Merge branch 'release-v0.1.0'

Author: Olav de Haas

.clang-format

@@ -0,0 +1,65 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+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'
+}
+...

.travis.yml

@@ -28,11 +28,15 @@ env:
     - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
     - BUILDER=colcon
     - CATKIN_LINT=pedantic
-    - UPSTREAM_WORKSPACE='.rosinstall -march/march_gait_scheduler -march/march_gait_selection -march/march_launch -march/march_rqt_launch_menu -march/march_safety -march/march_sound_scheduler -march/march_state_machine'
-    - AFTER_SCRIPT='builder_run_build "$target_ws/install" "$target_ws" --cmake-target-skip-unavailable --cmake-target roslint'
-  matrix:
-    - ROS_DISTRO=kinetic
-    - ROS_DISTRO=melodic
+    - CATKIN_LINT_ARGS='--ignore literal_project_name --ignore target_name_collision'
+    - UPSTREAM_WORKSPACE='.rosinstall -march/march_data_collector -march/march_gait_scheduler -march/march_gain_scheduling -march/march_gait_selection -march/march_launch -march/march_safety -march/march_sound_scheduler -march/march_state_machine'
+
+jobs:
+  include:
+    - name: "Melodic"
+      env: ROS_DISTRO=melodic
+    - name: "clang-format"
+      env: ROS_DISTRO=melodic CLANG_FORMAT_CHECK=file
 
 # clone and run industrial_ci
 install:

CODEOWNERS

@@ -0,0 +1 @@
+* @project-march/v-software @bjornminderman @Olavhaasie

README.md

@@ -1,8 +1,10 @@
 # Hardware Interface
 The hardware interface of the MARCH exoskeleton. This includes EtherCAT master and uses the SOEM library.
 
+![GitHub release (latest by date including pre-releases)](https://img.shields.io/github/v/release/project-march/hardware-interface?include_prereleases)
+
 | Branch | Build Status |
 | ------ |:------------:|
-| Master | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=master)](https://travis-ci.com/project-march/hardware-interface) |
-| Develop | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=develop)](https://travis-ci.com/project-march/hardware-interface) |
+| master | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=master)](https://travis-ci.com/project-march/hardware-interface) |
+| develop | [![Build Status](https://api.travis-ci.com/project-march/hardware-interface.svg?branch=develop)](https://travis-ci.com/project-march/hardware-interface) |
 

doc.sh

@@ -1,11 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(march_hardware)
 
-add_compile_options(-std=c++11)
+add_compile_options(-std=c++11 -Wall -Wextra)
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
-    roslint
     soem
 )
 
@@ -15,18 +14,9 @@ catkin_package(
     LIBRARIES ${PROJECT_NAME}
 )
 
-set(ROSLINT_CPP_OPTS "--filter=-build/include,-build/header_guard,-runtime/references" "--linelength=120")
-
-file(GLOB_RECURSE lintfiles
-    "src/*.cpp"
-    "include/*.h"
-)
-
-roslint_cpp(${lintfiles})
-
-
 include_directories(
     include
+    SYSTEM
     ${catkin_INCLUDE_DIRS}
     ${soem_INCLUDE_DIRS}/soem
 )
@@ -36,26 +26,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
 )
 
 add_library(${PROJECT_NAME}
-    include/${PROJECT_NAME}/ActuationMode.h
-    include/${PROJECT_NAME}/AngleConversions.h
-    include/${PROJECT_NAME}/BootShutdownOffsets.h
-    include/${PROJECT_NAME}/Encoder.h
-    include/${PROJECT_NAME}/EtherCAT/EthercatIO.h
-    include/${PROJECT_NAME}/EtherCAT/EthercatMaster.h
-    include/${PROJECT_NAME}/EtherCAT/EthercatSDO.h
-    include/${PROJECT_NAME}/HighVoltage.h
-    include/${PROJECT_NAME}/IMotionCube.h
-    include/${PROJECT_NAME}/IMotionCubeState.h
-    include/${PROJECT_NAME}/IMotionCubeTargetState.h
-    include/${PROJECT_NAME}/Joint.h
-    include/${PROJECT_NAME}/LowVoltage.h
-    include/${PROJECT_NAME}/MarchRobot.h
-    include/${PROJECT_NAME}/NetDriverOffsets.h
-    include/${PROJECT_NAME}/PDOmap.h
-    include/${PROJECT_NAME}/PowerDistributionBoard.h
-    include/${PROJECT_NAME}/Slave.h
-    include/${PROJECT_NAME}/TemperatureGES.h
-    include/${PROJECT_NAME}/TemperatureSensor.h
     src/Encoder.cpp
     src/EtherCAT/EthercatIO.cpp
     src/EtherCAT/EthercatMaster.cpp

march_hardware/CMakeLists.txt

@@ -14,31 +14,31 @@
 
 int main(int argc, char** argv)
 {
-    ros::init(argc, argv, "slave_count_check");
-    ros::NodeHandle nh;
+  ros::init(argc, argv, "slave_count_check");
+  ros::NodeHandle nh;
 
-    ROS_INFO("Trying to start EtherCAT");
-    std::string ifname = "enp2s0";
+  ROS_INFO("Trying to start EtherCAT");
+  std::string ifname = "enp2s0";
 
-    // Initialise SOEM, bind socket to ifname
-    if (!ec_init(&ifname[0]))
-    {
-        ROS_FATAL("No socket connection on %s. Confirm that you have selected the right ifname", ifname.c_str());
-        nh.setParam("/check/slave_count", 0);
-        return 1;
-    }
-    ROS_INFO("ec_init on %s succeeded", ifname.c_str());
+  // Initialise SOEM, bind socket to ifname
+  if (!ec_init(&ifname[0]))
+  {
+    ROS_FATAL("No socket connection on %s. Confirm that you have selected the right ifname", ifname.c_str());
+    nh.setParam("/check/slave_count", 0);
+    return 1;
+  }
+  ROS_INFO("ec_init on %s succeeded", ifname.c_str());
 
-    // Find and auto-config slaves
-    if (ec_config_init(FALSE) <= 0)
-    {
-        ROS_FATAL("No slaves found, shutting down. Confirm that you have selected the right ifname.");
-        ROS_FATAL("Check that the first slave is connected properly");
-        nh.setParam("/check/slave_count", 0);
-        return 1;
-    }
-    ROS_INFO("%d slave(s) found and initialized.", ec_slavecount);
+  // Find and auto-config slaves
+  if (ec_config_init(FALSE) <= 0)
+  {
+    ROS_FATAL("No slaves found, shutting down. Confirm that you have selected the right ifname.");
+    ROS_FATAL("Check that the first slave is connected properly");
+    nh.setParam("/check/slave_count", 0);
+    return 1;
+  }
+  ROS_INFO("%d slave(s) found and initialized.", ec_slavecount);
 
-    nh.setParam("/check/slave_count", ec_slavecount);
-    return 0;
+  nh.setParam("/check/slave_count", ec_slavecount);
+  return 0;
 }

march_hardware/check/SlaveCount.cpp

@@ -1,8 +1,8 @@
 // Copyright 2019 Project March.
 
-#ifndef MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H
-#define MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H
-
+#ifndef MARCH_HARDWARE_ACTUATIONMODE_H
+#define MARCH_HARDWARE_ACTUATIONMODE_H
+#include <string>
 #include <ros/console.h>
 
 namespace march4cpp
@@ -89,4 +89,4 @@ class ActuationMode
 };
 }  // namespace march4cpp
 
-#endif  // MARCH_HARDWARE_INTERFACE_ACTUATIONMODE_H
+#endif  // MARCH_HARDWARE_ACTUATIONMODE_H

march_hardware/include/march_hardware/ActuationMode.h

@@ -1,6 +1,6 @@
 // Copyright 2019 Project March.
-#ifndef PROJECT_ANGLECONVERSIONS_H
-#define PROJECT_ANGLECONVERSIONS_H
+#ifndef MARCH_HARDWARE_ANGLECONVERSIONS_H
+#define MARCH_HARDWARE_ANGLECONVERSIONS_H
 
 #include <cmath>
 
@@ -14,4 +14,4 @@ float RadtoDeg(float rad)
   return static_cast<float>(rad * 180 / M_PI);
 }
 
-#endif  // PROJECT_ANGLECONVERSIONS_H
+#endif  // MARCH_HARDWARE_ANGLECONVERSIONS_H

march_hardware/include/march_hardware/AngleConversions.h

@@ -1,6 +1,6 @@
 // Copyright 2019 Project March.
-#ifndef MARCH_IV_BOOTSHUTDOWNOFFSETS_H
-#define MARCH_IV_BOOTSHUTDOWNOFFSETS_H
+#ifndef MARCH_HARDWARE_BOOTSHUTDOWNOFFSETS_H
+#define MARCH_HARDWARE_BOOTSHUTDOWNOFFSETS_H
 
 #include <ros/ros.h>
 
@@ -73,4 +73,4 @@ class BootShutdownOffsets
   }
 };
 
-#endif  // MARCH_IV_BOOTSHUTDOWNOFFSETS_H
+#endif  // MARCH_HARDWARE_BOOTSHUTDOWNOFFSETS_H