Merge branch 'devel'

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "oscc"]
+	path = oscc
+	url = https://github.com/PolySync/oscc.git
+[submodule "test/rapidcheck"]
+	path = test/rapidcheck
+	url = https://github.com/emil-e/rapidcheck.git
+[submodule "roscpp_code_format"]
+	path = roscpp_code_format
+	url = https://github.com/davetcoleman/roscpp_code_format.git

CMakeLists.txt

@@ -0,0 +1,251 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(roscco)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+## C++11 is required for rapidcheck
+if (CMAKE_VERSION VERSION_LESS "3.1")
+  if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set (CMAKE_CXX_FLAGS "-std=gnu++11 ${CMAKE_CXX_FLAGS}")
+  endif ()
+else ()
+  set (CMAKE_CXX_STANDARD 11)
+endif ()
+
+include(oscc/api/OsccConfig.cmake)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  roscpp
+  std_msgs
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+add_message_files(
+   FILES
+   BrakeCommand.msg
+   BrakeReport.msg
+   BrakeReportData.msg
+   CanFrame.msg
+   CanFrameData.msg
+   EnableDisable.msg
+   FaultReport.msg
+   FaultReportData.msg
+   SteeringCommand.msg
+   SteeringReport.msg
+   SteeringReportData.msg
+   ThrottleCommand.msg
+   ThrottleReport.msg
+   ThrottleReportData.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  LIBRARIES oscc_api ${PROJECT_NAME}_ros_to_oscc ${PROJECT_NAME}_oscc_to_ros
+  CATKIN_DEPENDS message_runtime roscpp std_msgs
+)
+
+###########
+## Build ##
+###########
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_library(
+  oscc_api
+  oscc/api/src/oscc.c
+)
+
+target_include_directories(
+  oscc_api PUBLIC
+  include
+  oscc/api/include
+)
+
+add_library(
+  ${PROJECT_NAME}_ros_to_oscc
+  src/ros_to_oscc.cpp
+)
+
+target_include_directories(
+  ${PROJECT_NAME}_ros_to_oscc PUBLIC
+  include
+  oscc/api/include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(
+  ${PROJECT_NAME}_oscc_to_ros
+  src/oscc_to_ros.cpp
+)
+
+target_include_directories(
+  ${PROJECT_NAME}_oscc_to_ros PUBLIC
+  include
+  oscc/api/include
+)
+
+target_link_libraries(
+  ${PROJECT_NAME}_oscc_to_ros
+  oscc_api
+)
+
+add_dependencies(
+  ${PROJECT_NAME}_ros_to_oscc
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+add_dependencies(
+  ${PROJECT_NAME}_oscc_to_ros
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp)
+
+target_include_directories(
+  ${PROJECT_NAME}_node PUBLIC
+  include
+  oscc/api/include
+)
+
+add_dependencies(
+  ${PROJECT_NAME}_node
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  oscc_api
+  ${PROJECT_NAME}_ros_to_oscc
+  ${PROJECT_NAME}_oscc_to_ros
+  ${catkin_LIBRARIES}
+)
+
+if(EXAMPLE)
+
+add_executable(
+  ${PROJECT_NAME}_teleop
+  example/${PROJECT_NAME}_teleop.cpp
+)
+
+target_include_directories(
+  ${PROJECT_NAME}_teleop PUBLIC
+  include
+)
+
+add_dependencies(
+  ${PROJECT_NAME}_teleop
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(
+  ${PROJECT_NAME}_teleop
+  ${catkin_LIBRARIES}
+)
+
+endif()
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+
+  find_package(rostest REQUIRED)
+
+  add_subdirectory(test/rapidcheck)
+
+  add_library(
+    oscc_fixture
+    test/oscc_fixture.c
+  )
+
+
+  target_include_directories(
+    oscc_fixture PUBLIC
+    test/include
+    oscc/api/include/can_protocols
+  )
+
+  add_rostest_gtest(
+    test_ros_oscc_api
+    test/test_ros_to_oscc.launch
+    test/test_ros_to_oscc.cpp
+  )
+
+  target_include_directories(
+    test_ros_oscc_api PUBLIC
+    test/include
+    test/rapidcheck/include
+    test/rapidcheck/extras/gtest/include
+  )
+
+  target_link_libraries(
+    test_ros_oscc_api
+    rapidcheck
+    ${PROJECT_NAME}_ros_to_oscc
+    oscc_fixture
+    ${catkin_LIBRARIES}
+  )
+
+  add_rostest_gtest(
+    test_oscc_ros_api
+    test/test_oscc_to_ros.launch
+    test/test_oscc_to_ros.cpp
+  )
+
+  target_include_directories(
+    test_oscc_ros_api PUBLIC
+    include
+    test/include
+    test/rapidcheck/include
+    test/rapidcheck/extras/gtest/include
+    oscc/api/include/can_protocols
+  )
+
+  target_link_libraries(
+    test_oscc_ros_api
+    rapidcheck
+    ${PROJECT_NAME}_oscc_to_ros
+    oscc_fixture
+    ${catkin_LIBRARIES}
+  )
+
+endif()
+
+#############
+## Install ##
+#############
+
+install(
+  TARGETS
+  oscc_api
+  ${PROJECT_NAME}_node
+  ${PROJECT_NAME}_oscc_to_ros
+  ${PROJECT_NAME}_ros_to_oscc
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY
+  include/${PROJECT_NAME}
+  oscc/api/include
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)

Jenkinsfile

@@ -0,0 +1,43 @@
+#!groovy
+node('xenial') {
+  try {
+    stage('Checkout') {
+      sh 'mkdir -p catkin_ws/src/roscco'
+      dir('catkin_ws/src/roscco')
+      {
+        checkout([
+          $class: 'GitSCM',
+          branches: scm.branches,
+          doGenerateSubmoduleConfigurations: false,
+          extensions: scm.extensions + [[$class: 'CleanBeforeCheckout'],
+            [$class: 'SubmoduleOption',
+            disableSubmodules: false,
+            parentCredentials: true,
+            recursiveSubmodules: true,
+            reference: '',
+            trackingSubmodules: false]],
+          submoduleCfg: [],
+          userRemoteConfigs: scm.userRemoteConfigs
+        ])
+      }
+    }
+    stage('Build') {
+      parallel 'kia soul firmware': {
+        sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make -DKIA_SOUL=ON'
+      }
+      echo 'Build Complete!'
+    }
+    stage('Test') {
+      parallel 'kia soul tests': {
+        sh '. /opt/ros/kinetic/setup.sh && cd catkin_ws && catkin_make run_tests -DKIA_SOUL=ON && catkin_test_results'
+        echo 'ROS Tests Complete!'
+      }
+    }
+    stage('Release') {
+      echo 'Release Package Created!'
+    }
+  }
+  finally {
+    deleteDir()
+  }
+}

LICENSE

@@ -1,6 +1,7 @@
-MIT License
+The MIT License (MIT)
+=====================
 
-Copyright (c) 2017 PolySync Technologies
+Copyright (c) 2017 PolySync Technologies, Inc.  All Rights Reserved.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal