Feature #57/#58 Implementation and Integration of C++ SDO Serialization Library

rise_motion_dev_ws/src/rise_motion/CMakeLists.txt

@@ -14,6 +14,13 @@ include_directories(include)
 
 add_subdirectory(SOEM)
 
+# --- sdo_serializer library ---
+add_library(sdo_serializer_lib INTERFACE)
+target_include_directories(sdo_serializer_lib INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
 add_executable(
 	rise_motion_main
 	src/main.cpp
@@ -52,6 +59,7 @@ install(TARGETS
 )
 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)
@@ -60,6 +68,29 @@ if(BUILD_TESTING)
   # a copyright and license is added to all source files
   set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  # --- sdo_serializer test ---
+  ament_add_gtest(test_sdo_serializer
+    test/test_sdo_serializer.cpp
+  )
+  if(TARGET test_sdo_serializer)
+    target_link_libraries(test_sdo_serializer sdo_serializer_lib)
+  endif()
+
 endif()
 
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS sdo_serializer_lib
+  EXPORT export_sdo_serializer_lib
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(export_sdo_serializer_lib)
+ament_export_include_directories(include)
+
 ament_package()

rise_motion_dev_ws/src/rise_motion/include/rise_motion/ec_manager.hpp

@@ -26,7 +26,7 @@ class ECManager {
   bool set_motor_values_apsa(const std::vector<int32_t>& motor_values);
 
   // Wrappers for SOEM ecx_SDOwrite, ecx_SDOread
-  bool sdo_read(uint16 device_id, uint16 index, uint8 subindex, std::vector<uint8>& value);
+  bool sdo_read(uint16 device_id, uint16 index, uint8 subindex, std::vector<uint8>& value, uint8 value_size);
   bool sdo_write(uint16 device_id, uint16 index, uint8 subindex, std::vector<uint8>& value);
 
 private:

rise_motion_dev_ws/src/rise_motion/include/rise_motion/result.hpp

@@ -0,0 +1,30 @@
+namespace rise
+{
+    template <typename T, typename E> struct Result
+    {
+        T value{};
+        E error{};
+        bool hasValue = false;
+
+        static Result ok(T v)
+        {
+            Result result;
+            result.value = std::move(v);
+            result.hasValue = true;
+            return result;
+        }
+
+        static Result err(E e)
+        {
+            Result result;
+            result.error = std::move(e);
+            result.hasValue = false;
+            return result;
+        }
+
+        explicit operator bool() const
+        {
+            return hasValue;
+        }
+    };
+}