Move to sygnal_dbc package installation and auto generated library (#4)

* Moving things into a clearer format and auto-generating a library for usage

* Clean up package.xml

* Update readme.md without the generated stuff

* Remove unnecessary package reference in sygnal_dbc

* Clean up published include dirs

* Clean up cmakelists a bit

* Remove unnecessary branch

Author: zeerekahmad

sygnal_dbc/CMakeLists.txt

@@ -0,0 +1,93 @@
+# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+cmake_minimum_required(VERSION 3.5)
+
+project(sygnal_dbc VERSION 0.1.0 LANGUAGES C)
+
+find_package(ament_cmake REQUIRED)
+find_package(Python3 COMPONENTS Interpreter REQUIRED)
+include(GNUInstallDirs)
+
+# Install the DBC database directory
+install(
+  DIRECTORY database/
+  DESTINATION share/${PROJECT_NAME}/database
+)
+
+
+# Generate C sources/headers from all .dbc files under database/
+file(GLOB_RECURSE DBC_FILES CONFIGURE_DEPENDS
+  "${CMAKE_CURRENT_SOURCE_DIR}/database/*.dbc")
+
+set(GENERATED_C_SOURCES)
+set(GENERATED_HEADERS)
+
+foreach(DBC_FILE IN LISTS DBC_FILES)
+  # Compute path pieces to mirror the database/ layout under build dir
+  file(RELATIVE_PATH REL_PATH "${CMAKE_CURRENT_SOURCE_DIR}/database" "${DBC_FILE}")
+  get_filename_component(REL_DIR "${REL_PATH}" DIRECTORY)
+  get_filename_component(DBC_BASENAME_WE "${DBC_FILE}" NAME_WE)
+
+  # cantools generates lowercase file basenames; mirror that here
+  string(TOLOWER "${DBC_BASENAME_WE}" MOD_NAME)
+
+  # Generate directly into the build include tree so dependents
+  # can include headers during the same colcon invocation.
+  set(OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${REL_DIR}")
+  set(OUT_C   "${OUT_DIR}/${MOD_NAME}.c")
+  set(OUT_H   "${OUT_DIR}/${MOD_NAME}.h")
+
+  add_custom_command(
+    OUTPUT ${OUT_C} ${OUT_H}
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${OUT_DIR}
+    COMMAND ${Python3_EXECUTABLE} -m cantools generate_c_source ${DBC_FILE} -o ${OUT_DIR} --database-name ${MOD_NAME}
+    DEPENDS ${DBC_FILE}
+    COMMENT "Generating C source from DBC '${REL_PATH}' with cantools"
+    VERBATIM
+  )
+
+  list(APPEND GENERATED_C_SOURCES ${OUT_C})
+  list(APPEND GENERATED_HEADERS   ${OUT_H})
+endforeach()
+
+add_library(${PROJECT_NAME} STATIC ${GENERATED_C_SOURCES})
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+)
+
+# Ensure generation runs as part of normal build (sources already bind it)
+add_custom_target(generate_can_sources ALL
+  DEPENDS ${GENERATED_C_SOURCES} ${GENERATED_HEADERS})
+
+# Install generated headers so dependents can include them
+install(
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Export only modern CMake targets; include dirs and libs are already
+# encoded on the exported target usage requirements above.
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_package(CONFIG_EXTRAS "cmake/${PROJECT_NAME}-extras.cmake")

sygnal_dbc/README.md

@@ -0,0 +1,59 @@
+# sygnal_dbc
+
+Provides Sygnal DBC files and a C library produced by cantools. The package
+installs the raw DBC database and, at build time, generates `.c/.h` files for
+each `.dbc` and exposes them via a static library for consumers.
+
+## Contents
+- Installed DBCs: `share/sygnal_dbc/database/...`
+- Installed headers: `include/sygnal_dbc/<subdir>/<name>.h`
+- Library: `sygnal_dbc`
+- CMake var: `SYGNAL_DBC_DIR` → points to installed `database` directory
+
+## Build
+Prereqs:
+- ROS 2 ament environment sourced
+- Python 3 with cantools: `python3 -m pip install cantools`
+
+Build only this package:
+
+```
+colcon build --packages-select sygnal_dbc
+```
+
+## Using in C++ (ament_cmake)
+In your package CMakeLists.txt:
+
+```
+find_package(ament_cmake REQUIRED)
+find_package(sygnal_dbc REQUIRED)
+
+add_executable(my_node src/my_node.cpp)
+ament_target_dependencies(my_node )
+# Link the library (headers are exported)
+target_link_libraries(my_node sygnal_dbc)
+```
+
+Include headers (lowercase file basenames, folder layout mirrors `database/`):
+
+```
+#include <sygnal_dbc/cb/configuration.h>
+#include <sygnal_dbc/mcm/heartbeat.h>
+```
+
+The exact header names come from each DBC file name, lowercased.
+
+## Accessing raw DBCs
+After `find_package(sygnal_dbc)`, the CMake variable `SYGNAL_DBC_DIR` is set to
+`<install-prefix>/share/sygnal_dbc/database`. Use it to locate raw `.dbc` files:
+
+```
+# Example: install a copy of a specific dbc next to your target
+install(FILES "${SYGNAL_DBC_DIR}/cb/Configuration.dbc" DESTINATION share/${PROJECT_NAME}/dbc)
+```
+
+## Notes
+- The installed headers mirror the folder structure under `database/`
+  (`cb/`, `io/`, `mcm/`, `vehicles/`).
+- If you add or rename `.dbc` files, just rebuild; sources regenerate
+  automatically.

sygnal_dbc/cmake/sygnal_dbc-extras.cmake

@@ -0,0 +1,24 @@
+# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# sygnal_dbc extras included by ament's find_package
+
+# Determine the installed share directory from the location of this config
+get_filename_component(_pkg_share_dir "${sygnal_dbc_DIR}/.." ABSOLUTE)
+
+# Public variable for consumers to locate the DBC database
+set(SYGNAL_DBC_DIR "${_pkg_share_dir}/database")
+
+if(NOT sygnal_dbc_FIND_QUIETLY)
+  message(STATUS "sygnal_dbc: SYGNAL_DBC_DIR='${SYGNAL_DBC_DIR}'")
+endif()