Merge pull request #34 from forno/upgrade/v1.3.0

Upgrade to v1.3.0

.gitignore

@@ -1,3 +1,3 @@
-build/
-bin/
-**/*.swp
+/build
+Makefile
+*.swp

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "thirdpatry/googletest"]
+	path = thirdpatry/googletest
+	url = https://github.com/google/googletest.git
+	ignore = dirty

.travis.yml

@@ -1,17 +1,20 @@
 language: cpp
-sudo: false
-dist: trusty
 group: beta
+dist: trusty
+sudo: false
 compiler:
-  - g++
-  - clang++
+- g++
+- clang++
+before_install:
+- cd thirdpatry/googletest/googletest
+- cmake -DCMAKE_BUILD_TYPE=RELEASE .
+- make
+- cd -
+- mkdir build
+- cd build
 install:
-  - make
-  - mkdir cbuild
-  - cd cbuild
-  - cmake .. -DCMAKE_INSTALL_PREFIX=install
-  - make
-  - make install
-  - cd ..
+- cmake .. -DCMAKE_INSTALL_PREFIX=install -DENABLE_TEST=ON
+- make
+- make install
 script:
-  ./bin/test
+- ctest

CMakeLists.txt

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

README.md

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

include/core.hpp → include/core.h

@@ -24,40 +24,43 @@ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef LIBICS3_ICS3_CORE_H_
-#define LIBICS3_ICS3_CORE_H_
-
-#include<array>
-#include<memory>
-#include<string>
-#include<vector>
-#include<termios.h>
-
-namespace ics {
-  class Core {
-  public:
-    using value_type = uint8_t;
-    using Container = std::vector<value_type>;
-    using IDContainerTx = std::array<value_type, 4>;
-    using IDContainerRx = std::array<value_type, 5>;
-    explicit Core(const std::string&, speed_t); // touch by only libics3
-    ~Core() noexcept;
-    Core(const Core&) = delete;
-    Core& operator=(const Core&) = delete;
-    Core(Core&&) noexcept;
-    Core& operator=(Core&&) noexcept;
-
-    static std::shared_ptr<Core> getCore(const std::string&, speed_t);
-    void communicate(const Container&, Container&);
-    void communicateID(const IDContainerTx&, IDContainerRx&);
-  private:
-    void closeThis() const noexcept;
-
-    static termios getTermios() noexcept;
-
-    int fd;
-    termios oldTio;
-  };
+#ifndef LIBICS3_ICS3_CORE_H
+#define LIBICS3_ICS3_CORE_H
+
+#include <array>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <termios.h>
+
+namespace ics
+{
+class Core
+{
+public:
+  using value_type = uint8_t;
+  using Container = std::vector<value_type>;
+  using IDContainerTx = std::array<value_type, 4>;
+  using IDContainerRx = std::array<value_type, 5>;
+  explicit Core(const std::string&, speed_t); // touch by only libics3
+  ~Core() noexcept;
+  Core(const Core&) = delete;
+  Core& operator=(const Core&) = delete;
+  Core(Core&&) noexcept;
+  Core& operator=(Core&&) noexcept;
+
+  static std::shared_ptr<Core> getCore(const std::string&, speed_t);
+  void communicate(const Container&, Container&);
+  void communicateID(const IDContainerTx&, IDContainerRx&);
+private:
+  void closeThis() const noexcept;
+
+  static termios getTermios() noexcept;
+
+  int fd;
+  termios oldTio;
+};
 }
 
-#endif // LIBICS3_ICS3_CORE_H_
+#endif // LIBICS3_ICS3_CORE_H