Merge pull request #241 from project-march/release/v0.3.0

Release v0.3.0

Author: Roelemans

.gitignore

@@ -1,2 +1,3 @@
 .idea/*
 */cmake-build-debug/**
+.vscode/settings.json

.travis.yml

@@ -25,11 +25,16 @@ git:
 env:
   global:
     - ROS_REPO=ros
+    - ADDITIONAL_DEBS=curl
     - CCACHE_DIR=$HOME/.ccache # enables C/C++ caching in industrial_ci
     - BUILDER=colcon
     - CATKIN_LINT=pedantic
     - CATKIN_LINT_ARGS='--ignore literal_project_name --ignore target_name_collision'
+    - CI_ENV=`bash <(curl -s https://codecov.io/env)`
+    - DOCKER_RUN_OPTS='$CI_ENV'
+    - TARGET_CMAKE_ARGS='-DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE_TESTING=ON'
     - 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_state_machine'
+    - AFTER_RUN_TARGET_TEST='cd "$target_ws" && bash <(curl -s https://codecov.io/bash) -R src/hardware-interface -F test && bash <(curl -s https://codecov.io/bash) -R src/hardware-interface -F production'
 
 jobs:
   include:

README.md

@@ -2,6 +2,8 @@
 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)
+[![codecov](https://codecov.io/gh/project-march/hardware-interface/branch/develop/graph/badge.svg?flag=production)](https://codecov.io/gh/project-march/hardware-interface)
+
 
 | Branch | Build Status |
 | ------ |:------------:|

codecov.yaml

@@ -0,0 +1,21 @@
+coverage:
+  status:
+    project:
+      default: off
+      production:
+        target: auto
+        flags:
+          - production
+fixes:
+  - "src/hardware-interface/::"
+flags:
+  production:
+    paths:
+      - "*/src/**/*"
+      - "*/src/*"
+      - "*/include/march_*/*"
+      - "*/include/march_*/**/*"
+  test:
+    paths:
+      - "*/test/**/*"
+      - "*/test/*"

codecov.yml

@@ -1,32 +1,49 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(march_hardware)
 
-add_compile_options(-std=c++11 -Wall -Wextra)
+add_compile_options(-std=c++14 -Wall -Wextra -Werror)
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
     soem
+    urdf
 )
 
 catkin_package(
     INCLUDE_DIRS include
     CATKIN_DEPENDS
     LIBRARIES ${PROJECT_NAME}
+    CFG_EXTRAS
+    ${PROJECT_NAME}-extras.cmake
 )
 
+include(cmake/${PROJECT_NAME}-extras.cmake)
+
 include_directories(
     include
     SYSTEM
     ${catkin_INCLUDE_DIRS}
     ${soem_INCLUDE_DIRS}/soem
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+# needed to circumvent LD_LIBRARY_PATH being emptied through ethercat_grant
+# in addition to not propagating march_hardware_interface RUNPATH to dependencies, in contrast to RPATH
+set(GCC_NEWDTAGS_LINK_FLAGS "-Wl,--disable-new-dtags")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${GCC_NEWDTAGS_LINK_FLAGS}")
+
+if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
+    find_package(code_coverage REQUIRED)
+    # Add compiler flags for coverage instrumentation before defining any targets
+    append_coverage_compiler_flags()
+endif()
 
 add_library(${PROJECT_NAME}
-    src/Encoder.cpp
+    include/${PROJECT_NAME}/encoder/AbsoluteEncoder.h
+    include/${PROJECT_NAME}/encoder/Encoder.h
+    include/${PROJECT_NAME}/encoder/IncrementalEncoder.h
+    include/${PROJECT_NAME}/error/error_type.h
+    include/${PROJECT_NAME}/error/hardware_exception.h
+    include/${PROJECT_NAME}/error/motion_error.h
     src/EtherCAT/EthercatIO.cpp
     src/EtherCAT/EthercatMaster.cpp
     src/EtherCAT/EthercatSDO.cpp
@@ -39,12 +56,26 @@ add_library(${PROJECT_NAME}
     src/PDOmap.cpp
     src/PowerDistributionBoard.cpp
     src/TemperatureGES.cpp
+    src/encoder/AbsoluteEncoder.cpp
+    src/encoder/Encoder.cpp
+    src/encoder/IncrementalEncoder.cpp
+    src/error/error_type.cpp
+    src/error/motion_error.cpp
 )
 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
-add_executable(slave_count_check check/SlaveCount.cpp)
+add_executable(slave_count_check check/slave_count.cpp)
 target_link_libraries(slave_count_check ${PROJECT_NAME})
+ros_enable_rpath(slave_count_check)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
 
 install(TARGETS ${PROJECT_NAME}
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -55,43 +86,44 @@ install(TARGETS slave_count_check
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-## Add gtest based cpp test target and link libraries
-if (CATKIN_ENABLE_TESTING)
-    find_package(code_coverage REQUIRED)
-    find_package(rostest REQUIRED)
-
-    if(ENABLE_COVERAGE_TESTING)
-        include(CodeCoverage)
-        append_coverage_compiler_flags()
-    endif()
+install(DIRECTORY launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
-    add_rostest_gmock(${PROJECT_NAME}-test
-        test/march_hardware.test
-        test/TestRunner.cpp
-        test/TestEncoder.cpp
+## Add gtest based cpp test target and link libraries
+if(CATKIN_ENABLE_TESTING)
+    catkin_add_gmock(${PROJECT_NAME}_test
+        test/TestBootShutdownOffsets.cpp
+        test/TestHighVoltage.cpp
         test/TestIMotionCube.cpp
-        test/TestTemperatureGES.cpp
         test/TestJoint.cpp
-        test/TestPDOmap.cpp
-        test/TestBootShutdownOffsets.cpp
+        test/TestLowVoltage.cpp
         test/TestNetDriverOffsets.cpp
         test/TestNetMonitorOffsets.cpp
-        test/TestLowVoltage.cpp
-        test/TestHighVoltage.cpp
+        test/TestPDOmap.cpp
         test/TestPowerDistributionBoard.cpp
-        test/mocks/MockTemperatureGES.cpp
-        test/mocks/MockTemperatureSensor.cpp
+        test/TestRunner.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.cpp
         test/mocks/MockEncoder.cpp
         test/mocks/MockIMotionCube.cpp
+        test/mocks/MockIncrementalEncoder.cpp
         test/mocks/MockJoint.cpp
+        test/mocks/MockTemperatureGES.cpp
+        test/mocks/MockTemperatureSensor.cpp
     )
-    target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest)
+    target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${PROJECT_NAME})
 
     if(ENABLE_COVERAGE_TESTING)
-        set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test*")
+        set(COVERAGE_EXCLUDES "*/${PROJECT_NAME}/test/*" "*/${PROJECT_NAME}/check/*")
         add_code_coverage(
-            NAME ${PROJECT_NAME}_coverage
-            DEPENDS tests
+            NAME coverage_report
+            DEPENDENCIES ${PROJECT_NAME}_test
         )
     endif()
-endif ()
+endif()

march_hardware/CMakeLists.txt

@@ -16,6 +16,7 @@ int main(int argc, char** argv)
 {
   ros::init(argc, argv, "slave_count_check");
   ros::NodeHandle nh;
+  const std::string param = "/march/check/slave_count";
 
   ROS_INFO("Trying to start EtherCAT");
   std::string ifname = "enp2s0";
@@ -24,7 +25,7 @@ int main(int argc, char** argv)
   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);
+    nh.setParam(param, 0);
     return 1;
   }
   ROS_INFO("ec_init on %s succeeded", ifname.c_str());
@@ -34,11 +35,12 @@ int main(int argc, char** argv)
   {
     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);
+    nh.setParam(param, 0);
     return 1;
   }
   ROS_INFO("%d slave(s) found and initialized.", ec_slavecount);
 
-  nh.setParam("/check/slave_count", ec_slavecount);
+  nh.setParam(param, ec_slavecount);
+  ros::shutdown();
   return 0;
 }

march_hardware/check/SlaveCount.cpp march_hardware/check/slave_count.cpp

@@ -17,75 +17,79 @@ class ActuationMode
     unknown,
   };
 
-  ActuationMode()
+  ActuationMode() : value_(unknown)
   {
-    this->value = unknown;
-  };
+  }
+
+  ActuationMode(Value value) : value_(value)
+  {
+  }
 
   explicit ActuationMode(const std::string& actuationMode)
   {
     if (actuationMode == "position")
     {
-      this->value = position;
+      this->value_ = position;
     }
     else if (actuationMode == "unknown")
     {
-      this->value = unknown;
+      this->value_ = unknown;
     }
     else if (actuationMode == "torque")
     {
-      this->value = torque;
+      this->value_ = torque;
     }
     else
     {
       ROS_WARN("Actuation mode (%s) is not recognized, setting to unknown mode", actuationMode.c_str());
-      this->value = ActuationMode::unknown;
+      this->value_ = ActuationMode::unknown;
     }
   }
 
-  int toModeNumber()
+  uint8_t toModeNumber()
   {
-    if (value == position)
+    switch (this->value_)
     {
-      return 8;
-    }
-    else if (value == torque)
-    {
-      return 10;
+      case position:
+        return 8;
+      case torque:
+        return 10;
+      default:
+        return 0;
     }
   }
 
   int getValue() const
   {
-    return value;
+    return this->value_;
   }
 
   bool operator==(ActuationMode::Value a) const
   {
-    return value == a;
+    return this->value_ == a;
   }
 
   bool operator!=(ActuationMode::Value a) const
   {
-    return value != a;
+    return this->value_ != a;
   }
 
   std::string toString() const
   {
-    switch (this->value)
+    switch (this->value_)
     {
       case position:
         return "position";
       case torque:
         return "torque";
       default:
-        ROS_WARN("Actuationmode (%i) is neither 'torque' or 'position", value);
+        ROS_WARN("Actuationmode (%i) is neither 'torque' or 'position", this->value_);
         return "unknown";
     }
   }
 
 private:
-  Value value = unknown;
+  Value value_ = unknown;
 };
 }  // namespace march