Yaml parsing & Static linkage

.gitmodules

@@ -0,0 +1,3 @@
+[submodule ".ci_config"]
+	path = .ci_config
+	url = https://github.com/ros-industrial/industrial_ci

.travis.yml

@@ -0,0 +1,112 @@
+# Generic .travis.yml file for running continuous integration on Travis-CI with
+# any ROS package.
+#
+# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
+# workspace, resolves all listed dependencies, and sets environment variables
+# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
+# no compilation errors), and runs all the tests. If any of the compilation/test
+# phases fail, the build is marked as a failure.
+#
+# We handle two types of package dependencies:
+#   - packages (ros and otherwise) available through apt-get. These are installed
+#     using rosdep, based on the information in the ROS package.xml.
+#   - dependencies that must be checked out from source. These are handled by
+#     'wstool', and should be listed in a file named dependencies.rosinstall.
+#
+# There are two variables you may want to change:
+#   - ROS_DISTRO (default is indigo). Note that packages must be available for
+#     ubuntu 14.04 trusty.
+#   - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
+#     root). This should list all necessary repositories in wstool format (see
+#     the ros wiki). If the file does not exists then nothing happens.
+#
+# See the README.md for more information.
+#
+# Author: Felix Duvallet <felixd@gmail.com>
+
+# NOTE: The build lifecycle on Travis.ci is something like this:
+#    before_install
+#    install
+#    before_script
+#    script
+#    after_success or after_failure
+#    after_script
+#    OPTIONAL before_deploy
+#    OPTIONAL deploy
+#    OPTIONAL after_deploy
+
+################################################################################
+
+# Use ubuntu trusty (14.04) with sudo privileges.
+dist: trusty
+sudo: required
+language:
+  - python
+cache:
+  - apt
+
+# By default travis runs all python code in a virtualenv that does not contain
+# the packages installed with apt-get. As this is essential (pip doesn't contain
+# all the necessary ROS python packages), tell travis-ci to use the system-wide
+# python packages.
+virtualenv:
+  system_site_packages: true
+
+# Configuration variables. All variables are global now, but this can be used to
+# trigger a build matrix for different ROS distributions if desired.
+env:
+  global:
+    - ROS_DISTRO=indigo
+    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    - ROS_PARALLEL_JOBS='-j8 -l6'
+
+################################################################################
+
+# Install system dependencies, namely a very barebones ROS setup.
+before_install:
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  # Prepare rosdep to install dependencies.
+  - sudo rosdep init
+  - rosdep update
+
+# Create a catkin workspace with the package under integration.
+install:
+  - mkdir -p ~/catkin_ws/src
+  - cd ~/catkin_ws/src
+  - catkin_init_workspace
+  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
+  # source it to set the path variables.
+  - cd ~/catkin_ws
+  - catkin_make
+  - source devel/setup.bash
+  # Add the package under integration to the workspace using a symlink.
+  - cd ~/catkin_ws/src
+  - ln -s $CI_SOURCE_PATH .
+
+# Install all dependencies, using wstool and rosdep.
+# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+before_script:
+  # source dependencies: install using wstool.
+  - cd ~/catkin_ws/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  # package depdencies: install using rosdep.
+  - cd ~/catkin_ws
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
+# catkin_make.
+script:
+  - cd ~/catkin_ws
+  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
+  # Testing: Use both run_tests (to see the output) and test (to error out).
+  - catkin_make run_tests  # This always returns 0, but looks pretty.
+  - catkin_make test  # This will return non-zero if a test fails.

siemens_cp1616/CMakeLists.txt

@@ -3,18 +3,32 @@ project(siemens_cp1616)
 
 find_package(catkin REQUIRED COMPONENTS 
   roscpp
+  message_generation
   )
 
 include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${PROJECT_SOURCE_DIR}/include/)
 
+ADD_LIBRARY(libpniousr STATIC IMPORTED)
+SET_TARGET_PROPERTIES(libpniousr PROPERTIES
+    IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/dk16xx_lib/libpniousr.a)
+
+ADD_LIBRARY(libl2interface STATIC IMPORTED)
+SET_TARGET_PROPERTIES(libl2interface PROPERTIES    
+    IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/dk16xx_lib/libl2interface.a)
+
 ADD_LIBRARY(siemens_cp1616
 	${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_controller.cpp
         ${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_controller_callbacks.cpp
         ${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_device.cpp
         ${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_device_callbacks.cpp
         )
-
+
+add_service_files(FILES set_alarm.srv
+                        reset_alarm.srv
+                 )
+
+generate_messages(DEPENDENCIES)
 
 catkin_package(
   INCLUDE_DIRS include
@@ -29,19 +43,21 @@ target_link_libraries (siemens_cp1616 yaml-cpp)
 add_executable(siemens_cp1616_io_controller_wrapper ${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_controller_wrapper.cpp)
 target_link_libraries(siemens_cp1616_io_controller_wrapper ${catkin_LIBRARIES} 
                                                            siemens_cp1616
-                                                           libpniousr.a
-                                                           libpniousr.so
-                                                           libl2interface.so
-                                                           libl2interface.a)
+                                                           libpniousr
+                                                           libl2interface                                                           
+                                                           pthread
+                                                           )
+
 
 #IO Device wrapper                                                   
 add_executable(siemens_cp1616_io_device_wrapper ${PROJECT_SOURCE_DIR}/src/siemens_cp1616_io_device_wrapper.cpp)
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} siemens_cp1616_io_device_wrapper_gencpp)
 target_link_libraries(siemens_cp1616_io_device_wrapper ${catkin_LIBRARIES} 
                                                        siemens_cp1616 
-                                                       libpniousr.a
-                                                       libpniousr.so
-                                                       libl2interface.so
-                                                       libl2interface.a)
+                                                       libpniousr
+                                                       libl2interface                                                     
+                                                       pthread
+                                                       )
 
 
 ## Mark executables and/or libraries for installation