commkit

pub/sub middleware layer for an in-development 3DR SDK

license

Licensed under the Apache License, Version 2.0.

deps

• cmake: brew install cmake on OS X, or apt-get install cmake
• fast-rtps: https://github.com/eProsima/Fast-RTPS (this must be built and installed somewhere on your system)
• clang-format: OS X: brew install clang-format, Linux: apt-get install clang-format-3.6 (or more recent if available)

building

$ git clone git@github.com:3drobotics/commkit.git
$ mkdir build-commkit
$ cd build-commkit
$ cmake ../commkit -DFASTRTPS:STRING=/path/to/installed/fast-rtps
$ make -j8

uniform code formatting is enforced via clang-format, with formatting rules defined in .clang-format. run make fmt to format code, or make fmt-diff to see which files would be formatted.

testing

unit testing is supported via googletest, with tests defined in test/unit, generating the test binary that be run via ./test/unit/commkit-tests.

You can specify a subset of the tests to run with the options described here. For instance, ./test/unit/commkit-tests --gtest_filter=BasicsTest.* runs just the tests in the BasicsTest case.

to disable testing at build time, invoke cmake with -DBUILD_TESTING=OFF.

notes

commkit currently relies on Fast-RTPS.

What is Fast-RTPS? It is an LGPL implementation in C++ of rtps, the pub sub system we're using. More info:

• manual
• performance data
• API reference (doxygen)