Merge pull request #52 from ihsrobotics/refactor

Refactor

Author: chrehall68

.github/workflows/cmake.yml

@@ -18,26 +18,20 @@ jobs:
         uses: myrotvorets/[email protected]
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          # Commit status (one of "error", "failure", "pending", "success")
           status: pending
-          # A short description of the status.
           description: awaiting building
           context: build-status
+
       - name: set-test-status
         uses: myrotvorets/[email protected]
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          # Commit status (one of "error", "failure", "pending", "success")
           status: pending
-          # A short description of the status.
           description: awaiting testing
           context: test-status
 
   build-and-test:
     needs: setup-status # wait for pending status before starting
-    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
-    # You can convert this to a matrix build if you need cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
@@ -76,9 +70,7 @@ jobs:
         uses: myrotvorets/[email protected]
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          # Commit status (one of "error", "failure", "pending", "success")
           status: success
-          # A short description of the status.
           description: build successful
           context: build-status
 
@@ -91,9 +83,7 @@ jobs:
         uses: myrotvorets/[email protected]
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          # Commit status (one of "error", "failure", "pending", "success")
           status: success
-          # A short description of the status.
           description: all tests passed
           context: test-status
 

.github/workflows/doxygen.yml

@@ -19,12 +19,13 @@ jobs:
       - name: Install Doxygen
         run: sudo apt-get install doxygen graphviz doxygen-latex -y
         shell: bash
+
       - name: Configure Doxygen Python
-        run: cp ./bindings/include/ihs_bindings.pyi ./bindings/include/ihs_bindings.py
+        run: cp ./modules/bindings/include/ihs_bindings.pyi ./modules/bindings/include/ihs_bindings.py
 
         # ========== Build Doxygen ==========
       - name: Configure
-        run: cmake -Dwith_documentation=ON -Dbuild_library=OFF -Dbuild_python=OFF .
+        run: cmake -Dwith_documentation=ON -Dbuild_library=OFF .
 
       - name: Build
         run: make

.gitignore

@@ -12,4 +12,5 @@ bin/
 ihs_bindings.py
 
 # configure output
-config.hpp
+config.hpp
+modules.hpp

CMakeLists.txt

@@ -1,78 +1,25 @@
 cmake_minimum_required(VERSION 3.0)
 project(ihs_boost VERSION 1.5.0)
 
-# global includes
-include(CTest)
-
 # options
-option(roomba "Whether to build for the roomba or not" ON)
-option(build_library "build_library" ON)
 option(build_tests "build_tests" OFF)
-option(build_python "build_python" ON)
 option(with_documentation "with_documentation" OFF)
 
-# setup
-set(LIBRARY_DIRS communicate controllers create_extra
-                movement servos threading util
-)
-
-# configure config.hpp
-if (${roomba})
-set(robot_config_name "roomba_config.json")
-    set(robot_config_hpp "roomba_config.hpp")
-else()
-    set(robot_config_name "small_bot_config.json")
-    set(robot_config_hpp "small_bot_config.hpp")
-endif()
-configure_file(${CMAKE_SOURCE_DIR}/util/include/config.hpp.in ${CMAKE_SOURCE_DIR}/util/include/config.hpp)
-
-# main .so file
-if (${build_library})
-    # add compile options
-    add_compile_options("-std=c++11")
-    add_compile_options("-fPIC")
-    add_compile_options("-Wall")
-    add_compile_options("-Wconversion")
-
-    # find required libs
-    find_library(json_libs jsoncpp REQUIRED)
-    find_library(bluetooth_libs bluetooth REQUIRED)
-    
-    # install path configuration, defaults to /usr/local/
-    message("installing to " ${CMAKE_INSTALL_PREFIX})
-    define_property(GLOBAL PROPERTY install_path BRIEF_DOCS "where to install" FULL_DOCS "where to install files")
-    set_property(GLOBAL PROPERTY install_path ${CMAKE_INSTALL_PREFIX}/include/ihsboost)
-    get_property(local_install_path GLOBAL PROPERTY install_path)
-    message("include install_path has been set to " ${local_install_path})
-
-    # add subdirectories
-    foreach(subdir IN LISTS LIBRARY_DIRS)
-        add_subdirectory(${CMAKE_SOURCE_DIR}/${subdir})
-    endforeach()
-
-    # link
-    add_library(ihsboost SHARED empty.cpp)
-    target_link_libraries(ihsboost PUBLIC kipr pthread rt ${bluetooth_libs} ${json_libs})
-    foreach(subdir IN LISTS LIBRARY_DIRS)
-        target_link_libraries(ihsboost PUBLIC ihs_${subdir})
-    endforeach()
-
-    # install
-    install(TARGETS ihsboost DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
-    install(FILES all.hpp DESTINATION ${local_install_path})
-endif()
+# add modules
+add_subdirectory(modules)
 
-# python bindings
-if (${build_python})
-    add_subdirectory(bindings)
+# tests for ctest
+if (${build_tests})
+    include(CTest)
+    add_subdirectory(tests)
 endif()
 
 # doxygen/documentation
 if (${with_documentation})
     find_package(Doxygen REQUIRED)
 
     # include the extra files
-    set(DOXYGEN_SOURCES ${LIBRARY_DIRS} ${CMAKE_SOURCE_DIR}/README.md ${CMAKE_SOURCE_DIR}/all.hpp ${CMAKE_SOURCE_DIR}/bindings/)
+    set(DOXYGEN_SOURCES ${CMAKE_SOURCE_DIR}/README.md ${CMAKE_SOURCE_DIR}/modules/)
     set(DOXYGEN_EXAMPLE_PATH ${CMAKE_SOURCE_DIR}/examples)
     set(DOXYGEN_USE_MDFILE_AS_MAINPAGE ${CMAKE_SOURCE_DIR}/README.md)
 

README.md

@@ -4,10 +4,11 @@
 The ihs library of robot functions, from steady acceleration to servo movement
 ## Installing
 ### Dependencies
-ihsboost depends on the following libraries:
-* libwallaby - please use [this branch](https://github.com/chrehall68/libwallaby/tree/refactor) to install libwallaby
-* libjsoncpp - on linux, run `sudo apt-get install libjsoncpp-dev` to install
-* libbluetooth - on linux, run `sudo apt-get install libbluetooth-dev` to install
+Some ihsboost modules have dependencies. The format below is dependency - modules - installation instructions
+* libwallaby - servos, movement, create_extra - please use [this branch](https://github.com/chrehall68/libwallaby/tree/refactor) to install libwallaby
+* libjsoncpp - util - on linux, run `sudo apt-get install libjsoncpp-dev` to install
+* libbluetooth - communicate - on linux, run `sudo apt-get install libbluetooth-dev` to install
+* libboost_python - bindings - on linux, run `sudo apt-get install libboost-python-dev` to install
 ### Getting the Source files
 To get the source files on a wombat, the best way to do that is to start on your local
 computer. Run `git clone https://github.com/ihsrobotics/ihsboost.git` to get the github
@@ -41,21 +42,32 @@ Note: you will need to use either the `main` branch or the
 `older-wombat` branch depending on whether you are using a
 new wombat or an old (original OS) wombat (see `Getting the Source files`) 
 ### Cross Compile Build
-Currently, Cross compile build is unsupported.
+Currently, cross compile build is unsupported.
 ### Other Build Options
 The following are options that can be appended to the `cmake` command
 when configuring the project.
 
-* `-Dwith_documentation=OFF/ON` - build documentation files for the project, defaults to `OFF`
 * `-Dbuild_library=ON/OFF` - build ihsboost, defaults to `ON`
-* `-Dbuild_python=ON/OFF`- build python bindings, defaults to `ON`
-* `-Dpython_version=XXX` - use a specific version of python (for example, 3.9 or 3.10), defaults to 3.9
+* `-Dbuild_tests=OFF/ON` - build tests to assure that ihsboost built successfully, defaults to `OFF`
+* `-Dwith_documentation=OFF/ON` - build documentation files for the project, defaults to `OFF`
 * `-Droomba=ON/OFF` - use roomba configs or not, defaults to `ON`
+* `-Dpython_version=XXX` - use a specific version of python (for example, 3.9 or 3.10), defaults to 3.9,
+only relevant if building python bindings
+
+The following are options to configure which ihsboost modules to build
+* `-Dbuild_bindings=ON/OFF`- build python bindings, defaults to `ON`
+* `-Dbuild_communicate=ON/OFF` - build communicate, defaults to `ON`
+* `-Dbuild_controllers=ON/OFF` - build controllers, defaults to `ON`
+* `-Dbuild_create_extra=ON/OFF` - build extra create functionality (vacuum and brushes), defaults to `ON`
+* `-Dbuild_movement=ON/OFF` - build movement functions, defaults to `ON`
+* `-Dbuild_servos=ON/OFF` - build servo movement functions, defaults to `ON`
+* `-Dbuild_thread=ON/OFF` - build threading classes, defaults to `ON`
+* `-Dbuild_util=ON/OFF` - build util, defaults to `ON`
 
 For example,
 `cmake .. -DCMAKE_BUILD_TYPE=Release -Dwith_documentation=ON -Dpython_version=3.10`
 will configure cmake to build the library and python bindings 
-(since `build_library` and `build_python` default to `ON`) but
+(since `build_library` and `build_bindings` default to `ON`) but
 will also make the documentation (since `with_documentation` was specified to `ON`)
 and use python 3.10 instean of python 3.9
 ## Compiling programs with it

bindings/CMakeLists.txt

@@ -1,3 +1,13 @@
+/**
+ * @file listener.cpp
+ * @author Eliot Hall
+ * @brief FIle to listen on the c++ side for messages sent by python
+ * @version 0.1
+ * @date 2023-03-31
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
 #include <ihsboost/all.hpp>
 #include <iostream>
 using namespace std;