HandMk5 refactor as device

CHANGELOG.md

@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## [Unreleased]
 - ergoCubV1: fixed the names r/l_upperarm with r/l_upper_arm(https://github.com/icub-tech-iit/ergocub-software/issues/197)
 - Fixed HF when resetting the world when using DART as PE(https://github.com/icub-tech-iit/ergocub-software/issues/190)
+- Added `couplingXCubHandMk5` device
 
 ## [0.6.0] - 2023-11-15
 

CMakeLists.txt

@@ -6,23 +6,52 @@
 
 cmake_minimum_required(VERSION 3.12)
 
-project(ergocub-software
-        VERSION 0.6.0)
+project(ergocub-software LANGUAGES C CXX
+                         VERSION 0.6.0)
 
-find_package(YARP 3.7.2 REQUIRED)
+find_package(YARP 3.9.0 REQUIRED)
 
 # Give error if add_dependencies is called on a non-existing target
 if(POLICY CMP0046)
   cmake_policy(SET CMP0046 NEW)
 endif()
 
+find_package(YCM 0.12 REQUIRED)
+
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 include(AddUninstallTarget)
 
 option(BUILD_TESTING "Run tests for the generated models" OFF)
 option(COMPILE_ergoCubEmotions "Compile the module controlling the ergoCub emotions" OFF)
 
+if(MSVC)
+  set(CMAKE_DEBUG_POSTFIX "d")
+endif()
+
+# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
+# Build position independent code.
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Enable RPATH support for installed binaries and libraries
+include(AddInstallRPATHSupport)
+add_install_rpath_support(LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"       # Libraries
+                          BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"       # Binaries
+                                   "${CMAKE_INSTALL_FULL_LIBDIR}/yarp"  # Plugins
+                          INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          USE_LINK_PATH)
+
+# Encourage user to specify a build type (e.g. Release, Debug, etc.), otherwise set it to Release.
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    if(NOT CMAKE_BUILD_TYPE)
+        message(STATUS "Setting build type to 'Release' as none was specified.")
+        set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release")
+    endif()
+endif()
+
 set(BUILD_PREFIX "ergoCub")
 add_subdirectory(urdf)
 
@@ -43,9 +72,4 @@ if (BUILD_TESTING)
 endif()
 
 add_subdirectory(app)
-
-if(COMPILE_ergoCubEmotions)
-  add_subdirectory(src)
-endif()
-
-
+add_subdirectory(src)

README.md

@@ -5,7 +5,7 @@ Main collector of ergoCub specific SW
 
 ### Dependencies
 
-Before installing `ergocub-software`, please be sure that you've installed [YARP](https://www.yarp.it/latest//) on your machine.
+Before installing `ergocub-software`, please be sure that you've installed [YARP](https://www.yarp.it/latest//) 3.9.0 or higher on your machine.
 
 ### Compiling from source
 
@@ -17,7 +17,7 @@ cmake -DCMAKE_INSTALL_PREFIX=<install-prefix> ..
 make
 (make install)
 ```
-`ergocub` for Gazebo Classic simulation model needs a gazebo-yarp-plugins >= 4.9.0 .
+`ergocub` for Gazebo Classic simulation model needs a gazebo-yarp-plugins latest devel (FIXME put commit).
 
 In order to use the model, the following env variables must be configured:
 ```sh
@@ -28,6 +28,10 @@ export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/ergoCub/rob
 export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<install-prefix>/share/
 ```
 
+In order to make the device `couplingXCubHandMk5` detectable, add `<installation_path>/share/yarp` to the `YARP_DATA_DIRS` environment variable of the system.
+
+Alternatively, if `YARP` has been installed using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), it is possible to use `<directory-where-you-downloaded-robotology-superbuild>/build/install` as the `<installation_path>`.
+
 ### Use conda binary packages
 
 This repository is packaged as `ergocub-software` in the `robotology` conda channel, see https://anaconda.org/robotology/ergocub-software .

src/modules/CMakeLists.txt

@@ -4,4 +4,7 @@
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license. See the accompanying LICENSE file for details.
 
-add_subdirectory(ergoCubEmotions)
+if(COMPILE_ergoCubEmotions)
+  add_subdirectory(ergoCubEmotions)
+endif()
+add_subdirectory(couplingXCubHandMk5)

src/modules/couplingXCubHandMk5/CMakeLists.txt

@@ -0,0 +1,41 @@
+# Copyright (C) 2006-2023 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+yarp_configure_plugins_installation(ergocub-software)
+
+yarp_prepare_plugin(couplingXCubHandMk5
+                    CATEGORY device
+                    TYPE CouplingXCubHandMk5
+                    INCLUDE CouplingXCubHandMk5.h
+                    DEFAULT ON)
+
+if(ENABLE_couplingXCubHandMk5)
+
+  yarp_add_plugin(yarp_couplingXCubHandMk5)
+
+  if(MSVC)
+    add_definitions(-D_USE_MATH_DEFINES)
+  endif()
+
+  target_sources(yarp_couplingXCubHandMk5 PRIVATE CouplingXCubHandMk5.cpp
+                                                  CouplingXCubHandMk5.h)
+
+  target_link_libraries(yarp_couplingXCubHandMk5 PRIVATE YARP::YARP_os
+                                                         YARP::YARP_dev)
+  list(APPEND YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS YARP_os
+                                                      YARP_dev)
+
+  yarp_install(TARGETS yarp_couplingXCubHandMk5
+               EXPORT YARP_${YARP_PLUGIN_MASTER}
+               COMPONENT ${YARP_PLUGIN_MASTER}
+               LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+               ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+               YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR})
+
+  set(YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS ${YARP_${YARP_PLUGIN_MASTER}_PRIVATE_DEPS} PARENT_SCOPE)
+
+  set_property(TARGET yarp_couplingXCubHandMk5 PROPERTY FOLDER "Plugins/Device")
+endif()