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This repository was archived by the owner on May 6, 2020. It is now read-only.

Commit 0e6346f

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fornoforno
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Merge pull request #34 from forno/upgrade/v1.3.0
Upgrade to v1.3.0
2 parents 71b2ee9 + f115b38 commit 0e6346f

24 files changed

+981
-942
lines changed

‎.gitignore‎

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build/
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bin/
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**/*.swp
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/build
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Makefile
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*.swp

‎.gitmodules‎

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[submodule "thirdpatry/googletest"]
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path = thirdpatry/googletest
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url = https://github.com/google/googletest.git
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ignore = dirty

‎.travis.yml‎

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language: cpp
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sudo: false
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dist: trusty
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group: beta
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dist: trusty
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sudo: false
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compiler:
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- g++
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- clang++
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- g++
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- clang++
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before_install:
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- cd thirdpatry/googletest/googletest
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- cmake -DCMAKE_BUILD_TYPE=RELEASE .
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- make
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- cd -
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- mkdir build
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- cd build
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install:
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- make
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- mkdir cbuild
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- cd cbuild
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- cmake .. -DCMAKE_INSTALL_PREFIX=install
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- make
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- make install
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- cd ..
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- cmake .. -DCMAKE_INSTALL_PREFIX=install -DENABLE_TEST=ON
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- make
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- make install
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script:
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./bin/test
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- ctest

‎CMakeLists.txt‎

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@@ -1,86 +1,95 @@
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CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
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project(ics3 CXX)
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SET(PROJECT_VER_MAJOR 1)
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SET(PROJECT_VER_MINOR 2)
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SET(PROJECT_VER_PATCH 6)
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SET(PROJECT_VER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
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SET(PROJECT_APIVER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")
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IF(NOT DEFINED CMAKE_BUILD_TYPE)
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# No effect for multi-configuration generators (e.g. for Visual Studio)
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SET(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose: RelWithDebInfo Release Debug MinSizeRel None")
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ENDIF()
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SET(MY_DIR ${ics3_SOURCE_DIR})
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OPTION(BUILD_SHARED_LIBS "Build shared (ON) or static (OFF) libraries" ON)
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OPTION(ENABLE_CXX11 "Enable C++11 support" ON)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
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SET(HAVE_CXX11 disabled)
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IF(ENABLE_CXX11)
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INCLUDE(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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IF(COMPILER_SUPPORTS_CXX11)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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SET(LIBICS3_WITH_CXX11_SUPPORT 1)
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SET(HAVE_CXX11 yes)
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ELSEIF(COMPILER_SUPPORTS_CXX0X)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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SET(HAVE_CXX11 c++0x)
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ELSE()
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SET(HAVE_CXX11 no)
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MESSAGE(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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ENDIF()
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ENDIF(ENABLE_CXX11)
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cmake_minimum_required(VERSION 2.8.12.1)
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project(ics3 C CXX)
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set(PROJECT_VER_MAJOR 1)
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set(PROJECT_VER_MINOR 3)
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set(PROJECT_VER_PATCH 0)
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set(PROJECT_VER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
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set(PROJECT_APIVER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")
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if(NOT DEFINED CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose: RelWithDebInfo Release Debug MinSizeRel None")
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endif()
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option(BUILD_SHARED_LIBS "Build shared (ON) or static (OFF) libraries" ON)
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option(ENABLE_TEST "Enable test program building" OFF)
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set(MY_DIR ${ics3_SOURCE_DIR})
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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#set the default path for built executables to the "bin" directory
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SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
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#set the default path for built libraries to the "lib" directory
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SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
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SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
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# Add includes
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INCLUDE_DIRECTORIES(
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"${MY_DIR}/include"
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${PROJECT_BINARY_DIR} # for generated headers
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include_directories(
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${MY_DIR}/include
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)
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FILE(GLOB ICS3_SOURCES
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file(GLOB ICS3_SOURCES
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${MY_DIR}/src/*.cpp
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)
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LIST(REMOVE_ITEM ICS3_SOURCES ${MY_DIR}/src/test.cpp)
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FILE(GLOB ICS3_HEADERS
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file(GLOB ICS3_HEADERS
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${MY_DIR}/include/ics3/*.hpp
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${MY_DIR}/include/core.hpp
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)
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SET(SOURCES
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set(SOURCES
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${ICS3_HEADERS}
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${ICS3_SOURCES}
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)
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69-
ADD_LIBRARY(ics3 ${SOURCES})
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SET_TARGET_PROPERTIES(ics3 PROPERTIES
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add_library(ics3 ${SOURCES})
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set_target_properties(ics3 PROPERTIES
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VERSION ${PROJECT_VER}
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SOVERSION ${PROJECT_APIVER}
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)
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TARGET_LINK_LIBRARIES(ics3)
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INSTALL(TARGETS ics3 DESTINATION lib RUNTIME DESTINATION bin)
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INSTALL(DIRECTORY "${MY_DIR}/include/${PROJECT_NAME}" DESTINATION include)
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GET_CMAKE_PROPERTY(vars VARIABLES)
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MESSAGE(STATUS "Feature list:")
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FOREACH(var ${vars})
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IF(var MATCHES ^HAVE_)
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STRING(REPLACE HAVE_ "" feature ${var})
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MESSAGE(STATUS " ${feature} ${${var}}")
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ENDIF()
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ENDFOREACH()
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target_link_libraries(ics3)
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66+
if(ENABLE_TEST)
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set(GTEST_ROOT ${MY_DIR}/thirdpatry/googletest/googletest)
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find_package(GTest REQUIRED)
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find_package(Threads)
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71+
include_directories(${GTEST_INCLUDE_DIRS})
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add_executable(integrate test/integrate.cpp)
73+
target_link_libraries(integrate ics3 ${GTEST_BOTH_LIBRARIES})
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if(THREADS_HAVE_PTHREAD_ARG)
75+
target_compile_options(PUBLIC integrate "-pthread")
76+
endif()
77+
if(CMAKE_THREAD_LIBS_INIT)
78+
target_link_libraries(integrate "${CMAKE_THREAD_LIBS_INIT}")
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endif()
80+
81+
enable_testing()
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add_test(AllTestInIntegrate ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/integrate)
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endif()
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85+
install(TARGETS ics3 DESTINATION lib RUNTIME DESTINATION bin)
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install(DIRECTORY "${MY_DIR}/include/${PROJECT_NAME}" DESTINATION include)
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88+
get_cmake_property(vars VARIABLES)
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message(STATUS "Feature list:")
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foreach(var ${vars})
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if(var MATCHES ^HAVE_)
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string(REPLACE HAVE_ "" feature ${var})
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message(STATUS " ${feature} ${${var}}")
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endif()
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endforeach()

‎Makefile‎

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This file was deleted.

‎README.md‎

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@@ -11,7 +11,6 @@ ex)[KRS series servo moters produced by KONDO KAGAKU co., ltd.](http://kondo-rob
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1. This software require c++11 compiler. In ubuntu 14.04 or after version have compiler support c++11.
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2. This software only support serial mode. You should lock the serial mode for never turn on PWM mode.
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3. Linux need serial device that mounted for use it. `script/setup.sh` will mount it to `/dev/ttyUSB0`.
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4. The Makefile for debuging. You should take CMake for installation.
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## API Reference
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Reference [the libics3 wiki](https://github.com/forno/libics3/wiki)

include/core.hpp renamed to include/core.h

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Original file line numberDiff line numberDiff line change
@@ -24,40 +24,43 @@ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
27-
#ifndef LIBICS3_ICS3_CORE_H_
28-
#define LIBICS3_ICS3_CORE_H_
29-
30-
#include<array>
31-
#include<memory>
32-
#include<string>
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#include<vector>
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#include<termios.h>
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36-
namespace ics {
37-
class Core {
38-
public:
39-
using value_type = uint8_t;
40-
using Container = std::vector<value_type>;
41-
using IDContainerTx = std::array<value_type, 4>;
42-
using IDContainerRx = std::array<value_type, 5>;
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explicit Core(const std::string&, speed_t); // touch by only libics3
44-
~Core() noexcept;
45-
Core(const Core&) = delete;
46-
Core& operator=(const Core&) = delete;
47-
Core(Core&&) noexcept;
48-
Core& operator=(Core&&) noexcept;
49-
50-
static std::shared_ptr<Core> getCore(const std::string&, speed_t);
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void communicate(const Container&, Container&);
52-
void communicateID(const IDContainerTx&, IDContainerRx&);
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private:
54-
void closeThis() const noexcept;
55-
56-
static termios getTermios() noexcept;
57-
58-
int fd;
59-
termios oldTio;
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};
27+
#ifndef LIBICS3_ICS3_CORE_H
28+
#define LIBICS3_ICS3_CORE_H
29+
30+
#include <array>
31+
#include <memory>
32+
#include <string>
33+
#include <vector>
34+
35+
#include <termios.h>
36+
37+
namespace ics
38+
{
39+
class Core
40+
{
41+
public:
42+
using value_type = uint8_t;
43+
using Container = std::vector<value_type>;
44+
using IDContainerTx = std::array<value_type, 4>;
45+
using IDContainerRx = std::array<value_type, 5>;
46+
explicit Core(const std::string&, speed_t); // touch by only libics3
47+
~Core() noexcept;
48+
Core(const Core&) = delete;
49+
Core& operator=(const Core&) = delete;
50+
Core(Core&&) noexcept;
51+
Core& operator=(Core&&) noexcept;
52+
53+
static std::shared_ptr<Core> getCore(const std::string&, speed_t);
54+
void communicate(const Container&, Container&);
55+
void communicateID(const IDContainerTx&, IDContainerRx&);
56+
private:
57+
void closeThis() const noexcept;
58+
59+
static termios getTermios() noexcept;
60+
61+
int fd;
62+
termios oldTio;
63+
};
6164
}
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63-
#endif // LIBICS3_ICS3_CORE_H_
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#endif // LIBICS3_ICS3_CORE_H

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