Merge pull request ros-industrial#120 from Zagitta/master

ur_modern_driver refactor

.clang-format

@@ -0,0 +1,48 @@
+---
+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:    120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+PointerBindsToType: false
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+BreakBeforeBraces: Allman
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+...

.github/issue_template.md

@@ -0,0 +1,40 @@
+Your issue may already be reported!
+Please search on the [issue track](../) before creating one.
+
+## Expected Behavior
+<!--- If you're describing a bug, tell us what should happen -->
+<!--- If you're suggesting a change/improvement, tell us how it should work -->
+
+## Current Behavior
+<!--- If describing a bug, tell us what happens instead of the expected behavior -->
+<!--- If suggesting a change/improvement, explain the difference from current behavior -->
+
+## Possible Solution
+<!--- Not obligatory, but suggest a fix/reason for the bug, -->
+<!--- or ideas how to implement the addition or change -->
+
+## Steps to Reproduce (for bugs)
+<!--- Provide a link to a live example, or an unambiguous set of steps to -->
+<!--- reproduce this bug. Include code to reproduce, if relevant -->
+1.
+2.
+3.
+4.
+
+## Context
+<!--- How has this issue affected you? What are you trying to accomplish? -->
+<!--- Providing context helps us come up with a solution that is most useful in the real world -->
+
+## Your Environment
+<!--- Include as many relevant details about the environment you experienced the bug in -->
+* Operating System and version:
+* Platform (ie: PC or embedded arm):
+* Version used:
+* ROS version:
+* UR CB version:
+* Connection setup (wired or wireless):
+
+## Log file
+```
+Paste your DEBUG logfile content here
+```

.gitignore

@@ -4,3 +4,4 @@ Makefile
 cmake_install.cmake
 install_manifest.txt
 *~
+.idea

.travis.yml

@@ -0,0 +1,20 @@
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+sudo: required 
+dist: trusty 
+services:
+  - docker
+language: generic 
+compiler:
+  - gcc
+env:
+  matrix:
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true
+    - ROS_DISTRO="kinetic"  ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_INSTALL=true
+    - ROS_DISTRO="kinetic"  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu NOT_TEST_INSTALL=true
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script:
+  - source .ci_config/travis.sh
+#  - source ./travis.sh  # Enable this when you have a package-local script 

CMakeLists.txt

@@ -1,6 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.12)
 project(ur_modern_driver)
+
+
 add_definitions( -DROS_BUILD )
+
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -10,9 +14,10 @@ find_package(catkin REQUIRED COMPONENTS
   actionlib
   control_msgs
   geometry_msgs
+  industrial_msgs
   roscpp
   sensor_msgs
-  std_msgs
+  std_srvs
   trajectory_msgs
   ur_msgs
   tf
@@ -109,9 +114,8 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-#  LIBRARIES ur_modern_driver
+  LIBRARIES ur_hardware_interface
   CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
-  DEPENDS ur_hardware_interface
 )
 
 ###########
@@ -123,13 +127,22 @@ include(CheckCXXCompilerFlag)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
 CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
 if(COMPILER_SUPPORTS_CXX11)
-    set(CMAKE_CXX_FLAGS "-std=c++11")
+    add_compile_options(-std=c++11)
 elseif(COMPILER_SUPPORTS_CXX0X)
-    set(CMAKE_CXX_FLAGS "-std=c++0x")
+    add_compile_options(-std=c++0x)
 else()
     message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
 endif()
 
+add_compile_options(-Wall)
+add_compile_options(-Wextra)
+add_compile_options(-Wno-unused-parameter)
+
+# support indigo's ros_control - This can be removed upon EOL indigo
+if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
+    add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
+endif()
+
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
@@ -140,7 +153,9 @@ include_directories(include
 ## Declare a C++ library
 
 # Hardware Interface
-add_library(ur_hardware_interface src/ur_hardware_interface.cpp)
+add_library(ur_hardware_interface
+  src/ros/hardware_interface.cpp
+  src/ros/controller.cpp)
 target_link_libraries(ur_hardware_interface
   ${catkin_LIBRARIES}
 )
@@ -152,18 +167,27 @@ target_link_libraries(ur_hardware_interface
 
 ## Declare a C++ executable
 set(${PROJECT_NAME}_SOURCES
-    src/ur_ros_wrapper.cpp
-    src/ur_driver.cpp
-    src/ur_realtime_communication.cpp
-    src/ur_communication.cpp
-    src/robot_state.cpp
-    src/robot_state_RT.cpp
-    src/do_output.cpp)
-add_executable(ur_driver ${${PROJECT_NAME}_SOURCES})
+    src/ros/action_server.cpp
+    src/ros/mb_publisher.cpp
+    src/ros/rt_publisher.cpp
+    src/ros/service_stopper.cpp
+    src/ros/trajectory_follower.cpp
+    src/ros/lowbandwidth_trajectory_follower.cpp
+    src/ros/urscript_handler.cpp
+    src/ur/stream.cpp
+    src/ur/server.cpp
+    src/ur/commander.cpp
+    src/ur/robot_mode.cpp
+    src/ur/master_board.cpp
+    src/ur/rt_state.cpp
+    src/ur/messages.cpp
+    src/tcp_socket.cpp)
+
+add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
- add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(ur_driver
@@ -201,11 +225,13 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## Testing ##
 #############
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_modern_driver.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+set(${PROJECT_NAME}_TEST_SOURCES
+    tests/ur/rt_state.cpp
+    tests/ur/master_board.cpp
+    tests/ur/robot_mode.cpp)
+
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
+  target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
+endif()