Merge branch 'master' into main

CMakeLists.txt

@@ -1,34 +1,34 @@
 cmake_minimum_required(VERSION 3.5)
 
-set(MDTOOL_VERSION 1.1-0)
+set(MDTOOL_VERSION 1.2.1)
 
 if(NOT DEFINED ARCH)
     set(ARCH "native")
     execute_process(COMMAND dpkg --print-architecture OUTPUT_VARIABLE ARCH)
     string(REGEX REPLACE "\n$" "" ARCH "${ARCH}")
 endif()
 
-if( "${ARCH}" STREQUAL "armhf")
+if("${ARCH}" STREQUAL "armhf")
     message("[MDTOOL] Compiling for armhf")
     set(CMAKE_CXX_COMPILER /usr/bin/arm-linux-gnueabihf-g++)
     set(CMAKE_C_COMPILER /usr/bin/arm-linux-gnueabihf-gcc)
-elseif ( "${ARCH}" STREQUAL "aarm64")
-    message("[MDTOOL] Compiling for aarm64")
+elseif("${ARCH}" STREQUAL "arm64")
+    message("[MDTOOL] Compiling for arm64")
     set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
     set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
-else ()
+else()
     message("[MDTOOL] Compiling for native architecture")
-    set(CMAKE_CXX_COMPILER /usr/bin/g++)
-    set(CMAKE_C_COMPILER /usr/bin/gcc)
 endif()
 
-project(mdtool-${ARCH})
+project(mdtool-${ARCH} VERSION ${MDTOOL_VERSION})
 
-set (CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 11)
 add_compile_options(-Wall -Wextra -Wpedantic)
 
 file(GLOB SRC "src/*.cpp")
 
+enable_testing()
+
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CANDLE_BUILD_STATIC ON)
 set(CANDLE_OMIT_EXAMPLES ON)
@@ -39,5 +39,23 @@ target_link_libraries(${PROJECT_NAME} candle)
 target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_SOURCE_DIR}/include ${CMAKE_SOURCE_DIR}/candle/include ${CMAKE_SOURCE_DIR}/3rd_party/mINI/src)
 set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME "mdtool")
 
-install(TARGETS ${PROJECT_NAME} 
-    DESTINATION ${CMAKE_SOURCE_DIR}/package/mdtool_${MDTOOL_VERSION}_${ARCH}/usr/local/bin)
+if(MAKE_TESTS)
+    add_subdirectory(test)
+endif()
+
+set(CPACK_GENERATOR "DEB")
+set(CPACK_PROJECT_NAME "mdtool")
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME})
+set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "MAB Robotics <contact@mabrobotics.pl>")
+set(CPACK_PACKAGE_VENDOR "MAB Robotics")
+set(CPACK_PACKAGE_DESCRIPTION "Console tool for configuring and setting up MD80 via CANdle")
+set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE ${ARCH})
+set(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA "${PROJECT_SOURCE_DIR}/template_package/postinst")
+
+include(CPack)
+
+install(TARGETS ${PROJECT_NAME}
+    DESTINATION /usr/local/bin)
+install(DIRECTORY "${PROJECT_SOURCE_DIR}/template_package/etc"
+    DESTINATION /)

README.md

@@ -1,8 +1,8 @@
 # MDtool
-MDtool is a console application for configuring and performing basic diagnostics on MD80-based drives via CANdle. For more information please refer to [MD80 x CANdle Manual](https://www.mabrobotics.pl/servos).
+MDtool is a console application for configuring and performing basic diagnostics on MD80-based drives via CANdle. For more information please refer to [MD80 x CANdle Manual](https://www.mabrobotics.pl/servos/#comp-l6v4io99).
 
 # Installing
-The easiest way to install the MDtool is to select the appropriate *.deb package from the MDtool GitHub repo 'Releases' page. To install after the download simply call:
+The easiest way to install the MDtool is to select the appropriate *.deb package from the MDtool GitHub repo 'Releases' page. Prior to install please uninstall all older versions and delete the ~/.config/mdtool directory (otherwise it will not be updated with new default motor configs). To install after the download simply call:
 ```sudo apt install ./mdtool_xx-x_xx.deb```
 
 # Building
@@ -14,3 +14,9 @@ cd build
 cmake ..
 make
 ```
+for native architecture, or 
+
+```
+./release.sh
+```
+if you want to build for all architectures at once

include/mainWorker.hpp

@@ -2,18 +2,30 @@
 
 #include "bus.hpp"
 #include "candle.hpp"
+#include "mini/ini.h"
+
+const std::string version = "1.2.1";
 
 class MainWorker
 {
    public:
 	MainWorker(std::vector<std::string>& args);
 
    private:
-	const std::string path = "/.config/MDtool.ini";
-	std::string pathFull = "";
+	const std::string mdtoolHomeConfigDirName = ".config";
+	const std::string mdtoolDirName = "mdtool";
+	const std::string mdtoolMotorCfgDirName = "mdtool_motors";
+	const std::string mdtoolIniFileName = "mdtool.ini";
+
+	const std::string mdtoolConfigPath = "/etc/";
+
+	std::string mdtoolBaseDir;
+	std::string mdtoolIniFilePath;
 
 	mab::Candle* candle;
 
+	std::string busString;
+
 	mab::CANdleBaudrate_E CurrentBaudrate;
 	bool printVerbose = false;
 
@@ -22,14 +34,22 @@ class MainWorker
 	void configSave(std::vector<std::string>& args);
 	void configZero(std::vector<std::string>& args);
 	void configCurrent(std::vector<std::string>& args);
+	void configBandwidth(std::vector<std::string>& args);
+
 	void setupCalibration(std::vector<std::string>& args);
 	void setupDiagnostic(std::vector<std::string>& args);
+	void setupMotor(std::vector<std::string>& args);
+	void setupInfo(std::vector<std::string>& args);
 
 	void testMove(std::vector<std::string>& args);
+	void testLatency(std::vector<std::string>& args);
 	void blink(std::vector<std::string>& args);
 	void encoder(std::vector<std::string>& args);
 	void bus(std::vector<std::string>& args);
 
-	void changeDefaultConfig(std::string bus);
+	void changeDefaultConfig(std::string bus, std::string device);
 	mab::CANdleBaudrate_E checkSpeedForId(uint16_t id);
+
+	template <class T>
+	bool getField(mINI::INIStructure& cfg, mINI::INIStructure& ini, std::string category, std::string field, T& value);
 };

include/ui.hpp

@@ -4,6 +4,7 @@
 #include <vector>
 
 #include "candle.hpp"
+#include "mainWorker.hpp"
 
 namespace ui
 {
@@ -15,11 +16,28 @@ void printUnknownCmd(std::string arg);
 void printHelp();
 void printHelpConfig();
 void printHelpSetup();
+void printHelpTest();
+void printLatencyTestResult(uint8_t actuatorCount, float average, float stdev, std::string bus);
 
 bool getCalibrationConfirmation();
 void printPosition(int id, float pos);
 void printPositionAndVelocity(int id, float pos, float velocity);
 void printDriveInfo(int id, float pos, float vel, float torque, float temperature, unsigned short error, mab::CANdleBaudrate_E baud);
 void printScanOutput(mab::Candle* candle);
 void printFoundDrives(std::vector<uint16_t> ids);
+void printUnableToFindCfgFile(std::string path);
+void printDriveInfoExtended(mab::Md80& drive);
+void printErrorDetails(unsigned short error);
+void printParameterOutOfBounds(std::string category, std::string field);
+void printFailedToSetupMotor();
+
+template <class T>
+bool checkParamLimit(T value, T min, T max)
+{
+	if (value > max)
+		return false;
+	if (value < min)
+		return false;
+	return true;
+}
 }  // namespace ui

release.sh

@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+TARGETS="amd64 arm64 armhf"
+rm -rf build
+mkdir -p build
+cd build
+
+apt install gcc-arm-linux-gnueabi g++-arm-linux-gnueabi
+apt install gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
+apt install g++-aarch64-linux-gnu
+
+mkdir packages
+
+for TARGET in ${TARGETS}
+do    
+    # create one build dir per target architecture
+    mkdir -p ${TARGET}
+    cd ${TARGET}
+    cmake -DARCH=${TARGET} ../..
+    make -j
+    cpack -G DEB
+    cp *.deb ../packages
+    cd - 
+done
+
+

src/main.cpp

@@ -1,22 +1,20 @@
 #include "mainWorker.hpp"
 #include "ui.hpp"
 
-const std::string version = "v1.1";
-
 int main(int argc, char** argv)
 {
-    std::cout << "[MDTOOL] MDtool version: " << version << std::endl;
-    std::vector<std::string> args;
-    for (int i = 0; i < argc; i++)
-        args.emplace_back(argv[i]);
+	std::cout << "[MDTOOL] MDtool version: v" << version << std::endl;
+	std::vector<std::string> args;
+	for (int i = 0; i < argc; i++)
+		args.emplace_back(argv[i]);
 
-    if (args.size() < 2)
-    {
-        ui::printTooFewArgs();
-        return 2;
-    }
+	if (args.size() < 2)
+	{
+		ui::printTooFewArgs();
+		return 2;
+	}
 
-    MainWorker program(args);
+	MainWorker program(args);
 
-    return EXIT_SUCCESS;
+	return EXIT_SUCCESS;
 }