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Merge branch 'devel'
2 parents 6ee0a42 + 2a44238 commit 2ba0fda

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‎.gitmodules

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[submodule "oscc"]
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path = oscc
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url = https://github.com/PolySync/oscc.git
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[submodule "test/rapidcheck"]
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path = test/rapidcheck
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url = https://github.com/emil-e/rapidcheck.git
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[submodule "roscpp_code_format"]
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path = roscpp_code_format
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url = https://github.com/davetcoleman/roscpp_code_format.git

‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(roscco)
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## Compile as C++11, supported in ROS Kinetic and newer
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## C++11 is required for rapidcheck
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if (CMAKE_VERSION VERSION_LESS "3.1")
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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set (CMAKE_CXX_FLAGS "-std=gnu++11 ${CMAKE_CXX_FLAGS}")
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endif ()
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else ()
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set (CMAKE_CXX_STANDARD 11)
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endif ()
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include(oscc/api/OsccConfig.cmake)
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find_package(catkin REQUIRED COMPONENTS
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message_generation
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roscpp
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std_msgs
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)
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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add_message_files(
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FILES
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BrakeCommand.msg
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BrakeReport.msg
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BrakeReportData.msg
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CanFrame.msg
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CanFrameData.msg
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EnableDisable.msg
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FaultReport.msg
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FaultReportData.msg
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SteeringCommand.msg
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SteeringReport.msg
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SteeringReportData.msg
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ThrottleCommand.msg
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ThrottleReport.msg
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ThrottleReportData.msg
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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catkin_package(
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LIBRARIES oscc_api ${PROJECT_NAME}_ros_to_oscc ${PROJECT_NAME}_oscc_to_ros
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CATKIN_DEPENDS message_runtime roscpp std_msgs
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)
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###########
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## Build ##
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###########
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include_directories(${catkin_INCLUDE_DIRS})
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add_library(
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oscc_api
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oscc/api/src/oscc.c
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)
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target_include_directories(
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oscc_api PUBLIC
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include
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oscc/api/include
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)
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add_library(
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${PROJECT_NAME}_ros_to_oscc
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src/ros_to_oscc.cpp
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)
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target_include_directories(
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${PROJECT_NAME}_ros_to_oscc PUBLIC
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include
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oscc/api/include
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${catkin_INCLUDE_DIRS}
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)
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add_library(
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${PROJECT_NAME}_oscc_to_ros
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src/oscc_to_ros.cpp
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)
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target_include_directories(
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${PROJECT_NAME}_oscc_to_ros PUBLIC
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include
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oscc/api/include
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)
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target_link_libraries(
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${PROJECT_NAME}_oscc_to_ros
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oscc_api
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)
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add_dependencies(
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${PROJECT_NAME}_ros_to_oscc
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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add_dependencies(
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${PROJECT_NAME}_oscc_to_ros
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
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target_include_directories(
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${PROJECT_NAME}_node PUBLIC
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include
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oscc/api/include
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)
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add_dependencies(
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${PROJECT_NAME}_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}_node
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oscc_api
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${PROJECT_NAME}_ros_to_oscc
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${PROJECT_NAME}_oscc_to_ros
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${catkin_LIBRARIES}
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)
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if(EXAMPLE)
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add_executable(
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${PROJECT_NAME}_teleop
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example/${PROJECT_NAME}_teleop.cpp
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)
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target_include_directories(
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${PROJECT_NAME}_teleop PUBLIC
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include
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)
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add_dependencies(
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${PROJECT_NAME}_teleop
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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target_link_libraries(
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${PROJECT_NAME}_teleop
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${catkin_LIBRARIES}
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)
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endif()
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#############
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## Testing ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_subdirectory(test/rapidcheck)
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add_library(
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oscc_fixture
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test/oscc_fixture.c
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)
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target_include_directories(
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oscc_fixture PUBLIC
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test/include
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oscc/api/include/can_protocols
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)
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add_rostest_gtest(
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test_ros_oscc_api
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test/test_ros_to_oscc.launch
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test/test_ros_to_oscc.cpp
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)
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target_include_directories(
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test_ros_oscc_api PUBLIC
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test/include
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test/rapidcheck/include
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test/rapidcheck/extras/gtest/include
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)
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target_link_libraries(
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test_ros_oscc_api
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rapidcheck
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${PROJECT_NAME}_ros_to_oscc
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oscc_fixture
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${catkin_LIBRARIES}
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)
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add_rostest_gtest(
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test_oscc_ros_api
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test/test_oscc_to_ros.launch
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test/test_oscc_to_ros.cpp
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)
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target_include_directories(
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test_oscc_ros_api PUBLIC
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include
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test/include
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test/rapidcheck/include
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test/rapidcheck/extras/gtest/include
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oscc/api/include/can_protocols
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)
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target_link_libraries(
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test_oscc_ros_api
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rapidcheck
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${PROJECT_NAME}_oscc_to_ros
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oscc_fixture
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${catkin_LIBRARIES}
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)
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endif()
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#############
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## Install ##
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#############
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install(
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TARGETS
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oscc_api
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${PROJECT_NAME}_node
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${PROJECT_NAME}_oscc_to_ros
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${PROJECT_NAME}_ros_to_oscc
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(
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DIRECTORY
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include/${PROJECT_NAME}
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oscc/api/include
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)

‎Jenkinsfile

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#!groovy
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node('xenial') {
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try {
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stage('Checkout') {
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sh 'mkdir -p catkin_ws/src/roscco'
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dir('catkin_ws/src/roscco')
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{
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checkout([
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$class: 'GitSCM',
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branches: scm.branches,
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doGenerateSubmoduleConfigurations: false,
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extensions: scm.extensions + [[$class: 'CleanBeforeCheckout'],
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[$class: 'SubmoduleOption',
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disableSubmodules: false,
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parentCredentials: true,
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recursiveSubmodules: true,
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reference: '',
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trackingSubmodules: false]],
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submoduleCfg: [],
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userRemoteConfigs: scm.userRemoteConfigs
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])
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}
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}
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stage('Build') {
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parallel 'kia soul firmware': {
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sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make -DKIA_SOUL=ON'
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}
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echo 'Build Complete!'
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}
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stage('Test') {
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parallel 'kia soul tests': {
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sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make run_tests -DKIA_SOUL=ON && catkin_test_results'
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echo 'ROS Tests Complete!'
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}
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}
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stage('Release') {
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echo 'Release Package Created!'
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}
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}
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finally {
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deleteDir()
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}
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}

‎LICENSE

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MIT License
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The MIT License (MIT)
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=====================
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Copyright (c) 2017 PolySync Technologies
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Copyright (c) 2017 PolySync Technologies, Inc. All Rights Reserved.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

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