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Delete read and write components
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@NestorDP
NestorDP committed Nov 28, 2024
1 parent 7c6d89c commit 15352a8
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Showing 7 changed files with 211 additions and 798 deletions.
289 changes: 0 additions & 289 deletions littlebot_base/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,62 +27,6 @@ include_directories(include)
# create ament index resource which references the libraries in the binary dir
set(node_plugins "")


# Littlebot base writer
add_library(littlebot_base_writer SHARED
src/writer.cpp
)

target_link_libraries( littlebot_base_writer
serial
)

target_compile_definitions(littlebot_base_writer
PRIVATE "LITTLEBOT_BASE_CPP_BUILDING_DLL")

ament_target_dependencies(littlebot_base_writer
"rclcpp"
"rclcpp_components"
"std_msgs"
"example_interfaces")

rclcpp_components_register_nodes(littlebot_base_writer "littlebot_base::Writer")
set(node_plugins "${node_plugins}littlebot_base::Writer;$<TARGET_FILE:writer>\n")


# Littlebot Base Reader
add_library(littlebot_base_reader SHARED
src/reader.cpp)

target_link_libraries(littlebot_base_reader
serial
)

target_compile_definitions(littlebot_base_reader
PRIVATE "LITTLEBOT_NODES_CPP_BUILDING_DLL")

ament_target_dependencies(littlebot_base_reader
"rclcpp"
"rclcpp_components"
"std_msgs"
"example_interfaces")

rclcpp_components_register_nodes(littlebot_base_reader "littlebot_base::Reader")
set(node_plugins "${node_plugins}littlebot_base::Reader;$<TARGET_FILE:reader>\n")


# Compostion for reader and writer components
add_executable(littlebot_base_composition
src/littlebot_base_composition.cpp)

target_link_libraries(littlebot_base_composition
littlebot_base_writer
littlebot_base_reader)

ament_target_dependencies(littlebot_base_composition
"rclcpp")


# Hardware interface
add_library(littlebot_hardware SHARED
src/littlebot_hardware.cpp)
Expand All @@ -101,17 +45,6 @@ install( TARGETS
RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS
littlebot_base_writer
littlebot_base_reader
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)

install(TARGETS
littlebot_base_composition
DESTINATION lib/${PROJECT_NAME})

install(
DIRECTORY include/
DESTINATION include
Expand All @@ -136,225 +69,3 @@ ament_export_dependencies(
)

ament_package()






























cmake_minimum_required(VERSION 3.8)
project(bravo_seven_driver)

set(THIS_PACKAGE_INCLUDE_DEPENDS
ament_cmake
driver_base
hardware_interface
jiro_lifecycle_manager
pluginlib
rclcpp
rclcpp_lifecycle
ros_common_interfaces
ros2_control_toolbox
std_msgs
)

foreach(dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${dependency} REQUIRED)
endforeach()

add_library(bravo_seven_udp_communication SHARED
src/bravo_seven_udp_communication.cpp
src/packet_helper.cpp
)

target_include_directories(bravo_seven_udp_communication PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(bravo_seven_udp_communication PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

pluginlib_export_plugin_description_file(bravo_seven_driver
bravo_seven_udp_communication.xml
)



add_library(bravo_seven_hardware_component SHARED
src/bravo_seven_hardware_component.cpp
)

target_include_directories(bravo_seven_hardware_component PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(bravo_seven_hardware_component PUBLIC
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

pluginlib_export_plugin_description_file(hardware_interface
bravo_seven_hardware_plugin.xml
)


install(
TARGETS bravo_seven_udp_communication
EXPORT export_bravo_seven_udp_communication
LIBRARY DESTINATION lib
)

install(
TARGETS bravo_seven_hardware_component
EXPORT export_bravo_seven_hardware_component
LIBRARY DESTINATION lib
)

if(BUILD_DOCS)
find_package(ament_doxygen REQUIRED)
ament_doxygen(DOC_TITLE ${PROJECT_NAME})
endif()

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_cmake_pytest REQUIRED)

# Next lines implements a local copyrigth checker
set(ament_cmake_copyright_FOUND TRUE)
set(DESCRIPTIONS_PYTHON_TESTS test/test_copyright.py)
get_filename_component(_test_name ${DESCRIPTIONS_PYTHON_TESTS} NAME_WE)

ament_add_pytest_test(${_test_name} ${DESCRIPTIONS_PYTHON_TESTS}
PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
APPEND_ENV AMENT_PREFIX_PATH=$ENV{AMENT_PREFIX_PATH}:${CMAKE_INSTALL_PREFIX}
PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
TIMEOUT 120
WERROR ON
)

list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_cpplint)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_cpplint REQUIRED)
ament_cpplint(MAX_LINE_LENGTH "120")
set(AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS True)

ament_add_gmock(test_bravo_seven_hardware
test/test_bravo_seven_hardware_component.cpp
)

target_link_libraries(test_bravo_seven_hardware
bravo_seven_hardware_component
)

ament_target_dependencies(test_bravo_seven_hardware
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

ament_add_gtest(test_bravo_seven_udp_communication
test/test_bravo_seven_udp_communication.cpp
)

ament_target_dependencies(test_bravo_seven_udp_communication
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

target_link_libraries(test_bravo_seven_udp_communication
bravo_seven_udp_communication
)

add_library(fake_bravo_seven_communication SHARED
test/fake_communication/fake_bravo_seven_communication.cpp
)

target_include_directories(fake_bravo_seven_communication PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/test>
$<INSTALL_INTERFACE:include>
$<INSTALL_INTERFACE:test>
)

ament_target_dependencies(fake_bravo_seven_communication
pluginlib
)

install(
TARGETS fake_bravo_seven_communication
EXPORT export_fake_bravo_seven_communication
LIBRARY DESTINATION lib
)

ament_export_libraries(
fake_bravo_seven_communication
)

ament_export_targets(
export_fake_bravo_seven_communication
)

pluginlib_export_plugin_description_file(bravo_seven_driver
test/fake_communication/fake_bravo_seven_communication.xml
)

ament_add_gmock(test_bravo_seven_communication_loader
test/test_bravo_seven_communication_loader.cpp
)

ament_target_dependencies(test_bravo_seven_communication_loader
${THIS_PACKAGE_INCLUDE_DEPENDS}
)

target_link_libraries(test_bravo_seven_communication_loader
fake_bravo_seven_communication
)

set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()

endif()

ament_export_libraries(
bravo_seven_hardware_component
bravo_seven_udp_communication
)

ament_export_include_directories(
include
)

ament_export_targets(
export_bravo_seven_hardware_component
export_bravo_seven_udp_communication
)

ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

ament_package()
48 changes: 0 additions & 48 deletions littlebot_base/include/littlebot_base/reader.hpp
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