Upload code from roboticslab-uc3m/yarp-devices

.github/workflows/ci.yml

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+name: Continuous Integration
+
+on:
+  push:
+    paths-ignore:
+    - 'doc/**'
+    - '**.md'
+  pull_request:
+  workflow_dispatch:
+
+env:
+  CMAKE_CCACHE_LAUNCHER: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+  ARAVIS_VER: 0.6.4
+  PEAK_DRIVER_VER: 8.11.0
+
+jobs:
+  maybe_skip:
+    runs-on: ubuntu-latest
+    outputs:
+      should_skip: ${{steps.skip_check.outputs.should_skip}}
+    steps:
+    - uses: fkirc/skip-duplicate-actions@v5
+      id: skip_check
+      with:
+        cancel_others: 'true'
+
+  build:
+    name: build (${{matrix.os}}, ${{matrix.robotology.yarp}}, ${{matrix.compiler.cc}})
+    runs-on: ${{matrix.os}}
+    needs: maybe_skip
+    if: ${{needs.maybe_skip.outputs.should_skip != 'true'}}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04, ubuntu-22.04]
+        robotology:
+        - { yarp: yarp-3.8, cmake: 3.16.x }
+        - { yarp: yarp-3.9, cmake: 3.16.x }
+        - { yarp: master, cmake: 3.16.x }
+        compiler:
+        - { cc: gcc, cxx: g++ }
+        - { cc: clang, cxx: clang++ }
+        experimental:
+        - ${{github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}}
+        exclude:
+        - { experimental: false, robotology: { yarp: master } }
+
+    steps:
+    - name: Check out main project
+      uses: actions/checkout@v4
+
+    - name: Check out YCM
+      uses: actions/checkout@v4
+      with:
+        repository: robotology/ycm
+        path: .deps/ycm
+
+    - name: Check out YARP
+      uses: actions/checkout@v4
+      with:
+        repository: robotology/yarp
+        ref: ${{matrix.robotology.yarp}}
+        path: .deps/yarp
+
+    - name: Check out roboticslab-uc3m/yarp-devices
+      uses: actions/checkout@v4
+      with:
+        repository: roboticslab-uc3m/yarp-devices
+        path: .deps/yarp-devices
+
+    - name: Install dependencies via apt
+      run: sudo apt-get update && sudo apt-get install -qq ccache
+
+    - name: Set up CMake
+      uses: jwlawson/actions-setup-cmake@v1
+      with:
+        cmake-version: ${{matrix.robotology.cmake}}
+
+    - name: Set up Ccache
+      uses: hendrikmuhs/ccache-action@v1
+      with:
+        key: ${{matrix.os}}-${{matrix.robotology.yarp}}-${{matrix.compiler.cc}}
+
+    - name: Set environment variables
+      run: |
+        echo "CC=${{matrix.compiler.cc}}" >> $GITHUB_ENV
+        echo "CXX=${{matrix.compiler.cxx}}" >> $GITHUB_ENV
+
+    - name: Build YCM
+      run: |
+        cmake -S .deps/ycm -B .deps/ycm/build
+        cmake --build .deps/ycm/build
+        sudo cmake --install .deps/ycm/build
+
+    - name: Build YARP
+      run: |
+        cmake -S .deps/yarp -B .deps/yarp/build $CMAKE_CCACHE_LAUNCHER -DSKIP_ACE=ON -DYARP_DISABLE_VERSION_SOURCE=ON
+        cmake --build .deps/yarp/build
+        sudo cmake --install .deps/yarp/build
+
+    - name: Build roboticslab-uc3m/yarp-devices
+      run: |
+        cmake -S .deps/yarp-devices -B .deps/yarp-devices/build $CMAKE_CCACHE_LAUNCHER
+        cmake --build .deps/yarp-devices/build
+        sudo cmake --install .deps/yarp-devices/build
+
+    - name: Configure main project
+      run: cmake -S . -B build $CMAKE_CCACHE_LAUNCHER
+
+    - name: Compile main project
+      run: cmake --build build
+
+    - name: Install main project
+      run: sudo cmake --install build && sudo ldconfig
+
+    - name: Uninstall main project
+      run: sudo cmake --build build --target uninstall

.gitignore

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+**/build*/
+*~
+*.swp
+*.orig
+tags
+CMakeLists.txt.user
+doc/html
+doc/doxygen_sqlite3.db
+/.cproject
+/.project
+/.settings/
+/.vscode/
+/.vs/
+.idea
+venv
+**/__pycache__
+/external/
+**/*.mcw

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+
+project(DEXTRA_YARP_DEVICES LANGUAGES CXX)
+
+# Let the user specify a configuration (only single-config generators).
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    # Possible values.
+    set(_configurations Debug Release MinSizeRel RelWithDebInfo)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${_configurations})
+
+    foreach(_conf ${_configurations})
+        set(_conf_string "${_conf_string} ${_conf}")
+    endforeach()
+
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY HELPSTRING
+                 "Choose the type of build, options are:${_conf_string}")
+
+    if(NOT CMAKE_BUILD_TYPE)
+        # Encourage the user to specify build type.
+        message(STATUS "Setting build type to 'Release' as none was specified.")
+        set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE Release)
+    endif()
+endif()
+
+# Pick up our CMake modules.
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
+                              ${CMAKE_SOURCE_DIR}/cmake/find-modules)
+
+# Hard dependencies.
+find_package(YCM 0.11 REQUIRED)
+find_package(YARP 3.8 REQUIRED COMPONENTS os dev)
+
+# Soft dependencies.
+find_package(ROBOTICSLAB_YARP_DEVICES QUIET)
+find_package(Doxygen QUIET)
+#find_package(GTestSources 1.8 QUIET)
+
+# Always build YARP devices as MODULE libraries.
+set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "Force dynamic plugins")
+
+# Configure installation paths for YARP resources.
+yarp_configure_external_installation(dextra-yarp-devices WITH_PLUGINS)
+
+# Standard installation directories.
+include(GNUInstallDirs)
+
+# Control where libraries and executables are placed during the build.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+
+# Create targets if specific requirements are satisfied.
+include(CMakeDependentOption)
+
+# Acknowledge this is a CTest-friendly project.
+#enable_testing()
+
+# Add main contents.
+add_subdirectory(libraries)
+# add_subdirectory(programs)
+# add_subdirectory(tests)
+# add_subdirectory(share)
+add_subdirectory(doc)
+
+# Store the package in the user registry.
+set(CMAKE_EXPORT_PACKAGE_REGISTRY ON)
+
+# Create and install config files.
+include(InstallBasicPackageFiles)
+
+install_basic_package_files(DEXTRA_YARP_DEVICES
+                            VERSION 0.1.0
+                            COMPATIBILITY AnyNewerVersion
+                            NO_EXPORT
+                            NO_SET_AND_CHECK_MACRO
+                            NO_CHECK_REQUIRED_COMPONENTS_MACRO
+                            NAMESPACE ROBOTICSLAB::)
+
+# Configure and create uninstall target.
+include(AddUninstallTarget)

CONTRIBUTING.md

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+Have a feature request or found a bug?
+
+Before opening a fresh issue, do a search on [GitHub](https://github.com/roboticslab-uc3m/dextra-yarp-devices/issues?utf8=%E2%9C%93&q=is%3Aissue) and make sure it hasn't already been addressed. Here are some notes on how to detail feature requests or bug reports:
+* Explain, as detailed as possible, how to reproduce the issue or the specific behaviour for the feature.
+* Include what you expected to happen and what actually happened.
+* Please include information on what operating system and version you are working with. Also add any other relevant details.
+* Feel free to attach any other information illustrating the issue if copying and pasting text is not an option.
+
+Notes:
+* We follow the [Forking](https://www.atlassian.com/git/tutorials/comparing-workflows/forking-workflow/) Git workflow.

README.md

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+# dextra-yarp-devices
+
+YARP devices for the [Dextra prosthetic hand](https://github.com/roboticslab-uc3m/Dextra).
+
+## Installation
+
+Installation instructions for installing from source can be found [here](doc/dextra-yarp-devices-install.md).
+
+## Contributing
+
+#### Posting Issues
+
+1. Read [CONTRIBUTING.md](CONTRIBUTING.md)
+2. [Post an issue / Feature request / Specific documentation request](https://github.com/roboticslab-uc3m/dextra-yarp-devices/issues)
+
+#### Fork & Pull Request
+
+1. [Fork the repository](https://github.com/roboticslab-uc3m/dextra-yarp-devices/fork)
+2. Create your feature branch (`git checkout -b my-new-feature`) off the `master` branch, following the [Forking Git workflow](https://www.atlassian.com/git/tutorials/comparing-workflows/forking-workflow)
+3. Commit your changes
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create a new Pull Request
+
+## Status
+
+[![CI (Linux)](https://github.com/roboticslab-uc3m/dextra-yarp-devices/workflows/Continuous%20Integration/badge.svg)](https://github.com/roboticslab-uc3m/dextra-yarp-devices/actions)
+
+[![Issues](https://img.shields.io/github/issues/roboticslab-uc3m/dextra-yarp-devices.svg?label=Issues)](https://github.com/roboticslab-uc3m/dextra-yarp-devices/issues)
+
+## Similar and Related Projects
+
+- [roboticslab-uc3m/yarp-devices](https://github.com/roboticslab-uc3m/yarp-devices)
+    - [issue #176](https://github.com/roboticslab-uc3m/yarp-devices/issues/176)
+    - [issue #227](https://github.com/roboticslab-uc3m/yarp-devices/issues/227)
+- [roboticslab-uc3m/Dextra](https://github.com/roboticslab-uc3m/Dextra)

doc/CMakeLists.txt

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+# https://stackoverflow.com/a/25217937
+get_directory_property(_has_parent PARENT_DIRECTORY)
+
+if(NOT _has_parent)
+    cmake_minimum_required(VERSION 3.9)
+    project(doxygen NONE)
+    find_package(Doxygen REQUIRED)
+elseif(NOT DOXYGEN_FOUND)
+    return()
+endif()
+
+set(DOXYGEN_PROJECT_NAME "dextra-yarp-devices")
+set(DOXYGEN_REPEAT_BRIEF NO)
+set(DOXYGEN_EXTRACT_PRIVATE YES)
+set(DOXYGEN_EXTRACT_STATIC YES)
+set(DOXYGEN_EXAMPLE_PATH ./examples)
+set(DOXYGEN_EXAMPLE_RECURSIVE YES)
+set(DOXYGEN_IMAGE_PATH ./doc/fig)
+set(DOXYGEN_HTML_TIMESTAMP YES)
+set(DOXYGEN_USE_MATHJAX YES)
+set(DOXYGEN_USE_MDFILE_AS_MAINPAGE ./README.md)
+
+set(_doxygen_input README.md
+                   doc
+                   examples
+                   libraries
+                   programs
+                   share
+                   tests)
+
+doxygen_add_docs(dox ${_doxygen_input}
+                 WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/..)

doc/dextra-yarp-devices-install.md

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+# Installation from Source Code
+
+First install the dependencies:
+- [Install CMake 3.16+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-cmake.md/)
+- [Install YCM 0.11+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md/)
+- [Install YARP 3.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
+- [Install YARP 3.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md/)
+
+### Components with known additional/specific dependencies
+- [../libraries/YarpPlugins/DextraCanControlBoard](../libraries/YarpPlugins/DextraCanControlBoard#requirements)
+
+## Installation (Ubuntu)
+
+Once the required dependencies have been installed, the code has to be compiled and installed. Note that you will be prompted for your password upon using `sudo` a couple of times:
+
+```bash
+cd  # go home
+mkdir -p repos; cd repos  # make $HOME/repos if it doesn't exist; then, enter it
+git clone https://github.com/roboticslab-uc3m/dextra-yarp-devices.git  # Download yarp-devices software from the repository
+cd dextra-yarp-devices; mkdir build; cd build; cmake ..  # Configure the dextra-yarp-devices software
+make -j$(nproc)  # Compile
+sudo make install  # Install :-)
+sudo ldconfig  # Just in case
+```
+
+For additional options use `ccmake` instead of `cmake`.

doc/groups.dox

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+
+/**
+@brief The main, catch-all namespace for Robotics Lab UC3M.
+ */
+namespace roboticslab
+{
+    /**
+     * @brief Contains classes related to unit testing.
+     */
+    namespace test {}
+}
+
+/**
+ * @defgroup dextra_yarp_devices_libraries Libraries
+ * @brief dextra-yarp-devices libraries.
+ */
+
+/**
+ * @ingroup dextra_yarp_devices_libraries
+ * @defgroup YarpPlugins YARP plugins
+ *
+ * @brief Contains libraries that implement YARP device interfaces
+ * and therefore can be invoked as YARP plugins.
+ */
+
+/**
+ * @defgroup dextra_yarp_devices_programs Programs
+ * @brief dextra-yarp-devices programs.
+ */
+
+/**
+ * @defgroup dextra_yarp_devices_tests Tests
+ * @brief dextra-yarp-devices tests.
+ */
+
+/**
+ * @defgroup dextra_yarp_devices_examples Examples
+ * @brief dextra-yarp-devices examples.
+ */
+
+/**
+ * @ingroup dextra_yarp_devices_examples
+ * @defgroup dextra_yarp_devices_examples_cpp C++ examples
+ */
+
+/**
+ * @ingroup dextra_yarp_devices_examples
+ * @defgroup dextra_yarp_devices_examples_py Python examples
+ */

libraries/CMakeLists.txt

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+add_subdirectory(DextraRawControlBoardLib)
+add_subdirectory(YarpPlugins)