/AdsFile.cppsrc/AdsLib.cppsrc/Frame.cppsrc/LicenseAccess.cppsrc/Log.cppsrc/RouterAccess.cppsrc/RTimeAccess.cppsrc/Sockets.cppstandalone/AdsLib.cppstandalone/AmsConnection.cppstandalone/AmsNetId.cppstandalone/AmsPort.cppstandalone/AmsRouter.cppstandalone/NotificationDispatcher.cpp
)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)add_library(ads SHARED ${SOURCES})if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")target_link_libraries(ads PUBLIC wsock32)
endif()if(WIN32 EQUAL 1)target_link_libraries(ads PUBLIC ws2_32)
endif()set(INSTALL_INCLUDE_DIR /usr/local/include/ads)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/DESTINATION ${INSTALL_INCLUDE_DIR}/include/FILES_MATCHING PATTERN "*.h")
install(DIRECTORY ${PROJECT_SOURCE_DIR}/standalone/DESTINATION ${INSTALL_INCLUDE_DIR}/standalone/FILES_MATCHING PATTERN "*.h")set(CMAKE_INSTALL_PREFIX /usr/local)
install(TARGETS adsLIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
1、thread的错误用-pthread处理
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
2、将包含头文件的文件夹include进来
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/standalone)
3、设置可执行文件输出路径和库文件输出路径
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
4、设置待编译源文件，并编译为动态库
set(SOURCESsrc/AdsDef.cppsrc/AdsDevice.cppsrc/AdsFile.cppsrc/AdsLib.cppsrc/Frame.cppsrc/LicenseAccess.cppsrc/Log.cppsrc/RouterAccess.cppsrc/RTimeAccess.cppsrc/Sockets.cppstandalone/AdsLib.cppstandalone/AmsConnection.cppstandalone/AmsNetId.cppstandalone/AmsPort.cppstandalone/AmsRouter.cppstandalone/NotificationDispatcher.cpp
)add_library(ads SHARED ${SOURCES})
5、设置头文件安装路径并安装头文件
set(INSTALL_INCLUDE_DIR /usr/local/include/ads)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/DESTINATION ${INSTALL_INCLUDE_DIR}/include/FILES_MATCHING PATTERN "*.h")
install(DIRECTORY ${PROJECT_SOURCE_DIR}/standalone/DESTINATION ${INSTALL_INCLUDE_DIR}/standalone/FILES_MATCHING PATTERN "*.h")
6、设置库文件安装路径并安装库文件
set(CMAKE_INSTALL_PREFIX /usr/local)
install(TARGETS adsLIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
这样就会将include和standalone下的头文件安装到/usr/local/include/ads目录下，动态库会现在lib文件夹下生成一份，然后再安装到/usr/local/lib文件夹下
redwall@redwall-G3-3500:/usr/local/include/ads$ tree
.
├── include
│ ├── AdsDef.h
│ ├── AdsDevice.h
│ ├── AdsException.h
│ ├── AdsFile.h
│ ├── AdsLib.h
│ ├── AdsNotification.h
│ ├── AdsNotificationOOI.h
│ ├── AdsVariable.h
│ ├── AmsConnection.h
│ ├── AmsHeader.h
│ ├── AmsPort.h
│ ├── AmsRouter.h
│ ├── Frame.h
│ ├── LicenseAccess.h
│ ├── Log.h
│ ├── NotificationDispatcher.h
│ ├── RingBuffer.h
│ ├── RouterAccess.h
│ ├── Router.h
│ ├── RTimeAccess.h
│ ├── Semaphore.h
│ ├── Sockets.h
│ ├── wrap_endian.h
│ └── wrap_socket.h
└── standalone├── AdsDef.h└── AdsLib.h2 directories, 26 files
redwall@redwall-G3-3500:/usr/local/lib$ ls | grep liba
libads.so
使用优化
上述操作后ADS库用起来会方便很多，比如ADS通信测试程序link_test的CMakeLists.txt如下
cmake_minimum_required(VERSION 3.10)
project(ads_test)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
include_directories(${PROJECT_SOURCE_DIR}/include)include_directories(/usr/local/include/ads)#添加测试程序
add_executable(link_test src/link_test.cpp)
target_link_libraries(link_test libads.so)
引入头文件和链接动态库操作如下
include_directories(/usr/local/include/ads)
target_link_libraries(link_test libads.so)
还要记下路径和动态库名，不是很优雅，更好的应该是像使用OpenCV那样
find_package(OpenCV REQUIRED)include_directories(${OpenCV_INCLUDE_DIRS})add_executable(my_program main.cpp)
target_link_libraries(my_program ${OpenCV_LIBRARIES})
那要怎么做呢，这一步我折腾了很久，尝试了很多方法
写了FindADS.cmake文件，并cp到/usr/share/cmake-3.10/Modules/
set(PACKAGE_NAME ADS)
set(PACEAGE_VERSION 1.0)set(HEADER_PATH /usr/local/include/ads/include)
find_path(PACKAGE_INCLUDE_DIR AdsDevice.h PATHS ${HEADER_PATH})
if(NOT PACKAGE_INCLUDE_DIR)message(FATAL_ERROR "Failed to find ${PACKAGE_NAME} headers!")
endif()set(LIBRARY_PATH /usr/local/lib)
find_library(PACKAGE_LIBRARY ads NAMES libads.so PATHS ${LIBRARY_PATH})
if(NOT PACKAGE_LIBRARY)message(FATAL_ERROR "Failed to find ${PACKAGE_NAME} libraries!")
endif()# set(PACKAGE_LIBRARY /usr/local/lib/libads.so)set(PACKAGE_FOUND TRUE)
message(STATUS "Found ${PACKAGE_NAME}: ${PACKAGE_INCLUDE_DIR}")
message(STATUS "Found ${PACKAGE_NAME}: ${PACKAGE_LIBRARY}")set(PACKAGE_INCLUDE_DIRS ${PACKAGE_INCLUDE_DIR})
set(PACKAGE_LIBRARIES ${PACKAGE_LIBRARY})
set(PACEAGE_VERSION ${PACEAGE_VERSION})include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(${PACKAGE_NAME} REQUIRED_VARS PACKAGE_INCLUDE_DIRS PACKAGE_LIBRARIES)
但是每次编译的时候都会报错，无法正确链接到libads.so动态库
几乎快放弃了，我在想FindADS.cmake的目的就是确定头文件路径以及动态库位置，那么既然预先已经指定安装位置，那么有没有办法直接从外部文件中引入包含该位置的变量呢
这里涉及到几个问题：
1、CMakeLists.txt如何引入外部文件的变量
可以使用 include() 命令来引入外部文件，并且使用 set() 命令来定义变量
例如，假设有一个 config.cmake 文件，里面定义了一个名为 MY_VAR 的变量
set(MY_VAR "Hello, world!")
可以在 CMakeLists.txt 文件中使用 include() 命令来引入这个文件，并使用 ${MY_VAR} 来获取变量的值
cmake_minimum_required(VERSION 3.10)project(MyProject)include(config.cmake)message(STATUS "MY_VAR is: ${MY_VAR}")
当执行 CMake 时，它会读取 config.cmake 文件并将其中定义的变量加载到当前 CMakeLists.txt 中，从而可以在后面的命令中使用这些变量
2、怎么在 CMakeLists.txt 中找.cmake文件
在CMakeLists.txt中使用**include()命令来引入其他的.cmake文件。这个命令会将被包含文件中的代码插入到当前文件中，类似于将一个头文件包含到源代码中一样。例如，如果想引入一个名为MyLibraryConfig.cmake**的配置文件，可以使用以下命令
include(MyLibraryConfig.cmake)
这样，CMake将在当前目录下查找名为**MyLibraryConfig.cmake**的文件，并将其中的代码插入到当前的CMakeLists.txt文件中
3、CMakeLists.txt只能在当前目录查找.cmake文件吗
不完全是，默认情况下，CMake会首先在当前目录查找.cmake文件，但是还可以使用CMAKE_MODULE_PATH变量将其他目录添加到模块搜索路径中
例如，以下代码将添加名为“cmake”子目录的路径，以便CMake可以在其中查找模块文件
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
这将在当前源目录下的名为“cmake”的子目录中搜索模块文件
4、CMakeLists.txt能否通过名称查找.cmake文件
是的，CMakeLists.txt可以通过名称查找.cmake文件。CMake提供了一个名为**find_package()的命令，它可以搜索和加载外部包。如果这个包提供了一个<PackageName>Config.cmake文件，那么CMake就可以使用这个文件来配置项目。<PackageName>Config.cmake**文件通常包含了该包的构建和安装信息，以及包含的库的信息
**find_package()会查找<PackageName>Config.cmake文件的位置，如果找到就会加载该文件并解析其内容，从而完成包的配置。如果该文件没有找到，CMake就会尝试使用其他的查找机制，比如使用Find<PackageName>.cmake文件，或者直接使用find_library()**等命令
通常，**<PackageName>Config.cmake文件应该被安装到系统的标准位置中。如果该文件没有被安装到标准位置中，就需要在使用find_package()命令时手动指定该文件的路径，或者通过设置CMAKE_PREFIX_PATH**变量来告诉CMake该文件的位置
例如，如果要搜索名为**Foo**的包，可以这样写
find_package(Foo REQUIRED)
如果该包提供了**FooConfig.cmake文件，CMake就会在标准位置中搜索该文件，并使用它来配置项目。如果该文件没有找到，CMake就会尝试使用FindFoo.cmake**文件进行搜索，或者使用其他的查找机制
5、Config.cmake文件应该被安装到系统的标准位置中，标准位置是哪里
通常情况下，Config.cmake文件应该被安装到系统的标准位置中，即**<prefix>/lib/<PackageName>/cmake/<PackageName>Config.cmake**
其中，<prefix>是安装时指定的CMAKE_INSTALL_PREFIX的路径。如果在编译库时没有显式指定CMAKE_INSTALL_PREFIX，则默认安装到**/usr/local/**目录下
猜一猜这些问答式的记录如何来的，Bingo，当然是问万能的chatGPT啦
通过上面的5个问答可以帮我们捋清思路
1、首先我们的功能包名为ADS，那么需要编辑一个ADSConfig.cmake文件
在文件中直接指定头文件路径和动态库位置
set(ADS_INCLUDE_DIRS /usr/local/include/ads)
set(ADS_LIBRARIES /usr/local/lib/libads.so)
2、然后我们将该.cmake文件安装到系统的标准位置，首先要新建目录，在cp过去
sudo mkdir /usr/local/lib/cmake/ADS
sudo cp ADSConfig.cmake /usr/local/lib/cmake/ADS
3、最后我们便可以像使用OpenCV一样使用ADS库，注意是CONFIG而不是REQUIRED
find_package(ADS CONFIG)
include_directories(${ADS_INCLUDE_DIRS})target_link_libraries(link_test ${ADS_LIBRARIES})
优化后ADS通信测试程序link_test的CMakeLists.txt如下
cmake_minimum_required(VERSION 3.10)
project(ads_test)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
include_directories(${PROJECT_SOURCE_DIR}/include)find_package(ADS CONFIG)
include_directories(${ADS_INCLUDE_DIRS})#添加测试程序
add_executable(link_test src/link_test.cpp)
target_link_libraries(link_test ${ADS_LIBRARIES})
Elegant!
后话
在Ubuntu下完整的优化后的Beckhoff ADS库已经托管到了个人仓库
GitHub仓库：Beckhoff_Ubuntu_ADS_Library
Gitee仓库：Beckhoff_Ubuntu_ADS_Library
还提供了一键编译安装的脚本go.sh
#!/bin/bash
echo "Begin build ADS Library"
echo "-----------------------------------"
cd build
cmake ..
make -j4echo -e "\nBegin install ADS Library"
echo "-----------------------------------"
sudo make installecho -e "\nConfig ADS CMake"
echo "-----------------------------------"
sudo mkdir /usr/local/lib/cmake/ADS
sudo cp ../ADSConfig.cmake /usr/local/lib/cmake/ADS
首先要为脚本添加可执行权限，运行脚本需要root权限，因此要加sudo
sudo chmod +x go.sh
sudo ./go.sh
redwall@redwall-G3-3500:~/3rd_party/AdsLib$ sudo ./go.sh
[sudo] redwall 的密码：
Begin build ADS Library
-----------------------------------
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/redwall/3rd_party/AdsLib/build
Scanning dependencies of target ads
[ 23%] Building CXX object CMakeFiles/ads.dir/src/AdsLib.cpp.o
[ 23%] Building CXX object CMakeFiles/ads.dir/src/AdsFile.cpp.o
[ 23%] Building CXX object CMakeFiles/ads.dir/src/AdsDef.cpp.o
[ 23%] Building CXX object CMakeFiles/ads.dir/src/AdsDevice.cpp.o
[ 29%] Building CXX object CMakeFiles/ads.dir/src/Frame.cpp.o
[ 35%] Building CXX object CMakeFiles/ads.dir/src/LicenseAccess.cpp.o
[ 41%] Building CXX object CMakeFiles/ads.dir/src/Log.cpp.o
[ 47%] Building CXX object CMakeFiles/ads.dir/src/RouterAccess.cpp.o
[ 52%] Building CXX object CMakeFiles/ads.dir/src/RTimeAccess.cpp.o
[ 58%] Building CXX object CMakeFiles/ads.dir/src/Sockets.cpp.o
[ 64%] Building CXX object CMakeFiles/ads.dir/standalone/AdsLib.cpp.o
[ 70%] Building CXX object CMakeFiles/ads.dir/standalone/AmsConnection.cpp.o
[ 76%] Building CXX object CMakeFiles/ads.dir/standalone/AmsNetId.cpp.o
[ 82%] Building CXX object CMakeFiles/ads.dir/standalone/AmsPort.cpp.o
[ 88%] Building CXX object CMakeFiles/ads.dir/standalone/AmsRouter.cpp.o
[ 94%] Building CXX object CMakeFiles/ads.dir/standalone/NotificationDispatcher.cpp.o
[100%] Linking CXX shared library ../lib/libads.so
[100%] Built target adsBegin install ADS Library
-----------------------------------
[100%] Built target ads
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/include/ads/include/
-- Installing: /usr/local/include/ads/include//Frame.h
-- Installing: /usr/local/include/ads/include//AdsNotificationOOI.h
-- Installing: /usr/local/include/ads/include//wrap_socket.h
-- Installing: /usr/local/include/ads/include//AdsDevice.h
-- Installing: /usr/local/include/ads/include//AmsPort.h
-- Installing: /usr/local/include/ads/include//wrap_endian.h
-- Installing: /usr/local/include/ads/include//Router.h
-- Installing: /usr/local/include/ads/include//RingBuffer.h
-- Installing: /usr/local/include/ads/include//Semaphore.h
-- Installing: /usr/local/include/ads/include//AmsRouter.h
-- Installing: /usr/local/include/ads/include//AdsFile.h
-- Installing: /usr/local/include/ads/include//Sockets.h
-- Installing: /usr/local/include/ads/include//AdsDef.h
-- Installing: /usr/local/include/ads/include//NotificationDispatcher.h
-- Installing: /usr/local/include/ads/include//AmsHeader.h
-- Installing: /usr/local/include/ads/include//AdsVariable.h
-- Installing: /usr/local/include/ads/include//AdsNotification.h
-- Installing: /usr/local/include/ads/include//AdsException.h
-- Installing: /usr/local/include/ads/include//LicenseAccess.h
-- Installing: /usr/local/include/ads/include//AdsLib.h
-- Installing: /usr/local/include/ads/include//RouterAccess.h
-- Installing: /usr/local/include/ads/include//AmsConnection.h
-- Installing: /usr/local/include/ads/include//Log.h
-- Installing: /usr/local/include/ads/include//RTimeAccess.h
-- Installing: /usr/local/include/ads/standalone/
-- Installing: /usr/local/include/ads/standalone//AdsDef.h
-- Installing: /usr/local/include/ads/standalone//AdsLib.h
-- Installing: /usr/local/lib/libads.soConfig ADS CMake
-----------------------------------
redwall@redwall-G3-3500:~/Test/ADS_test/build$ make
-- Configuring done
-- Generating done
-- Build files have been written to: /home/redwall/Test/ADS_test/build
Scanning dependencies of target link_test
[ 50%] Building CXX object CMakeFiles/link_test.dir/src/link_test.cpp.o
[100%] Linking CXX executable ../bin/link_test
[100%] Built target link_test
运行完脚本后就可以直接像使用OpenCV一样使用ADS库啦，大家快用起来吧，欢迎star哦
2023-05-31 补充
根据粉丝的反馈补充一些使用中的小的注意事项
在执行安装脚本之前，需要在 AdsLib 目录下新建 build 目录
git clone https://github.com/YangZhouDL/Beckhoff_Ubuntu_ADS_Library.git
cd AdsLib
mkdir build
sudo chmod +x go.sh
sudo ./go.sh
在执行安装脚本前应先确保 /usr/local/lib/ 目录下存在 cmake 文件夹，不存在则执行如下操作
cd /usr/local/lib/
sudo mkdir cmake
为确保能够顺利连接，请在 AdsDevice.h 中更改 defaultNetID 和 defaultIPV4 为自己的 ID 和 IP
更改完成后重新编译即可
