drivers/uavcan: subtree merge last working libuavcan (preserving hist…

…ory)

src/drivers/uavcan/libdronecan/.gitignore

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+# Build outputs
+*.o
+*.d
+lib*.so
+lib*.so.*
+*.a
+build*/
+.dep
+__pycache__
+*.pyc
+
+# Eclipse
+.metadata
+.settings
+.project
+.cproject
+.pydevproject
+.gdbinit
+
+# vsstudio code
+.vscode
+
+# vagrant
+.vagrant
+
+# libuavcan DSDL compiler default output directory
+dsdlc_generated
+
+# Log files
+*.log

src/drivers/uavcan/libdronecan/.gitmodules

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+[submodule "dsdl"]
+	path = dsdl
+	url = https://github.com/dronecan/DSDL
+[submodule "libuavcan/dsdl_compiler/pyuavcan"]
+	path = libuavcan/dsdl_compiler/pyuavcan
+	url = https://github.com/dronecan/pydronecan

src/drivers/uavcan/libdronecan/.travis.yml

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+language: cpp
+compiler: gcc
+env:
+  global:
+    # The next declaration is the encrypted COVERITY_SCAN_TOKEN, created
+    #   via the "travis encrypt" command using the project repo's public key
+    - secure: "nCQtEBd5gQ9zirHNQVpzB0Q8aVKmMuTrlHfZCK5ZOpFItD9zP0YwqUTcw6y8T+14CceY6Go/D+fgeMYR3QmYc2CW0vXMwgBYOFQuPYEef7455ZPdt6wdr4lnyP/B+fj4cWZ4WhV+hMigl2Ly4xaFH6msm+PlIHOdjdaXo3ko0LI="
+  matrix:
+    - TARGET=native
+    - TARGET=lpc11c24
+    - TARGET=stm32
+    - TARGET=kinetis
+addons:
+  coverity_scan:
+    project:
+      name: "UAVCAN/libuavcan"
+      description: "UAVCAN in C++"
+    notification_email: [email protected]
+    build_command_prepend: "rm -rf build &> /dev/null || true; mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Debug"
+    build_command: "make --ignore-errors"
+    branch_pattern: coverity_scan
+before_install:
+    - ./bootstrap.sh
+before_script: "mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Debug -DCONTINUOUS_INTEGRATION_BUILD=1"
+script:
+    - if [ "${COVERITY_SCAN_BRANCH}" != 1 ] && [ "${TARGET}" == "native" ]; then make && make ARGS=-VV test; fi
+    - if [ "${COVERITY_SCAN_BRANCH}" != 1 ] && [ "${TARGET}" == "lpc11c24" ]; then cd "$TRAVIS_BUILD_DIR/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24" && make all; fi
+    - if [ "${COVERITY_SCAN_BRANCH}" != 1 ] && [ "${TARGET}" == "stm32" ]; then echo "TODO STM32 test environment is not configured"; fi
+    - if [ "${COVERITY_SCAN_BRANCH}" != 1 ] && [ "${TARGET}" == "kinetis" ]; then echo "TODO Kinetis test environment is not configured"; fi

src/drivers/uavcan/libdronecan/CMakeLists.txt

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+#
+# Copyright (C) 2014 Pavel Kirienko <[email protected]>
+#
+
+cmake_minimum_required(VERSION 2.8.11)
+
+project(uavcan C CXX)
+
+#
+# Build options
+#
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+    set(DEFAULT_UAVCAN_PLATFORM "linux")
+endif()
+
+# options are listed in a table format below
+set(opts
+    # name: type: default value: string options list : description
+    "CMAKE_BUILD_TYPE:STRING:RelWithDebInfo:Debug Release RelWithDebInfo MinSizeRel:Build type."
+    "CMAKE_CXX_FLAGS:STRING:::C++ flags."
+    "CMAKE_C_FLAGS:STRING:::C flags."
+    "UAVCAN_PLATFORM:STRING:generic:generic kinetis linux stm32:Platform."
+    "CONTINUOUS_INTEGRATION_BUILD:BOOL:OFF::Disable error redirection and timing tests"
+    "UAVCAN_CMAKE_VERBOSE:BOOL:OFF::Verbose CMake configure output"
+    )
+foreach(_opt ${opts})
+    # arguments are : delimited
+    string(REPLACE ":" ";" _opt ${_opt})
+    list(GET _opt 0 _name)
+    list(GET _opt 1 _type)
+    list(GET _opt 2 _default)
+    list(GET _opt 3 _options)
+    list(GET _opt 4 _descr)
+    # options are space delimited
+    string(REPLACE " " ";" _options "${_options}")
+    # if a default has not already been defined, use default from table
+    if(NOT DEFINED DEFAULT_${_name})
+        set(DEFAULT_${_name} ${_default})
+    endif()
+    # option has not been set already or it is empty, set it with the default
+    if(NOT DEFINED ${_name} OR ${_name} STREQUAL "")
+        set(${_name} ${DEFAULT_${_name}})
+    endif()
+    # create a cache from the variable and force it to set
+if(UAVCAN_CMAKE_VERBOSE)
+    message(STATUS "${_name}\t: ${${_name}} : ${_descr}")
+endif()
+    set("${_name}" "${${_name}}" CACHE "${_type}" "${_descr}" FORCE)
+    # if an options list is provided for the cache, set it
+    if("${_type}" STREQUAL "STRING" AND NOT "${_options}" STREQUAL "")
+        set_property(CACHE ${_name} PROPERTY STRINGS ${_options})
+    endif()
+endforeach()
+
+#
+# Set flags
+#
+include_directories(
+    ./libuavcan/include/
+    ./libuavcan/include/dsdlc_generated
+    )
+
+#
+# Install
+#
+# DSDL definitions
+install(DIRECTORY dsdl DESTINATION share/uavcan)
+
+#
+# Googletest
+#
+if( CMAKE_BUILD_TYPE STREQUAL "Debug" )
+    # (Taken from googletest/README.md documentation)
+    # GTest executables
+    # Download and unpack googletest at configure time
+    configure_file(CMakeLists.txt.in googletest-download/CMakeLists.txt)
+    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+        RESULT_VARIABLE result
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest-download )
+    if(result)
+        message(WARNING "CMake step for googletest failed: ${result}")
+    else()
+        execute_process(COMMAND ${CMAKE_COMMAND} --build .
+            RESULT_VARIABLE result
+            WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest-download )
+        if(result)
+            message(WARNING "Build step for googletest failed: ${result}")
+        else()
+
+            # Prevent overriding the parent project's compiler/linker
+            # settings on Windows
+            set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+            # Add googletest directly to our build. This defines
+            # the gtest and gtest_main targets.
+            add_subdirectory(${CMAKE_BINARY_DIR}/googletest-src
+                            ${CMAKE_BINARY_DIR}/googletest-build
+                            EXCLUDE_FROM_ALL)
+
+            set(GTEST_FOUND ON)
+            set(BUILD_TESTING ON)
+            enable_testing()
+        endif()
+    endif()
+endif()
+
+#
+# Subdirectories
+#
+# library
+add_subdirectory(libuavcan)
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

src/drivers/uavcan/libdronecan/CMakeLists.txt.in

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+cmake_minimum_required(VERSION 2.8.2)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+  GIT_REPOSITORY    https://github.com/google/googletest.git
+  GIT_TAG           ba96d0b1161f540656efdaed035b3c062b60e006
+  SOURCE_DIR        "${CMAKE_BINARY_DIR}/googletest-src"
+  BINARY_DIR        "${CMAKE_BINARY_DIR}/googletest-build"
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+)

src/drivers/uavcan/libdronecan/LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2014 Pavel Kirienko
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

src/drivers/uavcan/libdronecan/README.md

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+DroneCAN stack in C++
+=====================
+
+Portable reference implementation of the [DroneCAN protocol stack](http://dronecan.org) in C++ for embedded systems
+and Linux.
+
+DroneCAN is a lightweight protocol designed for reliable communication in aerospace and robotic applications via CAN bus.
+
+## Documentation
+
+* [DroneCAN website](http://dronecan.org)
+* [DroneCAN forum](https://dronecan.org/discord)
+
+## Library usage
+
+### Cloning the repository
+
+```bash
+git clone https://github.com/DroneCAN/libuavcan
+cd libuavcan
+git submodule update --init
+```
+
+If this repository is used as a git submodule in your project, make sure to use `--recursive` when updating it.
+
+### Using in a Linux application
+
+Libuavcan can be built as a static library and installed on the system globally as shown below.
+
+```bash
+mkdir build
+cd build
+cmake .. # Default build type is RelWithDebInfo, which can be overriden if needed.
+make -j8
+sudo make install
+```
+
+The following components will be installed:
+
+* Libuavcan headers and the static library
+* Generated DSDL headers
+* Libuavcan DSDL compiler (a Python script named `libuavcan_dsdlc`)
+* Libuavcan DSDL compiler's support library (a Python package named `libuavcan_dsdl_compiler`)
+
+Note that Pyuavcan (an implementation of DroneCAN in Python) will not be installed.
+You will need to install it separately if you intend to use the Libuavcan's DSDL compiler in your applications.
+
+It is also possible to use the library as a submodule rather than installing it system-wide.
+Please refer to the example applications supplied with the Linux platform driver for more information.
+
+### Using with an embedded system
+
+For ARM targets, it is recommended to use [GCC ARM Embedded](https://launchpad.net/gcc-arm-embedded);
+however, any other standard-compliant C++ compiler should also work.
+
+## Library development
+
+Despite the fact that the library itself can be used on virtually any platform that has a standard-compliant
+C++11 compiler, the library development process assumes that the host OS is Linux.
+
+Prerequisites:
+
+* Google test library for C++ - gtest (dowloaded as part of the build from [github](https://github.com/google/googletest))
+* C++11 capable compiler with GCC-like interface (e.g. GCC, Clang)
+* CMake 2.8+
+* Optional: static analysis tool for C++ - cppcheck (on Debian/Ubuntu use package `cppcheck`)
+
+Building the debug version and running the unit tests:
+```bash
+mkdir build
+cd build
+cmake .. -DCMAKE_BUILD_TYPE=Debug
+make -j8
+make ARGS=-VV test
+```
+
+Test outputs can be found in the build directory under `libuavcan`.
+
+> Note that unit tests suffixed with "_RealTime" must be executed in real time, otherwise they may produce false warnings;
+this implies that they will likely fail if ran on a virtual machine or on a highly loaded system.
+
+### Vagrant
+Vagrant can be used to setup a compatible Ubuntu virtual image. Follow the instructions on [Vagrantup](https://www.vagrantup.com/) to install virtualbox and vagrant then do:
+
+```bash
+vagrant up
+vagrant ssh
+mkdir build
+cd build
+mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Debug -DCONTINUOUS_INTEGRATION_BUILD=1
+```
+
+> Note that -DCONTINUOUS_INTEGRATION_BUILD=1 is required for this build as the realtime unit tests will not work on a virt.
+
+You can build using commands like:
+
+```bash
+vagrant ssh -c "cd /vagrant/build && make -j4 && make test"
+```
+
+or to run a single test:
+
+```bash
+vagrant ssh -c "cd /vagrant/build && make libuavcan_test && ./libuavcan/libuavcan_test --gtest_filter=Node.Basic"
+```
+
+### Developing with Eclipse
+
+An Eclipse project can be generated like that:
+
+```bash
+cmake ../../libuavcan -G"Eclipse CDT4 - Unix Makefiles" \
+                      -DCMAKE_ECLIPSE_VERSION=4.3 \
+                      -DCMAKE_BUILD_TYPE=Debug \
+                      -DCMAKE_CXX_COMPILER_ARG1=-std=c++11
+```
+
+Path `../../libuavcan` in the command above points at the directory where the top-level `CMakeLists.txt` is located;
+you may need to adjust this per your environment.
+Note that the directory where Eclipse project is generated must not be a descendant of the source directory.
+

src/drivers/uavcan/libdronecan/Vagrantfile

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+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure("2") do |config|
+  # Every Vagrant development environment requires a box. You can search for
+  # boxes at https://vagrantcloud.com/search.
+
+  config.vm.box = "ubuntu/trusty64"
+
+  # use shell and other provisioners as usual
+  config.vm.provision :shell, path: "bootstrap.sh"
+
+  config.vm.provider "virtualbox" do |v|
+    v.memory = 1024
+    v.cpus = 4
+  end
+  config.vm.provision "shell" do |s|
+    s.inline = <<-SCRIPT
+      # Change directory automatically on ssh login
+      echo "cd    /vagrant" >> /home/vagrant/.bashrc
+    SCRIPT
+  end
+end