Commit 84e0523c authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'install_path'

parents 9953b35a ce9ff2a8
bin
build
lib
src/xml/*.cxx
src/xml/*.hxx
image: docker.io/labrobotica/labrobotica
stages:
- build
- test
- deploy
build-package:
stage: build
script:
# Uncomment to install dependencies
# - apt update
# - apt -y install iri-<package_name>-dev
- apt update
- apt -y install iri-iriutils-dev iri-comm-dev iri-trajectory-dev iri-dynamixel-dev
- apt install -y libxerces-c-dev xsdcxx
- mkdir -pv build
- cd build
- cmake -D CMAKE_BUILD_TYPE=RELEASE -DCPACK_PACKAGE_VERSION=$CI_COMMIT_TAG ..
- make package -j $(nproc)
artifacts:
paths:
- build/*.deb
expire_in: 2 weeks
only:
- tags
update_repo:
stage: deploy
script:
- cd build
- "scp -i /root/.ssh/iriLabKeyNopwd -r *dynamixel-motor-cont*.deb irilabo@147.83.76.226:packages/"
- "ssh irilabo@147.83.76.226 -i /root/.ssh/iriLabKeyNopwd -tt /home/irilabo/repo_scripts/update_repo.sh dynamixel-motor-cont"
only:
- tags
......@@ -8,7 +8,8 @@ if(COMMAND cmake_policy)
endif(COMMAND cmake_policy)
# The project name and the type of project
PROJECT(dynamixel-motor-cont)
PROJECT(dynamixel_motor_cont)
SET(PACKAGE_NAME dynamixel-motor-cont)
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
......@@ -65,15 +66,30 @@ ELSE(UNIX)
)
ENDIF(UNIX)
IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
SET (X86 TRUE)
SET(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "amd64")
ELSE ()
SET (X86 FALSE)
SET(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "i386")
ENDIF()
IF (UNIX)
SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
SET(CPACK_PACKAGE_FILE_NAME "iri-${PACKAGE_NAME}-dev-${CPACK_PACKAGE_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
SET(CPACK_PACKAGE_NAME "iri-${PACKAGE_NAME}-dev")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at https://gitlab.iri.upc.edu/labrobotica/labrobotica_how_to")
SET(CPACK_PACKAGING_INSTALL_PREFIX /usr)
SET(CPACK_GENERATOR "DEB")
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica@iri.upc.edu")
SET(CPACK_SET_DESTDIR "ON") # Necessary because of the absolute install paths
SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-dynamixel-dev (>= 1.2~${DISTRIB}), iri_motor_control_dev (>= 1.0.4~${DISTRIB}) ")
SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica - labrobotica@iri.upc.edu")
# Uncomment to add the necessary mantainer scripts
# SET(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA "${CMAKE_SOURCE_DIR}/package_scripts/preinst;${CMAKE_SOURCE_DIR}/package_scripts/postinst;${CMAKE_SOURCE_DIR}/package_scripts/prerm;${CMAKE_SOURCE_DIR}/package_scripts/postrm")
# Uncomment to add dependencies comma separated
# SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-<package_name>-dev (>= 1.0~${DISTRIB})")
SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-iriutils-dev (>= 1.0~${DISTRIB}), iri-comm-dev (>= 1.0~${DISTRIB}), libxerces-c-dev (>= 1.0~${DISTRIB}), xsdcxx (>= 1.0~${DISTRIB}), iri-trajectory-dev (>= 1.0~${DISTRIB}), iri-dynamixel-dev (>= 1.0~${DISTRIB})")
INCLUDE(CPack)
ELSE(UNIX)
ADD_CUSTOM_COMMAND(
......@@ -82,3 +98,4 @@ ELSE(UNIX)
)
ENDIF(UNIX)
#edit the following line to add the librarie's header files
FIND_PATH(dynamixel_motor_cont_INCLUDE_DIR dynamixel.h /usr/include/iridrivers /usr/local/include/iridrivers)
FIND_PATH(dynamixel_motor_cont_INCLUDE_DIRS dynamixel_motor.h dynamixel_motor_group.h dynamixel_registers.h dynamixel_motor_exceptions.h /usr/local/include/iri/dynamixel_motor_cont /usr/include/iri/dynamixel_motor_cont)
FIND_LIBRARY(dynamixel_motor_cont_LIBRARY
FIND_LIBRARY(dynamixel_motor_cont_LIBRARIES
NAMES dynamixel_motor_cont
PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers)
PATHS /usr/local/lib/iri/dynamixel_motor_cont /usr/lib/iri/dynamixel_motor_cont)
SET(dynamixel_motor_cont_INCLUDE_DIR ${dynamixel_motor_cont_INCLUDE_DIRS})
SET(dynamixel_motor_cont_LIBRARY ${dynamixel_motor_cont_LIBRARIES})
IF (dynamixel_motor_cont_INCLUDE_DIR AND dynamixel_motor_cont_LIBRARY)
IF (dynamixel_motor_cont_INCLUDE_DIRS AND dynamixel_motor_cont_LIBRARIES)
SET(dynamixel_motor_cont_FOUND TRUE)
ENDIF (dynamixel_motor_cont_INCLUDE_DIR AND dynamixel_motor_cont_LIBRARY)
ENDIF (dynamixel_motor_cont_INCLUDE_DIRS AND dynamixel_motor_cont_LIBRARIES)
IF (dynamixel_motor_cont_FOUND)
IF (NOT dynamixel_motor_cont_FIND_QUIETLY)
MESSAGE(STATUS "Found dynamixel_motor_cont: ${dynamixel_motor_cont_LIBRARY}")
MESSAGE(STATUS "Found dynamixel_motor_cont: ${dynamixel_motor_cont_LIBRARIES}")
ENDIF (NOT dynamixel_motor_cont_FIND_QUIETLY)
ELSE (dynamixel_motor_cont_FOUND)
IF (dynamixel_motor_cont_FIND_REQUIRED)
......
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
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License, supplemented by the additional permissions listed below.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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1. Exception to Section 3 of the GNU GPL.
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3. Object Code Incorporating Material from Library Header Files.
The object code form of an Application may incorporate material from
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is a work based on the Library, and explaining where to find the
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6. Revised Versions of the GNU Lesser General Public License.
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of the GNU Lesser General Public License from time to time. Such new
versions will be similar in spirit to the present version, but may
differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the
Library as you received it specifies that a certain numbered version
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published by the Free Software Foundation. If the Library as you
received it does not specify a version number of the GNU Lesser
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General Public License ever published by the Free Software Foundation.
If the Library as you received it specifies that a proxy can decide
whether future versions of the GNU Lesser General Public License shall
apply, that proxy's public statement of acceptance of any version is
permanent authorization for you to choose that version for the
Library.
Dynamixel\_motor\_cont library {#mainpage}
============
## Description
This driver offers a c++ wrapper to control a [dynamixel servo](http://www.robotis.us/dynamixel/). This driver provides a set of functions to:
* Configure the servo with an XML file.
* Download the current configuration to a XML file.
* Move the servo to a desired position.
* Move the servo to a desired position relative to the current position.
* Move the servo on torque mode.
* Get any feedback that the servo offers.
## Installation
* Add the labrobotica repository if it is not already added:
``` sudo sh -c 'echo "deb [arch=amd64] http://147.83.76.226/~irilabo/packages xenial main" > /etc/apt/sources.list.d/labrobotica_repo.list' ```
``` wget -O - http://147.83.76.226/~irilabo/labrobotica_repo.gpg.key | sudo apt-key add - ```
* Install the package:
``` sudo apt update && sudo apt install iri-dynamixel-motor-cont-dev ```
## Important information
To use this driver is necessary to unload the *ftdi_sio* module, so the device is detected as a serial-usb device.
This can be achieved with the following command
```sudo rmmod ftdi_sio```
or executing the following script:
```unbind_ftdi_udev.sh -s <serial_number>```
## Disclaimer
Copyright (C) 2009-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
## For developers
<details><summary>click here</summary>
<p>
## Dependencies
This package requires of the following system libraries and packages
* [cmake](https://www.cmake.org "CMake's Homepage"), a cross-platform build system.
* [doxygen](http://www.doxygen.org "Doxygen's Homepage") and [graphviz](http://www.graphviz.org "Graphviz's Homepage") to generate the documentation.
* [XSD](http://wiki.codesynthesis.com/XSD "XSD wiki main page") to enable XML support.
* stdc++.
Under linux all of these utilities are available in ready-to-use packages.
Under MacOS most of the packages are available via [fink](http://www.finkproject.org/ "Fink's Homepage")
This package also requires of the following IRI libraries:
* [iriutils](https://gitlab.iri.upc.edu/labrobotica/algorithms/iriutils "iriutils gitlab page"), a set of basic tools.
* [comm](https://gitlab.iri.upc.edu/labrobotica/drivers/comm "comm gitlab page"), a set of drivers for standard communication devices.
* [dynamixel](https://gitlab.iri.upc.edu/labrobotica/drivers/dynamixel "dynamixel gitlab page"), a driver for dynamixel communication protocol.
## Compilation and installation from source
Clone this repository and create a build folder inside:
``` mkdir build ```
Inside the build folder execute the following commands:
``` cmake .. ```
The default build mode is DEBUG. That is, objects and executables include debug information.
The RELEASE build mode optimizes for speed. To build in this mode execute instead
``` cmake .. -DCMAKE_BUILD_TYPE=RELEASE ```
The release mode will be kept until next time cmake is executed.
``` make -j $(nproc)```
In case no errors are reported, the generated libraries (if any) will be located at the
_lib_ folder and the executables (if any) will be located at the _bin_ folder.
In order to be able to use the library, it it necessary to copy it into the system.
To do that, execute
``` make install ```
as root and the shared libraries will be copied to */usr/local/lib/iri/dynamixel_motor_cont* directory
and the header files will be copied to */usr/local/include/iri/dynamixel_motor_cont* dierctory. If the
support for XML file is enabled, all the necessary files will be copied to */usr/local/include/iri/dynamixel_motor_cont/xml*.
At this point, the library may be used by any user.
To remove the library from the system, exceute
``` make uninstall ```
as root, and all the associated files will be removed from the system.
To generate the documentation execute the following command:
``` make doc ```
## How to use it
To use this library in an other library or application, in the CMakeLists.txt file, first it is necessary to locate if the library has been installed or not using the following command
``` FIND_PACKAGE(dynamixel_motor_cont) ```
In the case that the package is present, it is necessary to add the header files directory to the include directory path by using
``` INCLUDE_DIRECTORIES(${dynamixel_motor_cont_INCLUDE_DIRS}) ```
and it is also necessary to link with the desired libraries by using the following command
``` TARGET_LINK_LIBRARIES(<executable name> ${dynamixel_motor_cont_LIBRARIES}) ```
## Examples
There are several examples that show how to use the different classes.
</p>
</details>
Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Author shernand (shernand@iri.upc.edu)
All rights reserved.
This file is part of Dynamixel motor controller library
Dynamixel motor controller library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
......@@ -3,7 +3,9 @@ ADD_SUBDIRECTORY(xml)
# edit the following line to add all the source code files of the library
SET(sources dynamixel_motor.cpp dynamixel_motor_group.cpp dynamixel_registers.cpp dynamixel_motor_exceptions.cpp)
# edit the following line to add all the header files of the library
SET(headers dynamixel_motor.h dynamixel_motor_group.h dynamixel_registers.h dynamixel_motor_exceptions.h)
SET(headers ../include/dynamixel_motor.h ../include/dynamixel_motor_group.h ../include/dynamixel_registers.h ../include/dynamixel_motor_exceptions.h)
INCLUDE_DIRECTORIES(../include)
FIND_PACKAGE(iriutils REQUIRED)
......@@ -14,24 +16,24 @@ FIND_PACKAGE(dynamixel REQUIRED)
FIND_PACKAGE(trajectory REQUIRED)
# edit the following line to add the necessary include directories
INCLUDE_DIRECTORIES(. ${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR} ${trajectory_INCLUDE_DIR})
INCLUDE_DIRECTORIES(. ${iriutils_INCLUDE_DIRS} ${comm_INCLUDE_DIRS} ${dynamixel_INCLUDE_DIRS} ${trajectory_INCLUDE_DIRS})
SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
ADD_LIBRARY(dynamixel_motor_cont SHARED ${sources} ${XSD_SOURCES})
#edit the following line to add the necessary system libraries (if any)
TARGET_LINK_LIBRARIES(dynamixel_motor_cont ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${XSD_LIBRARY} ${trajectory_LIBRARY})
TARGET_LINK_LIBRARIES(dynamixel_motor_cont ${iriutils_LIBRARIES} ${comm_LIBRARIES} ${dynamixel_LIBRARIES} ${XSD_LIBRARIES} ${trajectory_LIBRARIES})
ADD_DEPENDENCIES(dynamixel_motor_cont xsd_files_gen)
INSTALL(TARGETS dynamixel_motor_cont
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers
LIBRARY DESTINATION lib/iri/${PROJECT_NAME}
ARCHIVE DESTINATION lib/iri/${PROJECT_NAME}
)
INSTALL(FILES ${headers} DESTINATION include/iridrivers)
INSTALL(FILES ${headers} DESTINATION include/iri/${PROJECT_NAME})
INSTALL(FILES ../Finddynamixel_motor_cont.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
......
......@@ -4,15 +4,18 @@ IF(EXISTS "/usr/include/xsd/cxx")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -D_HAVE_XSD" PARENT_SCOPE)
SET(XSD_FOUND TRUE)
MESSAGE(STATUS "Found the XML library ... adding support for XML files")
FIND_LIBRARY(XSD_LIBRARY
FIND_LIBRARY(XSD_LIBRARIES
NAMES xerces-c
PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu/)
SET(XSD_LIBRARY ${XSD_LIBRARIES})
ELSE(EXISTS "/usr/include/xsd/cxx")
MESSAGE(STATUS "XML library not found ... it will be impossible to handle XML files")
ENDIF(EXISTS "/usr/include/xsd/cxx")
IF(XSD_FOUND)
SET(XSD_LIBRARIES ${XSD_LIBRARIES} PARENT_SCOPE)
SET(XSD_LIBRARY ${XSD_LIBRARY} PARENT_SCOPE)
SET(XSD_FILES dynamixel_motor_cfg_file.xsd dynamixel_motor_group_cfg_file.xsd)
IF(XSD_FILES)
......@@ -39,7 +42,7 @@ IF(XSD_FOUND)
DEPENDS ${XSD_PATH_FILES}
COMMENT "Parsing the xml template file ${XSD_FILES}")
INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iridrivers/xml)
INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iridrivers/xml)
INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iri/${PROJECT_NAME}/xml)
INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iri/${PROJECT_NAME}/xml)
ENDIF(XSD_FILES)
ENDIF(XSD_FOUND)
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