[WIP] Beta c++ lib

CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(imu_vn_100)
 
+# build the vnproglib first
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/ext/vnproglib-1.1.0.115)
+
 add_definitions("-std=c++11")
 
 find_package(catkin REQUIRED COMPONENTS
@@ -11,37 +14,46 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Boost REQUIRED)
 
 catkin_package(
-  INCLUDE_DIRS include vncpplib/include
-  LIBRARIES imu_vn_100
+  INCLUDE_DIRS include vncpplib/include ext/vnproglib-1.1.0.115/include
+  LIBRARIES imu_vn_100 vnproglib
   CATKIN_DEPENDS diagnostic_updater roscpp sensor_msgs
   DEPENDS boost
 )
 
 include_directories(
   include
-  vncpplib/include
+#  vncpplib/include
+  ext/vnproglib-1.1.0.115/include
   ${catkin_INCLUDE_DIRS}
 )
 
+#add_library(imu_vn_100
+#  vncpplib/src/arch/linux/vncp_services.c
+#  vncpplib/src/vndevice.c
+#  vncpplib/src/vn100.c
+#  src/imu_vn_100.cpp
+#)
 
 add_library(imu_vn_100
-  vncpplib/src/arch/linux/vncp_services.c
-  vncpplib/src/vndevice.c
-  vncpplib/src/vn100.c
-  src/imu_vn_100.cpp
+    src/imu_vn_100.cpp
 )
+
 target_link_libraries(imu_vn_100
+  vnproglib
   ${catkin_LIBRARIES}
 )
+
 add_dependencies(imu_vn_100
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
 )
 
 add_executable(imu_vn_100_cont_node
   src/imu_vn_100_cont.cpp)
+
 target_link_libraries(imu_vn_100_cont_node
   ${catkin_LIBRARIES}
+  vnproglib
   imu_vn_100
 )
 add_dependencies(imu_vn_100_cont_node

ext/vnproglib-1.1.0.115/CMakeLists.txt

@@ -0,0 +1,298 @@
+cmake_minimum_required(VERSION 2.8.4)
+
+project(vnproglib)
+
+set(CMAKE_SUPPRESS_REGENERATION TRUE)
+add_definitions(-DPL150)
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+#set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+#set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+#set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin5)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+
+option(BUILD_TESTS "Build tests." OFF)
+option(BUILD_BENCHMARKS "Build benchmarks." OFF)
+option(PYTHON "Build for Python library." OFF)
+option(BUILD_GRAPHICS "Build in the graphics library." OFF)
+#option(INTERNAL "Build internal portions of the library." OFF)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  DEPENDS
+)
+
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
+set(top_sources
+    include/vn/exceptions.h
+    include/vn/int.h
+    include/vn/utilities.h
+    include/vn/event.h
+    src/vn/utilities.cpp
+    src/vn/event.cpp)
+source_group("" FILES ${top_sources})
+
+set(math_sources
+    include/vn/math/consts.h
+    include/vn/math/math.h
+    include/vn/math/conversions.h
+    include/vn/math/vector.h
+    include/vn/math/matrix.h
+    include/vn/math/kinematics.h
+    include/vn/math/attitude.h
+    include/vn/math/position.h
+    src/vn/math/conversions.cpp
+    src/vn/math/attitude.cpp
+    src/vn/math/position.cpp)
+source_group("math" FILES ${math_sources})
+
+set(util_sources
+    include/vn/util/export.h
+    include/vn/util/boostpython.h
+    include/vn/util/compiler.h
+    include/vn/util/memoryport.h
+	include/vn/util/nocopy.h
+    src/vn/util/memoryport.cpp)
+#if (PYTHON)
+#    set(util_sources
+#        ${util_sources}
+#        include/vn/util/dllvalidator.h
+#        src/vn/util/dllvalidator.cpp)
+#endif()
+source_group("util" FILES ${util_sources})
+
+set(data_sources
+    include/vn/data/error_detection.h
+    src/vn/data/error_detection.cpp)
+source_group("data" FILES ${data_sources})
+
+set(protocol_uart_sources
+    include/vn/protocol/uart/types.h
+	include/vn/protocol/uart/util.h
+	include/vn/protocol/uart/packet.h
+	include/vn/protocol/uart/packetfinder.h
+	src/vn/protocol/uart/types.cpp
+	src/vn/protocol/uart/util.cpp
+	src/vn/protocol/uart/packet.cpp
+	src/vn/protocol/uart/packetfinder.cpp)
+source_group("protocol\\uart" FILES ${protocol_uart_sources})
+
+set(sensors_sources
+	include/vn/sensors/registers.h
+	include/vn/sensors/mock.h
+    include/vn/sensors/sensors.h
+	include/vn/sensors/searcher.h
+	include/vn/sensors/compositedata.h
+	include/vn/sensors/ezasyncdata.h
+	src/vn/sensors/sensors.cpp
+	src/vn/sensors/searcher.cpp
+	src/vn/sensors/compositedata.cpp
+	src/vn/sensors/ezasyncdata.cpp)
+source_group("sensors" FILES ${sensors_sources})
+
+set(xplat_sources
+    include/vn/xplat/criticalsection.h
+	include/vn/xplat/event.h
+	include/vn/xplat/serialport.h
+	include/vn/xplat/signal.h
+	include/vn/xplat/thread.h
+	include/vn/xplat/time.h
+	include/vn/xplat/port.h
+	src/vn/xplat/criticalsection.cpp
+	src/vn/xplat/event.cpp
+	src/vn/xplat/serialport.cpp
+	src/vn/xplat/thread.cpp
+	src/vn/xplat/time.cpp
+	src/vn/xplat/port.cpp)
+source_group("xplat" FILES ${xplat_sources})
+
+set(graphics_sources
+	include/vn/graphics/color.h
+	include/vn/graphics/sphere.h
+	include/vn/graphics/geometry.h
+	include/vn/graphics/multicolor.h
+	include/vn/graphics/lines.h
+	include/vn/graphics/math.h
+	include/vn/graphics/frame.h
+	src/vn/graphics/color.cpp
+	src/vn/graphics/sphere.cpp
+	src/vn/graphics/geometry.cpp
+	src/vn/graphics/multicolor.cpp
+	src/vn/graphics/lines.cpp
+	src/vn/graphics/math.cpp
+	src/vn/graphics/util.cpp
+	src/vn/graphics/frame.cpp)
+source_group("" FILES ${graphics_sources})
+
+set(graphics_math_sources
+	include/vn/graphics/math/vector.h
+	include/vn/graphics/math/matrix.h)
+source_group("math" FILES ${graphics_math_sources})
+
+
+include_directories(include)
+
+if (UNIX)
+	include_directories(
+		/user/include/python3.4)
+endif()
+
+#if (PYTHON)
+#	# Python needs this as a DLL to load into the Python interpretor.
+#	add_library(proglib-cpp SHARED
+#	    ${top_sources}
+#	    ${math_sources}
+#	    ${util_sources}
+#	    ${data_sources}
+#	    ${protocol_uart_sources}
+#	    ${sensors_sources}
+#	    ${xplat_sources})
+#
+#	if(WIN32)
+#		target_compile_definitions(proglib-cpp PUBLIC -D_BUILD_DLL)
+#		target_compile_definitions(proglib-cpp PUBLIC -Dproglib_cpp_EXPORTS)
+#
+#		set_target_properties(
+#			proglib-cpp PROPERTIES
+#			RUNTIME_OUTPUT_DIRECTORY "../../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_RELEASE "../../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_DEBUG "../../vnpy"
+#			LIBRARY_OUTPUT_DIRECTORY "../../vnpy")
+#
+#		include_directories(../libs/PeLib/include)
+#		target_link_libraries(proglib-cpp LINK_PUBLIC PeLib)
+#		add_subdirectory(../libs/PeLib PeLib)
+#
+#		set_target_properties(
+#			PeLib PROPERTIES
+#			RUNTIME_OUTPUT_DIRECTORY "../../../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_RELEASE "../../../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_DEBUG "../../../vnpy"
+#			LIBRARY_OUTPUT_DIRECTORY "../../../vnpy")
+#	elseif(UNIX)
+#		set_target_properties(
+#			proglib-cpp PROPERTIES
+#			RUNTIME_OUTPUT_DIRECTORY "../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_RELEASE "../vnpy"
+#			RUNTIME_OUTPUT_DIRECTORY_DEBUG "../vnpy"
+#			LIBRARY_OUTPUT_DIRECTORY "../vnpy")
+#	endif()
+#else()
+add_library(vnproglib SHARED
+    ${top_sources}
+    ${math_sources}
+    ${util_sources}
+    ${data_sources}
+    ${protocol_uart_sources}
+    ${sensors_sources}
+    ${xplat_sources})
+#
+#	if(WIN32)
+#		target_link_libraries(proglib-cpp PRIVATE Setupapi)
+#	endif()
+#endif()
+#
+#if (BUILD_GRAPHICS)
+#
+#	include_directories(
+#		../libs/glew/include
+#		../libs/glm)
+#
+#
+#	#target_link_libraries(proglib-cpp-graphics PRIVATE GLEW_shared)
+#
+##	set(CMAKE_PREFIX_PATH "../libs/glew")
+##	set(CMAKE_LIBRARY_PATH "../libs/glew/lib/Release/Win32/")
+#
+#	#message("DIR: ${GLEW_INCLUDE_DIR}")
+##	find_package(GLEW REQUIRED)
+#	#add_library(GLEW_shared INTERFACE IMPORTED)
+#	#message("DIR: ${GLEW_INCLUDE_DIR}")
+#
+#	#message("${GLEW_FOUND}")
+#
+##	include_directories(${GLEW_INCLUDE_DIRS})
+##    link_libraries(${GLEW_LIBRARIES})
+#
+#
+##    add_subdirectory(../libs/glew GLEW_shared)
+#
+#
+#	add_library(proglib-cpp-graphics SHARED
+#		${graphics_sources}
+#		${graphics_math_sources})
+#	target_compile_definitions(proglib-cpp-graphics PUBLIC -D_BUILD_DLL)
+#	target_compile_definitions(proglib-cpp-graphics PUBLIC -Dproglib_cpp_graphics_EXPORTS)
+#	target_link_libraries(proglib-cpp-graphics PRIVATE OpenGL32)
+#	target_link_libraries(proglib-cpp-graphics PRIVATE GLEW_shared)
+#
+#endif()
+#
+#if (WIN32)
+#	target_link_libraries(proglib-cpp PRIVATE Setupapi)
+
+#	if (PYTHON)
+#		include_directories(../libs/PeLib/include)
+#		target_link_libraries(proglib-cpp LINK_PUBLIC PeLib)
+#		add_subdirectory(../libs/PeLib PeLib)
+#	endif()
+#endif()
+
+
+# The properties below are mainly for the Python library.
+#if (WIN32)
+#set_target_properties(
+#	proglib-cpp PROPERTIES
+#	RUNTIME_OUTPUT_DIRECTORY "../../../vnpy"
+#	RUNTIME_OUTPUT_DIRECTORY_RELEASE "../../../vnpy"
+#	RUNTIME_OUTPUT_DIRECTORY_DEBUG "../../../vnpy"
+#	LIBRARY_OUTPUT_DIRECTORY "../../../vnpy")
+#elseif(UNIX)
+#set_target_properties(
+#	proglib-cpp PROPERTIES
+#	RUNTIME_OUTPUT_DIRECTORY "../vnpy"
+#	RUNTIME_OUTPUT_DIRECTORY_RELEASE "../vnpy"
+#	RUNTIME_OUTPUT_DIRECTORY_DEBUG "../vnpy"
+#	LIBRARY_OUTPUT_DIRECTORY "../vnpy")
+#endif()
+
+#if (BUILD_TESTS)
+#
+#    file(GLOB_RECURSE TEST_SOURCE_FILES src/vn/**/*.test.cpp)
+#    set(TEST_SOURCE_FILES ${TEST_SOURCE_FILES} src/vn/main.cpp)
+#
+#	set(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries (DLLs).")
+#	add_subdirectory(../libs/googletest gtest)
+#
+#	include_directories(../libs/googletest/include)
+#
+#	add_executable(proglib-cpp-test ${TEST_SOURCE_FILES})
+#
+#	target_link_libraries(proglib-cpp-test LINK_PUBLIC gtest)
+#	target_link_libraries(proglib-cpp-test LINK_PUBLIC proglib-cpp)
+#
+#endif()
+#
+#if (BUILD_BENCHMARKS)
+#
+#    file(GLOB_RECURSE BENCHMARK_SOURCE_FILES src/vn/**/*.benchmark.cpp)
+#    set(BENCHMARK_SOURCE_FILES ${BENCHMARK_SOURCE_FILES} src/vn/benchmark.cpp)
+#
+#	add_subdirectory(../libs/hayai hayai)
+#	add_subdirectory(../libs/glew GLEW_shared)
+#
+#	include_directories(../libs/hayai/src)
+#
+#	add_executable(proglib-cpp-benchmark ${BENCHMARK_SOURCE_FILES})
+#
+#	#target_link_libraries(proglib-cpp-benchmark LINK_PUBLIC hayai)
+#	target_link_libraries(proglib-cpp-benchmark LINK_PUBLIC proglib-cpp)
+#	target_link_libraries(proglib-cpp-benchmark LINK_PUBLIC proglib-cpp-graphics)
+#	target_link_libraries(proglib-cpp-graphics PRIVATE OpenGL32)
+#	target_link_libraries(proglib-cpp-graphics PRIVATE GLEW_shared)
+#
+#endif()

ext/vnproglib-1.1.0.115/download.md

@@ -0,0 +1 @@
+This library was downloaded from http://www.vectornav.com/Downloads/proglib/vnproglib-1.1.0.115.tar.gz