port socketcan_interface to ROS2

.travis.yml

@@ -10,8 +10,8 @@ env:
   global:
     - CCACHE_DIR=$HOME/.ccache
   matrix:
-    - ROS_DISTRO="crystal" ROS_REPO=testing
-    - ROS_DISTRO="crystal" ROS_REPO=main
+    - ROS_DISTRO="crystal" ROS_REPO=testing UPSTREAM_WORKSPACE="github:ament/ament_lint#dashing"
+    - ROS_DISTRO="crystal" ROS_REPO=main  UPSTREAM_WORKSPACE="github:ament/ament_lint#dashing"
     - ROS_DISTRO="dashing" ROS_REPO=testing
     - ROS_DISTRO="dashing" ROS_REPO=main
     - ROS_DISTRO="eloquent" ROS_REPO=testing

LICENSE

@@ -1,7 +1,7 @@
-GNU LESSER GENERAL PUBLIC LICENSE
+                   GNU LESSER GENERAL PUBLIC LICENSE
                        Version 3, 29 June 2007
 
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
  Everyone is permitted to copy and distribute verbatim copies
  of this license document, but changing it is not allowed.
 
@@ -162,4 +162,4 @@ General Public License ever published by the Free Software Foundation.
 whether future versions of the GNU Lesser General Public License shall
 apply, that proxy's public statement of acceptance of any version is
 permanent authorization for you to choose that version for the
-Library.
+Library.

canopen_master/include/canopen_master/canopen.h

@@ -206,7 +206,6 @@ class Node : public Layer{
     bool prepare();
 
     using StateFunc = std::function<void(const State&)>;
-    using StateDelegate [[deprecated("use StateFunc instead")]] = can::DelegateHelper<StateFunc>;
 
     typedef can::Listener<const StateFunc, const State&> StateListener;
     typedef StateListener::ListenerConstSharedPtr StateListenerConstSharedPtr;

canopen_master/include/canopen_master/objdict.h

@@ -235,9 +235,6 @@ class ObjectDict{
 typedef ObjectDict::ObjectDictSharedPtr ObjectDictSharedPtr;
 typedef std::shared_ptr<const ObjectDict> ObjectDictConstSharedPtr;
 
-[[deprecated]]
-std::size_t hash_value(ObjectDict::Key const& k);
-
 template<typename T> class NodeIdOffset{
     T offset;
     T (*adder)(const uint8_t &, const T &);
@@ -278,10 +275,8 @@ class AccessException : public Exception{
 class ObjectStorage{
 public:
     using ReadFunc = std::function<void(const ObjectDict::Entry&, String &)>;
-    using ReadDelegate [[deprecated("use ReadFunc instead")]] = can::DelegateHelper<ReadFunc>;
 
     using WriteFunc = std::function<void(const ObjectDict::Entry&, const String &)>;
-    using WriteDelegate  [[deprecated("use WriteFunc instead")]] = can::DelegateHelper<WriteFunc>;
 
     typedef std::shared_ptr<ObjectStorage> ObjectStorageSharedPtr;
 

canopen_master/include/canopen_master/timer.h

@@ -15,7 +15,6 @@ namespace canopen{
 class Timer{
 public:
     using TimerFunc = std::function<bool(void)>;
-    using TimerDelegate [[deprecated("use TimerFunc instead")]] = can::DelegateHelper<TimerFunc>;
 
     Timer():work(io), timer(io),thread(std::bind(
         static_cast<size_t(boost::asio::io_service::*)(void)>(&boost::asio::io_service::run), &io))

socketcan_interface/CMakeLists.txt

@@ -1,151 +1,125 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(socketcan_interface)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
-find_package(catkin REQUIRED
-  COMPONENTS
-    class_loader
-)
-
-find_package(console_bridge REQUIRED)
-
+find_package(ament_cmake REQUIRED)
+find_package(class_loader REQUIRED)
 find_package(Boost REQUIRED
   COMPONENTS
     chrono
     system
     thread
 )
-
 find_package(Threads REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    ${PROJECT_NAME}_string
-  CATKIN_DEPENDS
-  DEPENDS
-    Boost
-    console_bridge
-)
-
-include_directories(
-  include
+include_directories(include
+  ${class_loader_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-  ${console_bridge_INCLUDE_DIRS}
 )
 
 # ${PROJECT_NAME}_string
-add_library(${PROJECT_NAME}_string
-    src/string.cpp
+add_library(${PROJECT_NAME}_string SHARED
+  src/string.cpp
 )
 
 # socketcan_dump
-add_executable(socketcan_dump
-  src/candump.cpp
-)
-
+add_executable(socketcan_dump src/candump.cpp)
 target_link_libraries(socketcan_dump
-   ${PROJECT_NAME}_string
-   ${console_bridge_LIBRARIES}
-   ${catkin_LIBRARIES}
-   ${Boost_LIBRARIES}
-   ${CMAKE_THREAD_LIBS_INIT}
+  ${PROJECT_NAME}_string
+  ${class_loader_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${CMAKE_THREAD_LIBS_INIT}
 )
 
 # socketcan_bcm
-add_executable(socketcan_bcm
-  src/canbcm.cpp
-)
-
+add_executable(socketcan_bcm src/canbcm.cpp)
 target_link_libraries(socketcan_bcm
-   ${PROJECT_NAME}_string
-   ${console_bridge_LIBRARIES}
-   ${catkin_LIBRARIES}
-   ${Boost_LIBRARIES}
+  ${PROJECT_NAME}_string
+  ${Boost_LIBRARIES}
 )
 
 # ${PROJECT_NAME}_plugin
-add_library(${PROJECT_NAME}_plugin
+add_library(${PROJECT_NAME}_plugin SHARED
   src/${PROJECT_NAME}_plugin.cpp
 )
 target_link_libraries(${PROJECT_NAME}_plugin
-  ${console_bridge_LIBRARIES}
-  ${catkin_LIBRARIES}
+  ${class_loader_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
+class_loader_hide_library_symbols(${PROJECT_NAME}_plugin)
+install(FILES socketcan_interface_plugin.xml DESTINATION share/${PROJECT_NAME}/)
+ament_index_register_resource(socketcan_interface__pluginlib__plugin CONTENT "share/${PROJECT_NAME}/socketcan_interface_plugin.xml\n")
+
+ament_export_dependencies(
+  class_loader
+  Boost
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME}_string)
+
 install(
   TARGETS
     socketcan_bcm
     socketcan_dump
-    ${PROJECT_NAME}_plugin
     ${PROJECT_NAME}_string
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    ${PROJECT_NAME}_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
 install(
-  DIRECTORY
-    include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
+  DIRECTORY include/
+  DESTINATION include
 )
 
-install(
-  FILES
-    ${PROJECT_NAME}_plugin.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-if(CATKIN_ENABLE_TESTING)
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  ament_lint_auto_find_test_dependencies()
 
-  catkin_add_gtest(${PROJECT_NAME}-test_dummy_interface
+  find_package(ament_cmake_gtest REQUIRED)
+
+  ament_add_gtest(${PROJECT_NAME}-test_dummy_interface
     test/test_dummy_interface.cpp
   )
   target_link_libraries(${PROJECT_NAME}-test_dummy_interface
     ${PROJECT_NAME}_string
-    ${console_bridge_LIBRARIES}
-    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
   )
 
-  catkin_add_gtest(${PROJECT_NAME}-test_delegates
-    test/test_delegates.cpp
-  )
-  target_link_libraries(${PROJECT_NAME}-test_delegates
-    ${PROJECT_NAME}_string
-    ${catkin_LIBRARIES}
-  )
-
-  catkin_add_gtest(${PROJECT_NAME}-test_string
+  ament_add_gtest(${PROJECT_NAME}-test_string
     test/test_string.cpp
   )
   target_link_libraries(${PROJECT_NAME}-test_string
     ${PROJECT_NAME}_string
-    ${console_bridge_LIBRARIES}
-    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
   )
 
-  catkin_add_gtest(${PROJECT_NAME}-test_filter
+  ament_add_gtest(${PROJECT_NAME}-test_filter
     test/test_filter.cpp
   )
   target_link_libraries(${PROJECT_NAME}-test_filter
     ${PROJECT_NAME}_string
-    ${console_bridge_LIBRARIES}
-    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
   )
 
-  catkin_add_gtest(${PROJECT_NAME}-test_dispatcher
+  ament_add_gtest(${PROJECT_NAME}-test_dispatcher
     test/test_dispatcher.cpp
   )
   target_link_libraries(${PROJECT_NAME}-test_dispatcher
     ${PROJECT_NAME}_string
-    ${catkin_LIBRARIES}
+    ${Boost_LIBRARIES}
   )
-  target_compile_options(${PROJECT_NAME}-test_dispatcher PRIVATE -Wno-deprecated-declarations)
 endif()
+
+ament_package(
+  CONFIG_EXTRAS socketcan_interface-extras.cmake
+)