fri client to package

kroshu · Nov 10, 2023 · f76866c · f76866c
1 parent c38d812
commit f76866c
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Showing 33 changed files with 36 additions and 120 deletions.
diff --git a/fri_client/.gitignore b/fri_client/.gitignore
diff --git a/fri_client/CMakeLists.txt b/fri_client/CMakeLists.txt
diff --git a/fri_client/LICENSE b/fri_client/LICENSE
diff --git a/fri_client/README.md b/fri_client/README.md
diff --git a/fri_client/cmake/friConfig.cmake.in b/fri_client/cmake/friConfig.cmake.in
diff --git a/fri_client/package.xml b/fri_client/package.xml
diff --git a/kuka_sunrise_fri_driver/CMakeLists.txt b/kuka_sunrise_fri_driver/CMakeLists.txt
@@ -30,19 +30,52 @@ find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(controller_manager_msgs)
 
-include_directories(include)
+include_directories(include src/fri_client_sdk)
 
 add_library(fri_connection SHARED
   src/connection_helpers/fri_connection.cpp
   src/connection_helpers/tcp_connection.cpp)
 target_link_libraries(fri_connection
   kuka_drivers_core::communication_helpers)
 
+
+# Add the Fast Robot Interface libray
+add_library(fri_client_sdk SHARED
+    src/HWIFClientApplication.cpp
+    src/friClientApplication.cpp
+    src/friCommandMessageEncoder.cpp
+    src/friLBRClient.cpp
+    src/friLBRCommand.cpp
+    src/friLBRState.cpp
+    src/FRIMessages.pb.c
+    src/friMonitoringMessageDecoder.cpp
+    src/friTransformationClient.cpp
+    src/friUdpConnection.cpp
+    src/pb_frimessages_callbacks.c
+)
+
+file(GLOB private_headers
+  LIST_DIRECTORIES FALSE
+  RELATIVE "${PROJECT_SOURCE_DIR}"
+  src/friClientData.h
+  src/friCommandMessageEncoder.h
+  src/FRIMessages.pb.h
+  src/friMonitoringMessageDecoder.h
+  src/pb_frimessages_callbacks.h
+  )
+
+target_link_libraries(fri_client_sdk PRIVATE protobuf-nanopb)
+
+ament_export_targets(fri_client_sdk HAS_LIBRARY_TARGET)
+
+install(DIRECTORY include/fri_client_sdk DESTINATION include)
+install(FILES ${private_headers} DESTINATION include)
+
 add_library(kuka_fri_hw_interface SHARED
   src/hardware_interface.cpp
 )
 ament_target_dependencies(kuka_fri_hw_interface kuka_driver_interfaces rclcpp rclcpp_lifecycle hardware_interface)
-target_link_libraries(kuka_fri_hw_interface fri::fri_client)
+target_link_libraries(kuka_fri_hw_interface fri_client_sdk)
 
 add_library(configuration_manager SHARED
   src/connection_helpers/configuration_manager.cpp)
@@ -58,7 +91,7 @@ target_link_libraries(robot_manager_node
 
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface.xml)
 
-install(TARGETS fri_connection kuka_fri_hw_interface robot_manager_node
+install(TARGETS fri_connection fri_client_sdk kuka_fri_hw_interface robot_manager_node
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch config

diff --git a/...ent/include/fri/HWIFClientApplication.hpp → .../fri_client_sdk/HWIFClientApplication.hpp b/...ent/include/fri/HWIFClientApplication.hpp → .../fri_client_sdk/HWIFClientApplication.hpp
diff --git a/...client/include/fri/friClientApplication.h → ...ude/fri_client_sdk/friClientApplication.h b/...client/include/fri/friClientApplication.h → ...ude/fri_client_sdk/friClientApplication.h
diff --git a/fri_client/include/fri/friClientIf.h → ...iver/include/fri_client_sdk/friClientIf.h b/fri_client/include/fri/friClientIf.h → ...iver/include/fri_client_sdk/friClientIf.h
diff --git a/fri_client/include/fri/friConnectionIf.h → .../include/fri_client_sdk/friConnectionIf.h b/fri_client/include/fri/friConnectionIf.h → .../include/fri_client_sdk/friConnectionIf.h
diff --git a/fri_client/include/fri/friException.h → ...ver/include/fri_client_sdk/friException.h b/fri_client/include/fri/friException.h → ...ver/include/fri_client_sdk/friException.h
diff --git a/fri_client/include/fri/friLBRClient.h → ...ver/include/fri_client_sdk/friLBRClient.h b/fri_client/include/fri/friLBRClient.h → ...ver/include/fri_client_sdk/friLBRClient.h
diff --git a/fri_client/include/fri/friLBRCommand.h → ...er/include/fri_client_sdk/friLBRCommand.h b/fri_client/include/fri/friLBRCommand.h → ...er/include/fri_client_sdk/friLBRCommand.h
diff --git a/fri_client/include/fri/friLBRState.h → ...iver/include/fri_client_sdk/friLBRState.h b/fri_client/include/fri/friLBRState.h → ...iver/include/fri_client_sdk/friLBRState.h
diff --git a/...ent/include/fri/friTransformationClient.h → .../fri_client_sdk/friTransformationClient.h b/...ent/include/fri/friTransformationClient.h → .../fri_client_sdk/friTransformationClient.h
diff --git a/fri_client/include/fri/friUdpConnection.h → ...include/fri_client_sdk/friUdpConnection.h b/fri_client/include/fri/friUdpConnection.h → ...include/fri_client_sdk/friUdpConnection.h
diff --git a/fri_client/src/FRIMessages.pb.c → ...river/src/fri_client_sdk/FRIMessages.pb.c b/fri_client/src/FRIMessages.pb.c → ...river/src/fri_client_sdk/FRIMessages.pb.c
diff --git a/fri_client/src/FRIMessages.pb.h → ...river/src/fri_client_sdk/FRIMessages.pb.h b/fri_client/src/FRIMessages.pb.h → ...river/src/fri_client_sdk/FRIMessages.pb.h
diff --git a/fri_client/src/HWIFClientApplication.cpp → .../fri_client_sdk/HWIFClientApplication.cpp b/fri_client/src/HWIFClientApplication.cpp → .../fri_client_sdk/HWIFClientApplication.cpp
diff --git a/fri_client/src/friClientApplication.cpp → ...c/fri_client_sdk/friClientApplication.cpp b/fri_client/src/friClientApplication.cpp → ...c/fri_client_sdk/friClientApplication.cpp
diff --git a/fri_client/src/friClientData.h → ...driver/src/fri_client_sdk/friClientData.h b/fri_client/src/friClientData.h → ...driver/src/fri_client_sdk/friClientData.h
diff --git a/fri_client/src/friCommandMessageEncoder.cpp → ...i_client_sdk/friCommandMessageEncoder.cpp b/fri_client/src/friCommandMessageEncoder.cpp → ...i_client_sdk/friCommandMessageEncoder.cpp
diff --git a/fri_client/src/friCommandMessageEncoder.h → ...fri_client_sdk/friCommandMessageEncoder.h b/fri_client/src/friCommandMessageEncoder.h → ...fri_client_sdk/friCommandMessageEncoder.h
diff --git a/fri_client/src/friLBRClient.cpp → ...river/src/fri_client_sdk/friLBRClient.cpp b/fri_client/src/friLBRClient.cpp → ...river/src/fri_client_sdk/friLBRClient.cpp
diff --git a/fri_client/src/friLBRCommand.cpp → ...iver/src/fri_client_sdk/friLBRCommand.cpp b/fri_client/src/friLBRCommand.cpp → ...iver/src/fri_client_sdk/friLBRCommand.cpp
diff --git a/fri_client/src/friLBRState.cpp → ...driver/src/fri_client_sdk/friLBRState.cpp b/fri_client/src/friLBRState.cpp → ...driver/src/fri_client_sdk/friLBRState.cpp
diff --git a/...lient/src/friMonitoringMessageDecoder.cpp → ...lient_sdk/friMonitoringMessageDecoder.cpp b/...lient/src/friMonitoringMessageDecoder.cpp → ...lient_sdk/friMonitoringMessageDecoder.cpp
diff --git a/fri_client/src/friMonitoringMessageDecoder.h → ..._client_sdk/friMonitoringMessageDecoder.h b/fri_client/src/friMonitoringMessageDecoder.h → ..._client_sdk/friMonitoringMessageDecoder.h
diff --git a/fri_client/src/friTransformationClient.cpp → ...ri_client_sdk/friTransformationClient.cpp b/fri_client/src/friTransformationClient.cpp → ...ri_client_sdk/friTransformationClient.cpp
diff --git a/fri_client/src/friUdpConnection.cpp → ...r/src/fri_client_sdk/friUdpConnection.cpp b/fri_client/src/friUdpConnection.cpp → ...r/src/fri_client_sdk/friUdpConnection.cpp
diff --git a/fri_client/src/pb_frimessages_callbacks.c → ...fri_client_sdk/pb_frimessages_callbacks.c b/fri_client/src/pb_frimessages_callbacks.c → ...fri_client_sdk/pb_frimessages_callbacks.c
diff --git a/fri_client/src/pb_frimessages_callbacks.h → ...fri_client_sdk/pb_frimessages_callbacks.h b/fri_client/src/pb_frimessages_callbacks.h → ...fri_client_sdk/pb_frimessages_callbacks.h