Update back to upstream/devel

Author: egordon

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.6)
 
 project(libbarrett)
 set(libbarrett_VERSION_MAJOR 3)
@@ -22,7 +22,7 @@ set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/modules/")
 option(BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
 option(OPTIMIZE_FOR_PROCESSOR "Set to ON to build binaries that are optimized for this specific computer and can't be copied to other machines" OFF)
 option(WITH_PYTHON "Set to ON to build Python bindings for libbarrett" ON)
-option(INSTALL_EXAMPLES "Set to ON to copy libbarrett example programs to the current user's home folder when the library is installed" OFF)
+option(INSTALL_EXAMPLES "Set to ON to copy libbarrett example programs to the current user's home folder when the library is installed" ON)
 option(INSTALL_SANDBOX "Set to ON to copy libbarrett sandbox programs to the current user's home folder when the library is installed" ON)
 option(CONFIG_PACKAGE "Set to ON to set up CPACK variables necessary for packaging" OFF)
 option(CONFIG_DEBIAN "Set to ON to copy standard barrett-config.cmake, required for Debian packaging" OFF)
@@ -79,10 +79,7 @@ set(exported_link_dirs ${exported_link_dirs} ${CMAKE_INSTALL_PREFIX}/lib)
 ## GSL
 find_package(GSL REQUIRED)
 include_directories(${GSL_INCLUDE_DIRS})
-link_directories(${GSL_LIBRARY_DIRS})
-
 set(exported_include_dirs ${exported_include_dirs} ${GSL_INCLUDE_DIRS})
-set(exported_link_dirs ${exported_link_dirs} ${GSL_LIBRARY_DIRS})
 
 ## Python
 if (WITH_PYTHON)
@@ -103,10 +100,6 @@ endif()
 message(STATUS "Boost components: ${boost_components}")
 find_package(Boost REQUIRED ${boost_components})
 
-# Ignore Boost internal deprecation
-add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
-add_definitions("-DBOOST_BIND_GLOBAL_PLACEHOLDERS")
-
 ## Translate cmake's new "Boost::blah" library naming format to a normal "libboost_blah" name that can be passed to the linker.
 ## TODO(bz): Hunt down anyone who makes stupid changes like this and make them suffer.
 set(boost_libraries "")
@@ -125,9 +118,9 @@ set(exported_link_dirs ${exported_link_dirs} ${Boost_LIBRARY_DIRS})
 
 ## Eigen3
 find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIRS})
-set(exported_include_dirs ${exported_include_dirs} ${EIGEN3_INCLUDE_DIRS})
-message(STATUS "Eigen Include Dirs: ${EIGEN3_INCLUDE_DIRS}")
+include_directories(${Eigen_INCLUDE_DIRS})
+set(exported_include_dirs ${exported_include_dirs} ${Eigen_INCLUDE_DIRS})
+
 
 ## curses
 find_package(Curses REQUIRED)
@@ -140,28 +133,6 @@ include_directories(${CURSES_INCLUDE_DIR})
 # barrett-config.cmake is generated.
 add_subdirectory(src)
 
-### Auto Format
-# Only files that are substantially different from upstream libbarrett should
-# be formatted.
-include(ClangFormat)
-clang_format_setup(VERSION 14)
-
-if (CLANG_FORMAT_EXECUTABLE)
-	file(GLOB_RECURSE ALL_SOURCE_FILES
-	    LIST_DIRECTORIES false
-	    include/*.h
-	    include/*.hpp
-	    src/*.c
-	    src/*.cpp
-	    tests/*.cpp
-	    tests/*.hpp
-	    tests/*.h
-	    programs/*.cpp
-	    examples/*.h
-	    examples/*.cpp)
-  clang_format_add_sources(${ALL_SOURCE_FILES})
-  clang_format_add_targets()
-endif()
 
 
 ### Installation

cmake/debian/barrett-config-realtime.cmake

@@ -1,3 +1,3 @@
 set(BARRETT_INCLUDE_DIRS /usr/xenomai/include;/usr/include/xenomai;/usr/local/include/eigen3;/usr/include/eigen3)
 set(BARRETT_DEFINITIONS -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__)
-set(BARRETT_LIBRARIES libboost_thread-mt.so;pthread;libboost_python-py36.so;-L/usr/lib;-lgsl;-lgslcblas;-lm;config;config++;/usr/xenomai/lib/libalchemy.so;/usr/xenomai/lib/libxenomai.so;/usr/xenomai/lib/librtdm.so;libpython2.7.so;barrett)
+set(BARRETT_LIBRARIES libboost_thread-mt.so;pthread;libboost_python.so;-L/usr/lib;-lgsl;-lgslcblas;-lm;config;config++;/usr/xenomai/lib/libnative.so;/usr/xenomai/lib/libxenomai.so;/usr/xenomai/lib/librtdm.so;libpython2.7.so;barrett)

cmake/modules/ClangFormat.cmake

@@ -0,0 +1,74 @@
+# - Try to find Eigen2 lib
+# Once done this will define
+#
+#  EIGEN2_FOUND - system has eigen lib with correct version
+#  EIGEN2_INCLUDE_DIR - the eigen include directory
+#  EIGEN2_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Redistribution and use is allowed according to the terms of the BSD license.
+
+if(NOT EIGEN2_MIN_VERSION)
+  if(NOT Eigen2_FIND_VERSION_MAJOR)
+    set(Eigen2_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen2_FIND_VERSION_MAJOR)
+  if(NOT Eigen2_FIND_VERSION_MINOR)
+    set(Eigen2_FIND_VERSION_MINOR 0)
+  endif(NOT Eigen2_FIND_VERSION_MINOR)
+  if(NOT Eigen2_FIND_VERSION_PATCH)
+    set(Eigen2_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen2_FIND_VERSION_PATCH)
+
+  set(EIGEN2_MIN_VERSION "${Eigen2_FIND_VERSION_MAJOR}.${Eigen2_FIND_VERSION_MINOR}.${Eigen2_FIND_VERSION_PATCH}")
+endif(NOT EIGEN2_MIN_VERSION)
+
+macro(_eigen2_check_version)
+  file(READ "${EIGEN2_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen2_version_header LIMIT 5000 OFFSET 1000)
+
+  string(REGEX MATCH "define *EIGEN_WORLD_VERSION ([0-9]*)" _eigen2_world_version_match "${_eigen2_version_header}")
+  set(EIGEN2_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define *EIGEN_MAJOR_VERSION ([0-9]*)" _eigen2_major_version_match "${_eigen2_version_header}")
+  set(EIGEN2_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define *EIGEN_MINOR_VERSION ([0-9]*)" _eigen2_minor_version_match "${_eigen2_version_header}")
+  set(EIGEN2_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN2_VERSION ${EIGEN2_WORLD_VERSION}.${EIGEN2_MAJOR_VERSION}.${EIGEN2_MINOR_VERSION})
+  if(${EIGEN2_VERSION} VERSION_LESS ${EIGEN2_MIN_VERSION})
+    set(EIGEN2_VERSION_OK FALSE)
+  else(${EIGEN2_VERSION} VERSION_LESS ${EIGEN2_MIN_VERSION})
+    set(EIGEN2_VERSION_OK TRUE)
+  endif(${EIGEN2_VERSION} VERSION_LESS ${EIGEN2_MIN_VERSION})
+
+  if(NOT EIGEN2_VERSION_OK)
+  
+    message(STATUS "Eigen2 version ${EIGEN2_VERSION} found in ${EIGEN2_INCLUDE_DIR}, "
+                   "but at least version ${EIGEN2_MIN_VERSION} is required")
+  endif(NOT EIGEN2_VERSION_OK)
+endmacro(_eigen2_check_version)
+
+if (EIGEN2_INCLUDE_DIR)
+
+  # in cache already
+  _eigen2_check_version()
+  set(EIGEN2_FOUND ${EIGEN2_VERSION_OK})
+
+else (EIGEN2_INCLUDE_DIR)
+
+find_path(EIGEN2_INCLUDE_DIR NAMES Eigen/Core
+     PATHS
+     ${INCLUDE_INSTALL_DIR}
+     ${KDE4_INCLUDE_DIR}
+     PATH_SUFFIXES eigen2
+   )
+
+if(EIGEN2_INCLUDE_DIR)
+  _eigen2_check_version()
+endif(EIGEN2_INCLUDE_DIR)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen2 DEFAULT_MSG EIGEN2_INCLUDE_DIR EIGEN2_VERSION_OK)
+
+mark_as_advanced(EIGEN2_INCLUDE_DIR)
+
+endif(EIGEN2_INCLUDE_DIR)

cmake/modules/FindEigen2.cmake

@@ -0,0 +1,41 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  Eigen_FOUND - system has eigen lib with correct version
+#  Eigen_INCLUDE_DIR - the eigen include directory
+#  Eigen_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
+# Copyright (c) 2009 Benoit Jacob <[email protected]>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+find_package(PkgConfig)
+pkg_check_modules(PC_EIGEN eigen3)
+set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
+
+find_path(EIGEN_INCLUDE_DIR Eigen/Core
+    HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
+    PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
+          "$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
+    PATH_SUFFIXES eigen3 include/eigen3 include)
+
+set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
+
+mark_as_advanced(EIGEN_INCLUDE_DIR)
+
+if(EIGEN_FOUND)
+  message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+endif(EIGEN_FOUND)
+
+
+set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+set(Eigen_FOUND ${EIGEN_FOUND})

cmake/modules/FindEigen3.cmake

@@ -102,24 +102,14 @@ else( WIN32 AND NOT CYGWIN AND NOT MSYS )
         ERROR_QUIET
         )
       if( RET EQUAL 0 )
-        string(STRIP "${GSL_LIBRARIES}" GSL_CONFIG_LIBRARIES )
-        separate_arguments( GSL_CONFIG_LIBRARIES )
+        string(STRIP "${GSL_LIBRARIES}" GSL_LIBRARIES )
+        separate_arguments( GSL_LIBRARIES )
 
         # extract linkdirs (-L) for rpath (i.e., LINK_DIRECTORIES)
         string( REGEX MATCHALL "-L[^;]+"
-          GSL_LIBRARY_DIRS "${GSL_CONFIG_LIBRARIES}" )
+          GSL_LIBRARY_DIRS "${GSL_LIBRARIES}" )
         string( REPLACE "-L" ""
           GSL_LIBRARY_DIRS "${GSL_LIBRARY_DIRS}" )
-
-        # extract libraries (-l)
-        # ignore "x86_64-linux-gnu"
-        string( REGEX MATCHALL ";-l[^;]+"
-          GSL_LIBRARIES "${GSL_CONFIG_LIBRARIES}" )
-        string( REGEX MATCHALL "-l[^;]+"
-          GSL_LIBRARIES "${GSL_LIBRARIES}" )
-        string( REPLACE "-l" ""
-          GSL_LIBRARIES "${GSL_LIBRARIES}" )
-
       else( RET EQUAL 0 )
         set( GSL_FOUND FALSE )
       endif( RET EQUAL 0 )

cmake/modules/FindGSL.cmake

@@ -36,11 +36,10 @@ if( UNIX )
 
 
     # find the xenomai pthread library
-    find_library( XENOMAI_LIBRARY_ALCHEMY alchemy copperplate  ${XENOMAI_DIR}/lib )
-    find_library( XENOMAI_LIBRARY_XENOMAI cobalt copperplate ${XENOMAI_DIR}/lib )
-    find_library( XENOMAI_LIBRARY_COPPERPLATE copperplate ${XENOMAI_DIR}/lib )
-    find_library( XENOMAI_LIBRARY_PTHREAD_RT trank ${XENOMAI_DIR}/lib )
-    find_library( XENOMAI_LIBRARY_RTDM    trank    ${XENOMAI_DIR}/lib )
+    find_library( XENOMAI_LIBRARY_NATIVE  native  ${XENOMAI_DIR}/lib )
+    find_library( XENOMAI_LIBRARY_XENOMAI xenomai ${XENOMAI_DIR}/lib )
+    find_library( XENOMAI_LIBRARY_PTHREAD_RT pthread_rt rtdm ${XENOMAI_DIR}/lib )
+    find_library( XENOMAI_LIBRARY_RTDM    rtdm    ${XENOMAI_DIR}/lib )
 
     # find the posix wrappers
     find_file(XENOMAI_POSIX_WRAPPERS lib/posix.wrappers ${XENOMAI_SEARCH_PATH} )

cmake/modules/FindXenomai.cmake

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0)
+cmake_minimum_required(VERSION 2.6)
 project(libbarrett_examples)
 
 

examples/CMakeLists.txt

@@ -20,8 +20,9 @@
  * Shift-idle the WAM and it will again be ready to use.
  */
 
-#include <barrett/products/product_manager.h>
+
 #include <barrett/systems.h>
+#include <barrett/products/product_manager.h>
 
 // The file below defines Barrett's standard main() function (SMF). It helps you
 // initialize Barrett's products properly without having to repeat the necessary
@@ -30,9 +31,11 @@
 // wam_main() function below once the WAM is ready to start applying torques.
 #include <barrett/standard_main_function.h>
 
+
 // The root namespace for libbarrett
 using namespace barrett;
 
+
 // In this case, wam_main() is a function template. For a brief introduction to
 // C++ templates, see:
 //     http://www.devarticles.com/c/a/Cplusplus/An-Introduction-to-C-plus-Templates/
@@ -45,14 +48,15 @@ using namespace barrett;
 // version of this function where DOF = 7, and a version where DOF = 4. The SMF
 // will choose between the two versions based on what kind of robot is present
 // when the program is executed.
-template <size_t DOF>
-int wam_main(int argc, char **argv, ProductManager &pm,
-             systems::Wam<DOF> &wam) {
+template<size_t DOF>
+int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam) {
+
+
+	// The WAM is now Shift-activated and applying zero torque with a loop-rate
+	// of 500Hz.
 
-  // The WAM is now Shift-activated and applying zero torque with a loop-rate
-  // of 500Hz.
 
-  // Wait for the user to press Shift-idle
-  pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
-  return 0;
+	// Wait for the user to press Shift-idle
+	pm.getSafetyModule()->waitForMode(SafetyModule::IDLE);
+	return 0;
 }