creat a new branch for plcopen motion control

.clang-format

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+# BSD 3-Clause License
+# 
+# Copyright (c) 2008-2013, Willow Garage, Inc.
+# All rights reserved.
+# 
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+# 
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# 
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+# 
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# 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.
+
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit:    80
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 100
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 70
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.gitignore

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+# VScode files
+.vscode
+
+# Build files
+build
+
+# Image files
+*.png
+
+# Generated documentation files
+doc
+
+# Eigen files
+*Eigen

.gitlab-ci.yml

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+stages:
+  - build
+  - deploy
+  - cleanup
+
+before_script:
+  - PLC_HEAD=$(git rev-parse HEAD)
+  - echo "$PLC_HEAD"
+  - PLC_URL=$(git remote get-url origin)
+  - echo $PLC_URL > url.txt
+  - sed -i "s/gitlab-ci-token/git/1" url.txt
+  - sed -i "s/git.*@/git@/g" url.txt
+  - sed -i "s/https/git/1" url.txt
+  - sed -i "s/com/com:29418/1" url.txt
+  - PLC_URL=$(cat url.txt)
+  - echo $PLC_URL
+  - mkdir -p ${HOME}/.ssh
+  - eval $(ssh-agent -s)
+  - ssh-add <(echo "$SSH_PRIVATE_KEY")
+  - rm -rf ${HOME}/.ssh/known_hosts && touch ${HOME}/.ssh/known_hosts
+  - ssh-keyscan -p 29418 -t ed25519 'gitlab.devtools.intel.com' >> ${HOME}/.ssh/known_hosts
+  - cat ${HOME}/.ssh/known_hosts
+
+# Build environment already set up at /home/gitlab-runner/tgr-build-setup
+build-bare-metal:
+  stage: build
+  script:
+    # Pull leatest ECS build setup `tgr-build-setup`
+    - cd ${HOME}/tgr-build-setup
+    - git reset --hard
+    - git pull origin master
+    # Clear last time change to `meta-plcopen`
+    - cd ./build/ecs-base-poky/layers/meta-plcopen
+    - git reset --hard
+    - cd ./recipes-plcopen/plcopen-motion-control
+    # Change git source of `plcopen_motion_control`
+    - number=`sed -n '/SRC_URI/=' ./plcopen-motion-control_internal.inc`
+    - echo $number
+    - sed -i "${number}a SRC_URI = \"$PLC_URL;protocol=ssh;destsuffix=git/plcopen_motion_control\"" ./plcopen-motion-control_internal.inc
+    - sed -i "${number}d" ./plcopen-motion-control_internal.inc
+    # Change git commit id of `plcopen_motion_control`
+    - number=`sed -n '/SRCREV/=' ./plcopen-motion-control_internal.inc`
+    - echo $number
+    - sed -i "${number}a SRCREV = \"$PLC_HEAD\"" ./plcopen-motion-control_internal.inc
+    - sed -i "${number}d" ./plcopen-motion-control_internal.inc
+    # Build image `tgr-image-bare-metal`
+    - cd ${HOME}/tgr-build-setup/build/ecs-base-poky/poky/
+    - source oe-init-build-env ../build/
+    - bitbake ecs-image-base-poky
+  only:
+    refs:
+      - master
+
+# Build environment already set up at /home/gitlab-runner/tgr-build-setup
+build-bare-metal-xenomai:
+  stage: build
+  script:
+    # Pull leatest ECS build setup `tgr-build-setup`
+    - cd ${HOME}/tgr-build-setup
+    - git reset --hard
+    - git pull origin master
+    # Clear last time change to `meta-plcopen`
+    - cd ./build/ecs-xenomai-poky/layers/meta-plcopen
+    - git reset --hard
+    - cd ./recipes-plcopen/plcopen-motion-control
+    # Change git source of `plcopen_motion_control`
+    - number=`sed -n '/SRC_URI/=' ./plcopen-motion-control_internal.inc`
+    - echo $number
+    - sed -i "${number}a SRC_URI = \"$PLC_URL;protocol=ssh;destsuffix=git/plcopen_motion_control\"" ./plcopen-motion-control_internal.inc
+    - sed -i "${number}d" ./plcopen-motion-control_internal.inc
+    # Change git commit id of `plcopen_motion_control`
+    - number=`sed -n '/SRCREV/=' ./plcopen-motion-control_internal.inc`
+    - echo $number
+    - sed -i "${number}a SRCREV = \"$PLC_HEAD\"" ./plcopen-motion-control_internal.inc
+    - sed -i "${number}d" ./plcopen-motion-control_internal.inc
+    # Build image `tgr-image-bare-metal-xenomai`
+    - cd ${HOME}/tgr-build-setup/build/ecs-xenomai-poky/poky/
+    - source oe-init-build-env ../build/
+    - bitbake ecs-image-xenomai-poky
+  only:
+    refs:
+      - master
+
+pages:
+  stage: deploy
+  before_script:
+    - sudo apt-get update -qq
+    - sudo apt-get -qq install doxygen
+    - sudo apt-get -qq install graphviz
+    - sudo apt-get -qq install libeigen3-dev
+  script:
+    - pwd
+    - doxygen ./Doxyfile 2>&1 >/dev/null
+    - mkdir .public
+    - cp -r build/html/. .public
+    - mv .public public
+    - ls public/
+  artifacts:
+    paths:
+      - public
+  only:
+    refs:
+      - master

.travis.yml

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+sudo: required
+dist: bionic
+services:
+  - docker
+language: cpp
+compiler: gcc
+
+notifications:
+  email:
+    recipients:
+
+addons:
+  apt:
+    packages:
+      - doxygen
+
+before_install: 
+  - sudo apt-get update -qq
+  - sudo apt-get -qq install graphviz
+  - sudo apt-get -qq install libeigen3-dev
+  - sudo apt-get -qq install python-matplotlib python-numpy python2.7-dev python-tk
+  - python -c 'import matplotlib.pyplot'
+
+before_script:
+  - export CXXFLAGS="-std=c++11"
+  - cd ~ && git clone https://github.com/google/googletest.git
+  - cd googletest && mkdir build
+  - cd build
+  - cmake .. -DBUILD_SHARED_LIBS=ON
+  - sudo make install
+  - echo $PWD
+
+script:
+  - cd $TRAVIS_BUILD_DIR
+  - mkdir build
+  - cd build
+  - cmake .. -DTEST=ON
+  - make
+  - ./function_block_test
+  - ./online_scurve_test
+  - ./offline_scurve_test
+  - ./planner_test
+  - cd ..
+  - rm -rf build
+  - doxygen ./Doxyfile
+
+after_success:
+  - touch build/html/.nojekyll
+
+deploy:
+  # Deploy to gh-pages branch
+  provider: pages
+  skip-cleanup: true
+  github-token: $GITHUB_TOKEN
+  local_dir: ./build/html
+  on:
+    branch: master 

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(RTmotion VERSION 0.1.0 LANGUAGES CXX)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter -Wno-unused-function -Wno-unused-but-set-variable)
+endif()
+
+# Default options
+option(COBALT "Enable compiling with Xenomai" OFF)
+option(TEST "Enable unit test" OFF)
+option(PLOT "Enable matplotlib c++" OFF)
+option(URANUS "Enable test on Uranus code" OFF)
+option(TIME "Record time stamps" OFF)
+option(DEBUG "Enable debug print" OFF)
+
+# Default file directory path 
+set(URANUS_DIR "/usr/local/Uranus" CACHE PATH "Root directory of Uranus.")
+set(XENOMAI_DIR "/usr/xenomai" CACHE PATH "Root directory of Xenomai.")
+set(XENO_BINDIR "${XENOMAI_DIR}/bin" CACHE PATH "Root directory of Xenomai.")
+set(SYSTEM_ROOT "/usr" CACHE PATH "System root directory used to find Python")
+
+if(TIME)
+  add_definitions(-DTIME)
+  add_executable(rdtsc_test test/rdtsc_test.cpp)
+  add_executable(get_clock_time_test test/get_clock_time_test.cpp)
+endif(TIME)
+
+if(DEBUG)
+  add_definitions(-DDEBUG)
+endif(DEBUG)
+
+# Set C C++ flags
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -fPIC -ggdb3")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_C_FLAGS} -std=c++14")
+
+# Set default install directories
+SET(CMAKE_INSTALL_INCLUDEDIR include)
+SET(CMAKE_INSTALL_LIBDIR lib)
+SET(CMAKE_INSTALL_BINDIR bin)
+
+# INSTALL_BINDIR is used at command line to define executable output directory
+if(NOT INSTALL_BINDIR)
+  set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR})
+endif()
+
+# Find Eigen3
+find_package(Eigen3 REQUIRED)
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+find_package(ruckig REQUIRED)
+
+# Enable matplotlib
+if(PLOT)
+  add_definitions(-DPLOT)
+  add_definitions(-DWITHOUT_NUMPY)
+
+  find_package(PythonLibs REQUIRED)
+  message(STATUS "PYTHON_INCLUDE_DIRS: ${PYTHON_INCLUDE_DIRS}")
+  message(STATUS "PYTHON_LIBRARIES: ${PYTHON_LIBRARIES}")
+endif(PLOT)
+
+# Add Xenomai compile flags
+if (COBALT)
+  execute_process(COMMAND ${XENO_BINDIR}/xeno-config --skin posix --cc OUTPUT_VARIABLE XENO_CC OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENO_BINDIR}/xeno-config --skin posix --cflags OUTPUT_VARIABLE XENO_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENO_BINDIR}/xeno-config --skin posix --auto-init-solib --ldflags OUTPUT_VARIABLE XENO_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  set(CMAKE_CC "${CMAKE_CC} ${XENO_CC}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${XENO_CFLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${XENO_LDFLAGS}")
+
+  message(STATUS "XENO_CC: ${XENO_CC}")
+  message(STATUS "XENO_CFLAGS: ${XENO_CFLAGS}")
+  message(STATUS "XENO_LDFLAGS: ${XENO_LDFLAGS}")
+endif(COBALT)
+
+add_subdirectory(src)
+
+if (TEST)
+  add_subdirectory(test)
+endif(TEST)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)