PonomarevDA · PonomarevDA · Jul 15, 2024
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,31 +3,27 @@
 # Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 
 cmake_minimum_required(VERSION 3.15.3)
-set(DRONECAN_LIB_DIR ${CMAKE_CURRENT_LIST_DIR})
+project(DronecanApp VERSION 0.9.0)
 
 set(SUPPORTED_PLATFORMS "bxcan;fdcan;socketcan")
 if(NOT CAN_PLATFORM IN_LIST SUPPORTED_PLATFORMS)
   message(SEND_ERROR "CAN_PLATFORM is not specified or unsupported! Options: bxcan, fdcan, socketcan.")
 endif()
-include(${CMAKE_CURRENT_LIST_DIR}/platform_specific/${CAN_PLATFORM}/config.cmake)
 
+include(platform_specific/${CAN_PLATFORM}/config.cmake)
+include(cmake/AddLibparams.cmake)
 
-if(NOT DEFINED LIBPARAMS_PATH)
-	message(SEND_ERROR "LIBPARAMS_PATH is not specified!")
-endif()
-include(${LIBPARAMS_PATH}/CMakeLists.txt)
-
-set(DRONECAN_SOURCES
-    ${DRONECAN_PLATFORM_SOURCES}
-    ${DRONECAN_LIB_DIR}/Libs/libcanard_v0/canard.c
-    ${DRONECAN_LIB_DIR}/src/dronecan.c
-    ${DRONECAN_LIB_DIR}/src/weak.c
-    ${libparamsSrc}
+add_library(${PROJECT_NAME} STATIC
+  ${DRONECAN_PLATFORM_SOURCES}
+  Libs/libcanard_v0/canard.c
+  src/dronecan.c
+  src/weak.c
 )
-
-set(DRONECAN_HEADERS
-    ${DRONECAN_LIB_DIR}/Libs
-    ${DRONECAN_LIB_DIR}/include/application
-    ${DRONECAN_LIB_DIR}/include/serialization
-    ${libparamsHeaders}
+target_include_directories(${PROJECT_NAME} PUBLIC
+  Libs
+  include/application
+  include/serialization
 )
+
+check_libparams_version(90000) # 0.9.0
+target_link_libraries(${PROJECT_NAME} libparams)
diff --git a/Makefile b/Makefile
@@ -4,22 +4,22 @@
 
 ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 BUILD_DIR:=$(ROOT_DIR)/build
-BUILD_EXAMPLES_DIR:=$(BUILD_DIR)/src/examples
-LIBPARAMS_DIR:=${BUILD_DIR}/external/libparams
+BUILD_UBUNTU_DIR:=$(BUILD_DIR)/ubuntu
+LIBPARAMS_SRC_DIR:=${BUILD_DIR}/external/libparams
 
 define build_and_run_sitl
 	$(info Build example $(1)...)
-	mkdir -p $(BUILD_EXAMPLES_DIR)/$(1)
-	cd $(BUILD_EXAMPLES_DIR)/$(1) && cmake $(ROOT_DIR)/examples/$(1) && make -s
-	$(BUILD_EXAMPLES_DIR)/$(1)/application
+	mkdir -p $(BUILD_UBUNTU_DIR)
+	cd $(BUILD_UBUNTU_DIR) && cmake $(ROOT_DIR)/examples/$(1) && make -s
+	$(BUILD_UBUNTU_DIR)/ubuntu_application
 endef
 
 ubuntu: clone_dependencies
 	$(call build_and_run_sitl,ubuntu)
 
 clone_dependencies:
 	mkdir -p build
-	if [ ! -d "${LIBPARAMS_DIR}" ]; then git clone --depth 1 --branch v0.8.4 https://github.com/PonomarevDA/libparams.git ${LIBPARAMS_DIR}; fi
+	if [ ! -d "${LIBPARAMS_SRC_DIR}" ]; then git clone --depth 1 --branch pr-refactor-cmake https://github.com/PonomarevDA/libparams.git ${LIBPARAMS_SRC_DIR}; fi
 
 clean:
 	rm -rf build/examples/

diff --git a/README.md b/README.md
@@ -22,10 +22,10 @@ The following auxilliary features should be provided as well:
 - [x] circuit status
 - [x] fuel tank
 - [x] esc
-- [ ] ice
+- [x] ice
 - [x] indication
 - [x] power
-- [ ] rangefinder
+- [x] rangefinder
 - [ ] gnss
 - [ ] mag
 - [ ] etc
@@ -49,37 +49,34 @@ The source code is divided into a few folders:
 
 
 Notes:
-- It depends on libparams v0.8.4 library.
+- It depends on libparams v0.9.0 library.
 - It is not thread safe.
 
 ## How to integrate the library into a project
 
-Add the following lines into CMakeLists.txt of your project:
+It is expected to build a static library from source code into your local build directory.
 
-```cmake
-# 1. Specify the CAN_PLATFORM. Options: bxcan, fdcan or socketcan.
-set(CAN_PLATFORM socketcan)
+The most important steps are:
 
-# 2. Specify path to libparams and platform. Options: stm32f103, stm32g0b1, ubuntu.
-set(LIBPARAMS_PATH        ../../build/libparams)
-set(LIBPARAMS_PLATFORM    ubuntu)
+```cmake
+# 1. Build the only dependency - libparams. Specify a desired LIBPARAMS_PLATFORM.
+set(LIBPARAMS_PLATFORM ubuntu)
+add_subdirectory(${LIBPARAMS_PATH} ${BUILD_UBUNTU_DIR}/libparams)
 
-# 3. Include the CMakeLists.txt
-include(../../CMakeLists.txt)
+# 2. Build libDronecanApp itself. Specify a desired plaform with CAN_PLATFORM.
+set(CAN_PLATFORM socketcan)
+add_subdirectory(${ROOT_DIR} ${BUILD_UBUNTU_LIB_DRONECAN_APP_DIR})
 
-# 4. Add DroneCAN related source files and headers to you target.
-add_executable(${EXECUTABLE}
-    ...
-    ${DRONECAN_SOURCES}
-    ...
-)
-target_include_directories(${EXECUTABLE} PRIVATE
-    ...
-    ${DRONECAN_HEADERS}
+# 3. Add executable for your application
+add_executable(${APPLICATION}
     ...
 )
+
+# 4. Link the library to your application
+target_link_libraries(${APPLICATION} DronecanApp)
 ```
 
+For more details, please check an example: [examples/ubuntu/CMakeLists.txt](examples/ubuntu/CMakeLists.txt).
 
 ## Minimal application example
 

diff --git a/cmake/AddLibparams.cmake b/cmake/AddLibparams.cmake
@@ -0,0 +1,8 @@
+function(check_libparams_version MINIMUM_REQUIRED_VERSION)
+    if(TARGET libparams)
+        get_target_property(LIBPARAMS_VERSION libparams VERSION)
+        message(STATUS "libparams version check is not implemented yet")
+    else()
+        message(FATAL_ERROR "libparams not found")
+    endif()
+endfunction()
diff --git a/examples/ubuntu/CMakeLists.txt b/examples/ubuntu/CMakeLists.txt
@@ -3,35 +3,54 @@
 # Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 
 cmake_minimum_required(VERSION 3.15.3)
-project(ubuntu CXX C ASM)
+project(ubuntu_application CXX C ASM)
 
+# Pathes
+set(EXAMPLES_UBUNTU_DIR ${CMAKE_CURRENT_LIST_DIR})
 cmake_path(GET CMAKE_CURRENT_LIST_DIR PARENT_PATH EXAMPLES_DIR)
 cmake_path(GET EXAMPLES_DIR PARENT_PATH ROOT_DIR)
+set(CMAKE_DIR ${ROOT_DIR}/cmake)
+set(BUILD_DIR ${ROOT_DIR}/build)
+set(BUILD_UBUNTU_DIR ${ROOT_DIR}/build/ubuntu)
+set(LIBPARAMS_PATH ${BUILD_DIR}/external/libparams)
+set(BUILD_UBUNTU_LIB_DRONECAN_APP_DIR ${BUILD_UBUNTU_DIR}/libDronecanApp)
 
+# Pre-build
+execute_process(
+  COMMAND git rev-parse --short=16 HEAD
+  COMMAND_ERROR_IS_FATAL ANY
+  OUTPUT_VARIABLE GIT_HASH_SHORT
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+set(GIT_HASH "0x${GIT_HASH_SHORT}")
+add_definitions(-DGIT_HASH=${GIT_HASH})
+add_definitions(-DAPP_VERSION_MAJOR=0)
+add_definitions(-DAPP_VERSION_MINOR=1)
+add_definitions(-DHW_VERSION_MAJOR=0)
+add_definitions(-DHW_VERSION_MINOR=0)
+add_definitions(-DAPP_NODE_NAME="${PROJECT_NAME}")
+
+# Build dependencies
+set(LIBPARAMS_PLATFORM ubuntu)
+add_subdirectory(${LIBPARAMS_PATH} ${BUILD_UBUNTU_DIR}/libparams)
 
-# 1. Specify the CAN_PLATFORM. Options: bxcan, fdcan or socketcan
+# Build libDronecanApp
 set(CAN_PLATFORM socketcan)
+add_subdirectory(${ROOT_DIR} ${BUILD_UBUNTU_LIB_DRONECAN_APP_DIR})
 
-# 2. Specify path to libparams and platform. Options: stm32f103, stm32g0b1, ubuntu
-set(LIBPARAMS_PATH        ${ROOT_DIR}/build/external/libparams)
-set(LIBPARAMS_PLATFORM    ubuntu)
+# Build application
+add_executable(${PROJECT_NAME}
+  ${EXAMPLES_UBUNTU_DIR}/main.cpp
+  ${EXAMPLES_UBUNTU_DIR}/params.cpp
+)
 
-# 3. Include the CMakeLists.txt
-include(${ROOT_DIR}/CMakeLists.txt)
+target_link_libraries(${PROJECT_NAME} DronecanApp)
 
-# 4. Add DroneCAN related source files and headers to you target
-add_executable(application
-  main.cpp
-  params.cpp
-  ${DRONECAN_SOURCES}
-  ${libparamsSrc}
-)
-target_include_directories(application PRIVATE
-  .
-  ${DRONECAN_HEADERS}
-  ${libparamsHeaders}
+target_include_directories(${PROJECT_NAME} PRIVATE
+  ${EXAMPLES_UBUNTU_DIR}
 )
-target_compile_options(application PRIVATE
+
+target_compile_options(${PROJECT_NAME} PRIVATE
   -Wall
   -Wextra
   -Wfloat-equal
@@ -44,20 +63,3 @@ target_compile_options(application PRIVATE
   -Wwrite-strings
   -Wswitch-default
 )
-
-# 5. (Recommended) Add GIT_HASH based on git repository
-execute_process(
-  COMMAND git rev-parse --short=16 HEAD
-  COMMAND_ERROR_IS_FATAL ANY
-  OUTPUT_VARIABLE GIT_HASH_SHORT
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
-set(GIT_HASH "0x${GIT_HASH_SHORT}")
-add_definitions(-DGIT_HASH=${GIT_HASH})
-add_definitions(-DAPP_VERSION_MAJOR=0)
-add_definitions(-DAPP_VERSION_MINOR=1)
-add_definitions(-DHW_VERSION_MAJOR=0)
-add_definitions(-DHW_VERSION_MINOR=0)
-
-# 6. (Recommended) Set node name
-add_definitions(-DAPP_NODE_NAME="${PROJECT_NAME}")