CMake build configuration for C++ library (#150)

* rename C++ examples files to *.cpp

* remove duplicated function 'fatal_error'

* all examples: use 'GoPiGo3.h' header and compile 'GoPiGo3.cpp' into examples

* throw exceptions instead of terminating program

* remove whitespaces

* CMake file for compiling GoPiGo3 library and examples

* install library and header files and make them available to other projects

* ROS package definition for GoPiGo3 library

Software/C/CMakeLists.txt

@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gopigo3_cpp)
+
+### Build
+
+include_directories(.)
+
+## GoPiGo3 library
+add_library(gopigo3 SHARED GoPiGo3.cpp)
+
+## Examples
+
+# grove_led
+add_executable(grove_led Examples/grove_led.cpp)
+target_link_libraries(grove_led gopigo3)
+
+# i2c
+add_executable(i2c Examples/i2c.cpp)
+target_link_libraries(i2c gopigo3)
+
+# info
+add_executable(info Examples/info.cpp)
+target_link_libraries(info gopigo3)
+
+# leds
+add_executable(leds Examples/leds.cpp)
+target_link_libraries(leds gopigo3)
+
+# motors
+add_executable(motors Examples/motors.cpp)
+target_link_libraries(motors gopigo3)
+
+# sensors
+add_executable(sensors Examples/sensors.cpp)
+target_link_libraries(sensors gopigo3)
+
+### Installation
+
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN "Examples" EXCLUDE
+)
+
+install(TARGETS gopigo3 EXPORT gopigo3Targets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+### Export CMake configuration
+
+set_property(TARGET gopigo3 APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/>
+)
+
+set(CONF_INCLUDE_DIRS ${CMAKE_INSTALL_PREFIX}/include/)
+
+export(EXPORT gopigo3Targets
+  FILE "${PROJECT_BINARY_DIR}/gopigo3_cppTargets.cmake")
+
+configure_file(gopigo3_cppConfig.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/gopigo3_cppConfig.cmake" @ONLY)
+
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/gopigo3_cppConfig.cmake"
+  DESTINATION share/gopigo3_cpp/cmake)
+
+install(EXPORT gopigo3Targets
+  FILE gopigo3_cppTargets.cmake
+  DESTINATION share/gopigo3_cpp/cmake
+)

Software/C/Examples/grove_led.c → Software/C/Examples/grove_led.cpp

@@ -13,13 +13,13 @@
  *  Results:  When you run this program, you should see the grove LED brightness pulsing up and down.
  *
  *  Example compile command:
- *    g++ -o program "grove_led.c"
+ *    g++ -o grove_led grove_led.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./grove_led
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>    // for GoPiGo3
 #include <stdio.h>      // for printf
 #include <unistd.h>     // for usleep
 #include <signal.h>     // for catching exit signals
@@ -30,12 +30,12 @@ void exit_signal_handler(int signo);
 
 int main(){
   signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
-  
+
   GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
-  
+
   GPG.set_grove_type(GROVE_1, GROVE_TYPE_CUSTOM);
   GPG.set_grove_mode(GROVE_1_1, OUTPUT_PWM);
-  
+
   int8_t i = 0;
   int8_t a = 1;
   while(true){

Software/C/Examples/i2c.c → Software/C/Examples/i2c.cpp

@@ -13,13 +13,13 @@
  *  Results:  When you run this program, P0 output should toggle.
  *
  *  Example compile command:
- *    g++ -o program "i2c.c"
+ *    g++ -o i2c i2c.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./i2c
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>    // for GoPiGo3
 #include <stdio.h>      // for printf
 #include <unistd.h>     // for usleep
 #include <signal.h>     // for catching exit signals
@@ -30,9 +30,9 @@ void exit_signal_handler(int signo);
 
 int main(){
   signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
-  
+
   GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
-  
+
   GPG.set_grove_type(GROVE_1, GROVE_TYPE_I2C);
   i2c_struct_t I2C1;
   I2C1.address = 0x24;

Software/C/Examples/info.c → Software/C/Examples/info.cpp

@@ -11,40 +11,40 @@
  *  Results: Print information about the attached GoPiGo3.
  *
  *  Example compile command:
- *    g++ -o program "info.c"
+ *    g++ -o info info.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./info
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>   // for GoPiGo3
 #include <stdio.h>     // for printf
 
 GoPiGo3 GPG; // Create a GoPiGo3 instance
 
 int main(){
   char str[33]; // Room for the 32-character serial number string plus the NULL terminator.
-  
+
   // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
   // pass 'false' to detect() to make the error non-critical (return the error instead of exiting the program).
   if(GPG.detect(false) == ERROR_NONE){
     printf("\nGoPiGo3 info:\n");
-    
+
     GPG.get_manufacturer(str);
     printf("  Manufacturer    : %s\n", str);
-    
+
     GPG.get_board(str);
     printf("  Board           : %s\n", str);
-    
+
     GPG.get_id(str);
     printf("  Serial Number   : %s\n", str);
-    
+
     GPG.get_version_hardware(str);
     printf("  Hardware version: %s\n", str);
-    
+
     GPG.get_version_firmware(str);
     printf("  Firmware version: %s\n", str);
-    
+
     printf("  Battery voltage : %.3f\n", GPG.get_voltage_battery());
     printf("  5v voltage      : %.3f\n", GPG.get_voltage_5v());
   }else{

Software/C/Examples/leds.c → Software/C/Examples/leds.cpp

@@ -11,13 +11,13 @@
  *  Results:  When you run this program, you should see the encoder value for each motor. Manually rotate the left motor, and the right motor will follow.
  *
  *  Example compile command:
- *    g++ -o program "leds.c"
+ *    g++ -o leds leds.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./leds
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>   // for GoPiGo3
 #include <stdio.h>     // for printf
 #include <unistd.h>    // for usleep
 #include <signal.h>    // for catching exit signals
@@ -30,9 +30,9 @@ void exit_signal_handler(int signo);
 
 int main(){
   signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
-  
+
   GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
-  
+
   uint8_t i1 = 0;
   uint8_t i2 = BRIGHTNESS_LIMIT / 3;
   uint8_t i3 = (BRIGHTNESS_LIMIT * 2) / 3;
@@ -44,7 +44,7 @@ int main(){
     GPG.set_led(LED_EYE_RIGHT, i2, i3, i1);
     GPG.set_led(LED_BLINKER_LEFT, i1);
     GPG.set_led(LED_BLINKER_RIGHT, i2);
-    
+
     i1 += a1;
     if(i1 == BRIGHTNESS_LIMIT || i1 == 0){
       a1 *= -1;
@@ -57,7 +57,7 @@ int main(){
     if(i3 == BRIGHTNESS_LIMIT || i3 == 0){
       a3 *= -1;
     }
-    
+
     // slow down
     usleep(25000);
   }

Software/C/Examples/motors.c → Software/C/Examples/motors.cpp

@@ -11,13 +11,13 @@
  *  Results:  When you run this program, you should see the encoder value for each motor. Manually rotate the left motor, and the right motor will follow.
  *
  *  Example compile command:
- *    g++ -o program "motors.c"
+ *    g++ -o motors motors.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./motors
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>   // for GoPiGo3
 #include <stdio.h>     // for printf
 #include <unistd.h>    // for usleep
 #include <signal.h>    // for catching exit signals
@@ -28,24 +28,24 @@ void exit_signal_handler(int signo);
 
 int main(){
   signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
-  
+
   GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
-  
+
   // Reset the encoders
   GPG.offset_motor_encoder(MOTOR_LEFT, GPG.get_motor_encoder(MOTOR_LEFT));
   GPG.offset_motor_encoder(MOTOR_RIGHT, GPG.get_motor_encoder(MOTOR_RIGHT));
-  
+
   while(true){
     // Read the encoders
     int32_t EncoderLeft = GPG.get_motor_encoder(MOTOR_LEFT);
     int32_t EncoderRight = GPG.get_motor_encoder(MOTOR_RIGHT);
-    
+
     // Use the encoder value from the left motor to control the position of the right motor
     GPG.set_motor_position(MOTOR_RIGHT, EncoderLeft);
-    
+
     // Display the encoder values
     printf("Encoder Left: %6d  Right: %6d\n", EncoderLeft, EncoderRight);
-    
+
     // Delay for 20ms
     usleep(20000);
   }

Software/C/Examples/sensors.c → Software/C/Examples/sensors.cpp

@@ -13,13 +13,13 @@
  *  Results:  When you run this program, you should see the values for each sensor.
  *
  *  Example compile command:
- *    g++ -o program "sensors.c"
+ *    g++ -o sensors sensors.cpp ../GoPiGo3.cpp -I..
  *  Example run command:
- *    sudo ./program
+ *    sudo ./sensors
  *
  */
 
-#include "GoPiGo3.cpp" // for GoPiGo3
+#include <GoPiGo3.h>    // for GoPiGo3
 #include <stdio.h>      // for printf
 #include <unistd.h>     // for usleep
 #include <signal.h>     // for catching exit signals
@@ -30,14 +30,14 @@ void exit_signal_handler(int signo);
 
 int main(){
   signal(SIGINT, exit_signal_handler); // register the exit function for Ctrl+C
-  
+
   GPG.detect(); // Make sure that the GoPiGo3 is communicating and that the firmware is compatible with the drivers.
-  
+
   GPG.set_grove_type(GROVE_1, GROVE_TYPE_US);
   GPG.set_grove_type(GROVE_2, GROVE_TYPE_IR_DI_REMOTE);
   sensor_ultrasonic_t US;
   sensor_infrared_gobox_t IR;
-  
+
   while(true){
     int USerror = GPG.get_grove_value(GROVE_1, &US);
     int IRerror = GPG.get_grove_value(GROVE_2, &IR);