Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,97 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(canopen_master)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    class_loader
+    socketcan_interface
+)
+
+find_package(Boost REQUIRED
+  COMPONENTS
+    atomic
+    chrono
+    thread
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    socketcan_interface
+  DEPENDS
+    Boost
+)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME}
+  src/emcy.cpp
+  src/node.cpp
+  src/objdict.cpp
+  src/pdo.cpp
+  src/sdo.cpp
+)
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+add_library(${PROJECT_NAME}_plugin
+  src/master_plugin.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_plugin
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${PROJECT_NAME}
+)
+
+# canopen_bcm_sync
+add_executable(canopen_bcm_sync
+  src/bcm_sync.cpp
+)
+target_link_libraries(canopen_bcm_sync
+  ${Boost_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS
+    canopen_bcm_sync
+    ${PROJECT_NAME}
+   ${PROJECT_NAME}_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY
+    include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(
+  FILES
+    master_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(${PROJECT_NAME}-test_parser
+    test/test_parser.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_parser
+    ${PROJECT_NAME}
+  )
+
+  catkin_add_gtest(${PROJECT_NAME}-test_node
+    test/test_node.cpp
+  )
+  target_link_libraries(${PROJECT_NAME}-test_node
+    ${PROJECT_NAME}
+  )
+endif()