Merge branch 'develop' into feature/PM-414-make-new-controller-template

Author: Olavhaasie

march_hardware/CMakeLists.txt

@@ -27,7 +27,7 @@ include_directories(
 )
 
 # needed to circumvent LD_LIBRARY_PATH being emptied through ethercat_grant
-# in addition to not propagating march_hardware_interface RUNPATH to dependencies, in contrast to RPATH
+# in addition to not propagating march_hardware RUNPATH to dependencies, in contrast to RPATH
 set(GCC_NEWDTAGS_LINK_FLAGS "-Wl,--disable-new-dtags")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${GCC_NEWDTAGS_LINK_FLAGS}")
 
@@ -38,33 +38,49 @@ if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
 endif()
 
 add_library(${PROJECT_NAME}
-    include/${PROJECT_NAME}/EtherCAT/pdo_interface.h
-    include/${PROJECT_NAME}/EtherCAT/pdo_types.h
-    include/${PROJECT_NAME}/EtherCAT/sdo_interface.h
-    include/${PROJECT_NAME}/EtherCAT/slave.h
-    include/${PROJECT_NAME}/encoder/AbsoluteEncoder.h
-    include/${PROJECT_NAME}/encoder/Encoder.h
-    include/${PROJECT_NAME}/encoder/IncrementalEncoder.h
+    include/${PROJECT_NAME}/encoder/absolute_encoder.h
+    include/${PROJECT_NAME}/encoder/encoder.h
+    include/${PROJECT_NAME}/encoder/incremental_encoder.h
     include/${PROJECT_NAME}/error/error_type.h
     include/${PROJECT_NAME}/error/hardware_exception.h
     include/${PROJECT_NAME}/error/motion_error.h
-    src/EtherCAT/EthercatMaster.cpp
-    src/EtherCAT/pdo_interface.cpp
-    src/EtherCAT/sdo_interface.cpp
-    src/HighVoltage.cpp
-    src/IMotionCube.cpp
-    src/IMotionCubeTargetState.cpp
-    src/Joint.cpp
-    src/LowVoltage.cpp
-    src/MarchRobot.cpp
-    src/PDOmap.cpp
-    src/PowerDistributionBoard.cpp
-    src/TemperatureGES.cpp
-    src/encoder/AbsoluteEncoder.cpp
-    src/encoder/Encoder.cpp
-    src/encoder/IncrementalEncoder.cpp
+    include/${PROJECT_NAME}/ethercat/ethercat_master.h
+    include/${PROJECT_NAME}/ethercat/pdo_interface.h
+    include/${PROJECT_NAME}/ethercat/pdo_map.h
+    include/${PROJECT_NAME}/ethercat/pdo_types.h
+    include/${PROJECT_NAME}/ethercat/sdo_interface.h
+    include/${PROJECT_NAME}/ethercat/slave.h
+    include/${PROJECT_NAME}/imotioncube/actuation_mode.h
+    include/${PROJECT_NAME}/imotioncube/imotioncube.h
+    include/${PROJECT_NAME}/imotioncube/imotioncube_state.h
+    include/${PROJECT_NAME}/imotioncube/imotioncube_target_state.h
+    include/${PROJECT_NAME}/joint.h
+    include/${PROJECT_NAME}/march_robot.h
+    include/${PROJECT_NAME}/power/boot_shutdown_offsets.h
+    include/${PROJECT_NAME}/power/high_voltage.h
+    include/${PROJECT_NAME}/power/low_voltage.h
+    include/${PROJECT_NAME}/power/net_driver_offsets.h
+    include/${PROJECT_NAME}/power/net_monitor_offsets.h
+    include/${PROJECT_NAME}/power/power_distribution_board.h
+    include/${PROJECT_NAME}/temperature/temperature_ges.h
+    include/${PROJECT_NAME}/temperature/temperature_sensor.h
+    src/encoder/absolute_encoder.cpp
+    src/encoder/encoder.cpp
+    src/encoder/incremental_encoder.cpp
     src/error/error_type.cpp
     src/error/motion_error.cpp
+    src/ethercat/ethercat_master.cpp
+    src/ethercat/pdo_interface.cpp
+    src/ethercat/pdo_map.cpp
+    src/ethercat/sdo_interface.cpp
+    src/imotioncube/imotioncube.cpp
+    src/imotioncube/imotioncube_target_state.cpp
+    src/joint.cpp
+    src/march_robot.cpp
+    src/power/high_voltage.cpp
+    src/power/low_voltage.cpp
+    src/power/power_distribution_board.cpp
+    src/temperature/temperature_ges.cpp
 )
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} pthread)
@@ -97,32 +113,32 @@ install(DIRECTORY launch
 ## Add gtest based cpp test target and link libraries
 if(CATKIN_ENABLE_TESTING)
     catkin_add_gmock(${PROJECT_NAME}_test
-        test/TestBootShutdownOffsets.cpp
-        test/TestHighVoltage.cpp
-        test/TestIMotionCube.cpp
-        test/TestJoint.cpp
-        test/TestLowVoltage.cpp
-        test/TestNetDriverOffsets.cpp
-        test/TestNetMonitorOffsets.cpp
-        test/TestPDOmap.cpp
-        test/TestPowerDistributionBoard.cpp
-        test/TestRunner.cpp
-        test/TestSlave.cpp
-        test/TestTemperatureGES.cpp
-        test/encoder/TestAbsoluteEncoder.cpp
-        test/encoder/TestIncrementalEncoder.cpp
-        test/encoder/TestEncoder.cpp
-        test/error/test_hardware_exception.cpp
-        test/error/test_motion_error.cpp
-        test/mocks/MockAbsoluteEncoder.h
-        test/mocks/MockEncoder.h
-        test/mocks/MockIMotionCube.h
-        test/mocks/MockIncrementalEncoder.h
-        test/mocks/MockJoint.h
-        test/mocks/MockPdoInterface.h
-        test/mocks/MockSdoInterface.h
-        test/mocks/MockSlave.h
-        test/mocks/MockTemperatureGES.h
+        test/encoder/absolute_encoder_test.cpp
+        test/encoder/encoder_test.cpp
+        test/encoder/incremental_encoder_test.cpp
+        test/error/hardware_exception_test.cpp
+        test/error/motion_error_test.cpp
+        test/ethercat/pdo_map_test.cpp
+        test/ethercat/slave_test.cpp
+        test/imotioncube/imotioncube_test.cpp
+        test/joint_test.cpp
+        test/mocks/mock_absolute_encoder.h
+        test/mocks/mock_encoder.h
+        test/mocks/mock_imotioncube.h
+        test/mocks/mock_incremental_encoder.h
+        test/mocks/mock_joint.h
+        test/mocks/mock_pdo_interface.h
+        test/mocks/mock_sdo_interface.h
+        test/mocks/mock_slave.h
+        test/mocks/mock_temperature_ges.h
+        test/power/boot_shutdown_offsets_test.cpp
+        test/power/high_voltage_test.cpp
+        test/power/low_voltage_test.cpp
+        test/power/net_driver_offsets_test.cpp
+        test/power/net_monitor_offsets_test.cpp
+        test/power/power_distribution_board_test.cpp
+        test/temperature/temperature_ges_test.cpp
+        test/test_runner.cpp
     )
     target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${PROJECT_NAME})
 

…march_hardware/encoder/AbsoluteEncoder.h …arch_hardware/encoder/absolute_encoder.hmarch_hardware/include/march_hardware/encoder/AbsoluteEncoder.h renamed to march_hardware/include/march_hardware/encoder/absolute_encoder.h march_hardware/include/march_hardware/encoder/AbsoluteEncoder.h renamed to march_hardware/include/march_hardware/encoder/absolute_encoder.h

@@ -2,7 +2,7 @@
 
 #ifndef MARCH_HARDWARE_ABSOLUTE_ENCODER_H
 #define MARCH_HARDWARE_ABSOLUTE_ENCODER_H
-#include "march_hardware/encoder/Encoder.h"
+#include "march_hardware/encoder/encoder.h"
 
 #include <ostream>
 

…include/march_hardware/encoder/Encoder.h …include/march_hardware/encoder/encoder.hmarch_hardware/include/march_hardware/encoder/Encoder.h renamed to march_hardware/include/march_hardware/encoder/encoder.h march_hardware/include/march_hardware/encoder/Encoder.h renamed to march_hardware/include/march_hardware/encoder/encoder.h

@@ -2,7 +2,7 @@
 
 #ifndef MARCH_HARDWARE_ENCODER_H
 #define MARCH_HARDWARE_ENCODER_H
-#include "march_hardware/EtherCAT/pdo_interface.h"
+#include "march_hardware/ethercat/pdo_interface.h"
 
 #include <cmath>
 #include <cstddef>

…ch_hardware/encoder/IncrementalEncoder.h …h_hardware/encoder/incremental_encoder.hmarch_hardware/include/march_hardware/encoder/IncrementalEncoder.h renamed to march_hardware/include/march_hardware/encoder/incremental_encoder.h march_hardware/include/march_hardware/encoder/IncrementalEncoder.h renamed to march_hardware/include/march_hardware/encoder/incremental_encoder.h

@@ -2,7 +2,7 @@
 
 #ifndef MARCH_HARDWARE_INCREMENTAL_ENCODER_H
 #define MARCH_HARDWARE_INCREMENTAL_ENCODER_H
-#include "march_hardware/encoder/Encoder.h"
+#include "march_hardware/encoder/encoder.h"
 
 #include <ostream>
 

…march_hardware/EtherCAT/EthercatMaster.h …arch_hardware/ethercat/ethercat_master.hmarch_hardware/include/march_hardware/EtherCAT/EthercatMaster.h renamed to march_hardware/include/march_hardware/ethercat/ethercat_master.h march_hardware/include/march_hardware/EtherCAT/EthercatMaster.h renamed to march_hardware/include/march_hardware/ethercat/ethercat_master.h

@@ -8,7 +8,7 @@
 #include <mutex>
 #include <condition_variable>
 
-#include <march_hardware/Joint.h>
+#include <march_hardware/joint.h>
 
 namespace march
 {

…/march_hardware/EtherCAT/pdo_interface.h …/march_hardware/ethercat/pdo_interface.hmarch_hardware/include/march_hardware/EtherCAT/pdo_interface.h renamed to march_hardware/include/march_hardware/ethercat/pdo_interface.h march_hardware/include/march_hardware/EtherCAT/pdo_interface.h renamed to march_hardware/include/march_hardware/ethercat/pdo_interface.h

@@ -1,7 +1,7 @@
 // Copyright 2019 Project March.
 #ifndef MARCH_HARDWARE_PDOMAP_H
 #define MARCH_HARDWARE_PDOMAP_H
-#include "march_hardware/EtherCAT/sdo_interface.h"
+#include "march_hardware/ethercat/sdo_interface.h"
 
 #include <string>
 #include <utility>