Merge pull request #189 from jhu-dvrk/rc-2.2

2.2.0
jhu-dvrk · Nov 21, 2023 · 7dd6827 · 7dd6827
2 parents 26534c2 + d0544de
commit 7dd6827
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,7 +1,7 @@
 Change log
 ==========
 
-2.2.0 (2023-11-30)
+2.2.0 (2023-11-21)
 ==================
 
 * API changes:
@@ -41,10 +41,10 @@ Change log
     * Subscribers `arm/free` and `arm/hold`
     * Subscriber `arm/pid_feed_forward/servo_jf` to allow user to add their own feed forward
     * Subscriber `teleop_PSM/following/mtm/body/servo_cf` to add haptic only when teleop is active
-    * Add `ral` (ROS Abstraction Layer) for CRTK Python client so Python scripts can be used with either ROS1 or ROS2  
+    * Add `ral` (ROS Abstraction Layer) for CRTK Python client so Python scripts can be used with either ROS1 or ROS2
   * New sawRobotIO1394 config generator (Python based), also generates a simple arm and console JSON configuration file
   * More instrument definitions
-  * Added `dvrk-sd-card-updater.py` to update firmwares for SD cards using in new controllers (Classic with DQLA/FPGAv3 and Si with dRA1/FPGAv3) and Si ESPM 
+  * Added `dvrk-sd-card-updater.py` to update firmwares for SD cards using in new controllers (Classic with DQLA/FPGAv3 and Si with dRA1/FPGAv3) and Si ESPM
   * Added `dvrk-remove-log.py` to cleanup old cisstLog files
   * CMake:
     * Updated install targets and debian packages generation

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# (C) Copyright 2009-2018 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2009-2023 Johns Hopkins University (JHU), All Rights Reserved.
 #
 # --- begin cisst license - do not edit ---
 #
@@ -9,8 +9,29 @@
 #
 # --- end cisst license ---
 
-cmake_minimum_required (VERSION 3.1)
+cmake_minimum_required(VERSION 3.10)
+project (sawIntuitiveResearchKitAll VERSION 2.2.0)
+
+find_package (cisst REQUIRED)
+include (${CISST_USE_FILE})
+cisst_cpack_settings (
+  VENDOR "JHU"
+  MAINTAINER "[email protected]")
 
 add_subdirectory (components)
+
+set (sawIntuitiveResearchKit_DIR "${sawIntuitiveResearchKitAll_BINARY_DIR}/components")
 add_subdirectory (applications)
 add_subdirectory (examples)
+add_subdirectory (share)
+
+include (CPack)
+cpack_add_component (sawIntuitiveResearchKit)
+cpack_add_component (sawIntuitiveResearchKit-dev
+                     DEPENDS sawIntuitiveResearchKit)
+cpack_add_component (sawIntuitiveResearchKit-Share
+                     DEPENDS sawIntuitiveResearchKit)
+cpack_add_component (sawIntuitiveResearchKit-Qt
+                     DEPENDS sawIntuitiveResearchKit)
+cpack_add_component (sawIntuitiveResearchKit-Applications
+                     DEPENDS sawIntuitiveResearchKit sawIntuitiveResearchKit-Qt)
diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# (C) Copyright 2009-2021 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2009-2023 Johns Hopkins University (JHU), All Rights Reserved.
 #
 # --- begin cisst license - do not edit ---
 #
@@ -9,7 +9,8 @@
 #
 # --- end cisst license ---
 
-cmake_minimum_required (VERSION 2.8)
+cmake_minimum_required (VERSION 3.10)
+project (sawIntuitiveResearchKitApplications VERSION 2.2.0)
 
 set (CMAKE_CXX_STANDARD 14)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -19,6 +20,10 @@ project (sawIntuitiveResearchKitApplications)
 
 # applications in separate directories
 add_subdirectory (gripper-calibration)
+add_subdirectory (s-potentiometers-calibration)
+add_subdirectory (config-generator)
+add_subdirectory (sd-card-updater)
+add_subdirectory (remove-logs)
 
 # create a list of required cisst libraries
 set (REQUIRED_CISST_LIBRARIES cisstCommon
@@ -36,7 +41,7 @@ set (REQUIRED_CISST_LIBRARIES cisstCommon
                               cisstQt)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.1.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 
@@ -50,10 +55,10 @@ if (cisst_FOUND_AS_REQUIRED)
   endif ()
 
   # saw components have been compiled within cisst, we should find them automatically
-  find_package (sawRobotIO1394          2.1.0 REQUIRED)
-  find_package (sawControllers          2.0.0 REQUIRED)
-  find_package (sawIntuitiveResearchKit 2.1.0 REQUIRED)
-  find_package (sawTextToSpeech         1.3.0 REQUIRED)
+  find_package (sawRobotIO1394          2.2.0 REQUIRED)
+  find_package (sawControllers          2.1.0 REQUIRED)
+  find_package (sawIntuitiveResearchKit 2.2.0 REQUIRED)
+  find_package (sawTextToSpeech         1.4.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND AND sawControllers_FOUND
       AND sawIntuitiveResearchKit_FOUND AND sawTextToSpeech_FOUND)
@@ -75,7 +80,9 @@ if (cisst_FOUND_AS_REQUIRED)
 
       # main program used to configure PID
       add_executable (sawIntuitiveResearchKitQtPID mainQtPID.cpp)
-      set_property (TARGET sawIntuitiveResearchKitQtPID PROPERTY FOLDER "sawIntuitiveResearchKit")
+      set_target_properties (sawIntuitiveResearchKitQtPID PROPERTIES
+                             COMPONENT sawIntuitiveResearchKit-Applications
+                             FOLDER "sawIntuitiveResearchKit")
       # link against non cisst libraries and cisst components
       target_link_libraries (sawIntuitiveResearchKitQtPID
                              ${sawIntuitiveResearchKit_LIBRARIES}
@@ -84,24 +91,20 @@ if (cisst_FOUND_AS_REQUIRED)
       # link against cisst libraries (and dependencies)
       cisst_target_link_libraries (sawIntuitiveResearchKitQtPID ${REQUIRED_CISST_LIBRARIES})
 
-      # main program used to test a single arm
-      add_executable (sawIntuitiveResearchKitQtArm mainQtArm.cpp)
-      set_property (TARGET sawIntuitiveResearchKitQtArm PROPERTY FOLDER "sawIntuitiveResearchKit")
-      # link against non cisst libraries and cisst components
-      target_link_libraries (sawIntuitiveResearchKitQtArm
-                             ${sawIntuitiveResearchKit_LIBRARIES}
-                             ${sawRobotIO1394_LIBRARIES}
-                             ${sawControllers_LIBRARIES}
-                             ${sawTextToSpeech_LIBRARIES})
-      # link against cisst libraries (and dependencies)
-      cisst_target_link_libraries (sawIntuitiveResearchKitQtArm ${REQUIRED_CISST_LIBRARIES})
+      install (TARGETS sawIntuitiveResearchKitQtPID
+               COMPONENT sawIntuitiveResearchKit-Applications
+               RUNTIME DESTINATION bin
+               LIBRARY DESTINATION lib
+               ARCHIVE DESTINATION lib)
 
       # applications using JSON
       if (CISST_HAS_JSON)
 
         # main program used to configure Console
         add_executable (sawIntuitiveResearchKitQtConsoleJSON mainQtConsoleJSON.cpp)
-        set_property (TARGET sawIntuitiveResearchKitQtConsoleJSON PROPERTY FOLDER "sawIntuitiveResearchKit")
+        set_target_properties (sawIntuitiveResearchKitQtConsoleJSON PROPERTIES
+                               COMPONENT sawIntuitiveResearchKit-Applications
+                               FOLDER "sawIntuitiveResearchKit")
         # link against non cisst libraries and cisst components
         target_link_libraries (sawIntuitiveResearchKitQtConsoleJSON
                                ${sawIntuitiveResearchKit_LIBRARIES}
@@ -111,6 +114,12 @@ if (cisst_FOUND_AS_REQUIRED)
         # link against cisst libraries (and dependencies)
         cisst_target_link_libraries (sawIntuitiveResearchKitQtConsoleJSON ${REQUIRED_CISST_LIBRARIES})
 
+        install (TARGETS sawIntuitiveResearchKitQtConsoleJSON
+                 COMPONENT sawIntuitiveResearchKit-Applications
+                 RUNTIME DESTINATION bin
+                 LIBRARY DESTINATION lib
+                 ARCHIVE DESTINATION lib)
+
       endif (CISST_HAS_JSON)
 
     endif (CISST_HAS_QT)

diff --git a/applications/config-generator/CMakeLists.txt b/applications/config-generator/CMakeLists.txt
@@ -0,0 +1,42 @@
+#
+# (C) Copyright 2023 Johns Hopkins University (JHU), All Rights Reserved.
+#
+# --- begin cisst license - do not edit ---
+#
+# This software is provided "as is" under an open source license, with
+# no warranty.  The complete license can be found in license.txt and
+# http://www.cisst.org/cisst/license.txt.
+#
+# --- end cisst license ---
+
+cmake_minimum_required (VERSION 3.10)
+project (sawIntuitiveResearchKitConfigGenerator VERSION 2.2.0)
+
+# find cisst and make sure the required libraries have been compiled
+find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+
+if (cisst_FOUND_AS_REQUIRED)
+
+  # load cisst configuration
+  include (${CISST_USE_FILE})
+
+  # catkin/ROS paths
+  cisst_set_output_path ()
+
+  set (sawIntuitiveResearchKitConfigGenerator_FILES
+    ${sawIntuitiveResearchKitConfigGenerator_SOURCE_DIR}/calParser.py
+    ${sawIntuitiveResearchKitConfigGenerator_SOURCE_DIR}/dvrk-config-generator.py)
+
+  add_custom_target (sawIntuitiveResearchKitConfigGenerator ALL)
+  foreach (_file ${sawIntuitiveResearchKitConfigGenerator_FILES})
+    add_custom_command (TARGET sawIntuitiveResearchKitConfigGenerator PRE_BUILD
+      COMMAND ${CMAKE_COMMAND} -E
+      copy ${_file} ${EXECUTABLE_OUTPUT_PATH})
+  endforeach ()
+
+  install (
+    FILES ${sawIntuitiveResearchKitConfigGenerator_FILES}
+    COMPONENT sawIntuitiveResearchKit-Applications
+    DESTINATION bin)
+
+endif (cisst_FOUND_AS_REQUIRED)