Refactor IMU ROS2 repository

This change refactors the current IMU ROS2 repository: - is compatible with adis16475 Linux Driver - adds support for new IMU devices from adis1646x and adis1647x family - adds user documentation - rework the overall build infrastructure such that a specific device has to be selected before a build (removes the dynamic definition of parameters and diagnosis flags and adds a static definition based on the selected device). Signed-off-by: Ramona Gradinariu <[email protected]>
analogdevicesinc · Nov 3, 2023 · c6788d3 · c6788d3
1 parent c22e238
commit c6788d3
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Showing 65 changed files with 2,683 additions and 1,197 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,6 +5,95 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+string (COMPARE EQUAL "adis16465-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_1)
+string (COMPARE EQUAL "adis16465-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_2)
+string (COMPARE EQUAL "adis16465-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_3)
+string (COMPARE EQUAL "adis16467-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_1)
+string (COMPARE EQUAL "adis16467-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_2)
+string (COMPARE EQUAL "adis16467-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_3)
+string (COMPARE EQUAL "adis16470"   $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16470)
+string (COMPARE EQUAL "adis16475-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_1)
+string (COMPARE EQUAL "adis16475-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_2)
+string (COMPARE EQUAL "adis16475-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_3)
+
+string (COMPARE EQUAL "adis16477-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_1)
+string (COMPARE EQUAL "adis16477-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_2)
+string (COMPARE EQUAL "adis16477-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_3)
+
+string (COMPARE EQUAL "adis16500"   $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16500)
+string (COMPARE EQUAL "adis16505-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_1)
+string (COMPARE EQUAL "adis16505-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_2)
+string (COMPARE EQUAL "adis16505-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_3)
+string (COMPARE EQUAL "adis16507-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_1)
+string (COMPARE EQUAL "adis16507-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_2)
+string (COMPARE EQUAL "adis16507-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_3)
+
+string (COMPARE EQUAL "adis16575-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_2)
+string (COMPARE EQUAL "adis16575-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_3)
+string (COMPARE EQUAL "adis16576-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16576_2)
+string (COMPARE EQUAL "adis16576-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16576_3)
+string (COMPARE EQUAL "adis16577-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16577_2)
+string (COMPARE EQUAL "adis16577-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16577_3)
+
+if (${DEVICE_FOUND_ADIS16500}  OR
+   ${DEVICE_FOUND_ADIS16505_1} OR
+   ${DEVICE_FOUND_ADIS16505_2} OR
+   ${DEVICE_FOUND_ADIS16505_3} OR
+   ${DEVICE_FOUND_ADIS16507_1} OR
+   ${DEVICE_FOUND_ADIS16507_2} OR
+   ${DEVICE_FOUND_ADIS16507_3})
+  message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
+  set(DEVICE_PATH adis1650x)
+  add_compile_definitions(ADIS1650X)
+
+elseif (${DEVICE_FOUND_ADIS16465_1} OR
+        ${DEVICE_FOUND_ADIS16465_2} OR
+        ${DEVICE_FOUND_ADIS16465_3} OR
+        ${DEVICE_FOUND_ADIS16467_1} OR
+        ${DEVICE_FOUND_ADIS16467_2} OR
+        ${DEVICE_FOUND_ADIS16467_3} OR
+        ${DEVICE_FOUND_ADIS16470}   OR
+        ${DEVICE_FOUND_ADIS16475_1} OR
+        ${DEVICE_FOUND_ADIS16475_2} OR
+        ${DEVICE_FOUND_ADIS16475_3})
+  message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
+  set(DEVICE_PATH adis1646x)
+  add_compile_definitions(ADIS1646X)
+
+elseif (${DEVICE_FOUND_ADIS16565_2} OR
+        ${DEVICE_FOUND_ADIS16565_3} OR
+        ${DEVICE_FOUND_ADIS16576_2} OR
+        ${DEVICE_FOUND_ADIS16576_3} OR
+        ${DEVICE_FOUND_ADIS16577_2} OR
+        ${DEVICE_FOUND_ADIS16577_3})
+  message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
+  set(DEVICE_PATH adis1657x)
+  add_compile_definitions(ADIS1657X)
+
+elseif (${DEVICE_FOUND_ADIS16477_1} OR
+        ${DEVICE_FOUND_ADIS16477_2} OR
+        ${DEVICE_FOUND_ADIS16477_3})
+  message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
+  set(DEVICE_PATH adis1647x)
+  add_compile_definitions(ADIS1647X)
+
+else()
+  message (FATAL_ERROR "
+  DEVICE_ID=$ENV{DEVICE_ID} is not a valid value.
+  Please use one of the following supported devices:
+  adis16465-1, adis16465-2, adis16465-3,
+  adis16467-1, adis16467-2, adis16467-3,
+  adis16470,
+  adis16475-1, adis16475-2, adis16475-3,
+  adis16477-1, adis16477-2, adis16477-3,
+  adis16500,
+  adis16505-1, adis16505-2, adis16505-3,
+  adis16507-1, adis16507-2, adis16507-3,
+  adis16575-2, adis16575-3,
+  adis16576-2, adis16576-3,
+  adis16577-2, adis16577-3.")
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -18,11 +107,12 @@ find_package(rosidl_default_generators REQUIRED)
 find_library(LIBIIO_LIBRARIES iio)
 find_path(LIBIIO_INCLUDE_DIRS iio.h)
 
-
 file(GLOB FILES_H ${CMAKE_SOURCE_DIR}/include/*.h
-                    ${CMAKE_SOURCE_DIR}/include/imu_ros2/*.h)
+                    ${CMAKE_SOURCE_DIR}/include/imu_ros2/*.h
+                    ${CMAKE_SOURCE_DIR}/include/imu_ros2/${DEVICE_PATH}/*.h)
 
-file(GLOB FILES_CPP ${CMAKE_SOURCE_DIR}/src/*.cpp)
+file(GLOB FILES_CPP ${CMAKE_SOURCE_DIR}/src/*.cpp
+                      ${CMAKE_SOURCE_DIR}/src/${DEVICE_PATH}/*.cpp)
 
 add_executable(imu_ros2_node ${FILES_H} ${FILES_CPP})
 
@@ -41,14 +131,13 @@ install(TARGETS imu_ros2_node
 rosidl_generate_interfaces(imu_ros2
   "msg/ImuIdentificationData.msg"
   "msg/VelAngTempData.msg"
-  "msg/Imu1650xDiagData.msg"
   "msg/ImuFullMeasuredData.msg"
   "msg/AccelGyroTempData.msg"
-  "msg/Imu1657xDiagData.msg"
+  "msg/${DEVICE_PATH}/ImuDiagData.msg"
   DEPENDENCIES builtin_interfaces geometry_msgs
 )
 
-rosidl_target_interfaces(imu_ros2_node
+rosidl_get_typesupport_target(imu_ros2_node
   ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 ament_export_dependencies(rosidl_default_runtime)
@@ -57,24 +146,10 @@ target_link_libraries(imu_ros2_node "${imu_ros2_node}")
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
-
-  #ament_add_gtest(iio_ros2_test_node test/utest_launch.test test/src/utest.cpp)
-
   add_subdirectory(test)
 endif()
 
-install(FILES config/imu16505_config.yaml DESTINATION config)
-install(FILES config/imu1657x_config.yaml DESTINATION config)
-
-
-
+install(FILES config/${DEVICE_PATH}/imu_config.yaml DESTINATION config)
 
 ament_package()
diff --git a/README.md b/README.md