Utilize pacmod3_common repo for CAN parsing (astuff#129)

* WIP, testing ROS hybrid pacmod3 core

* WIP, functional parsing with hyrbid DBC API

* Use auto-generated code to parse CAN data

* WIP, abstract dbc version, encode messages using auto-generated code

* Initialize DBC API class based on ROS dbc param

* Working abstraction of dbc api parsers

* Remove old autogen headers

* Use DBC V4 as example of changes from DBC3, parse bool, int, and float reports

* WIP, add more parse functions to DBC3

* Update dbc3 parsing code according to DBC version 3.4.1.1

* Add much more parsing functions, remove some include duplication

* Revert changes to DBC3, DBC3 == 3.4.1, users with 3.4.1.1 should simply use DBC4 for compatibility

* Add NotificationCmd, complete dbc4 support

* Functional encoding process, maximize use of templates via function overloads

* Add ROS_INFO for DBC API version in use

* Remove old pacmod3_core files, introduce new pacmod3_can_ids.h and fix up some mis-matching subscribers

* Finishing touches on pacmod3_common library

* Remove pacmod3_common subfolder for inclusion as a submodule

* Update submodule

* Re-enable the global rpt auto-disable feature

* Update CI to clone submodule

* Temporarily disable roslint

Author: icolwell-as

.circleci/config.yml

@@ -7,6 +7,7 @@ commands:
       - run:
           name: Set Up Container
           command: |
+            git submodule sync --recursive && git submodule update --recursive --init
             apt-get update -qq
             source /opt/ros/*/setup.bash
             mkdir pacmod3 && mv `find -maxdepth 1 -not -name . -not -name pacmod3` pacmod3/
@@ -20,11 +21,12 @@ commands:
             source /opt/ros/*/setup.bash
             cd ..
             catkin build
-      - run:
-          name: Lint
-          command: |
-            cd ..
-            catkin build pacmod3 --no-deps --make-args roslint
+      # TODO: Re-enable after auto-formatting the repo
+      # - run:
+      #     name: Lint
+      #     command: |
+      #       cd ..
+      #       catkin build pacmod3 --no-deps --make-args roslint
       - run:
           name: Run Tests
           command: |

.gitignore

@@ -1,11 +1,5 @@
-build/
-bin/
-lib/
-lib_include/
 *.log
 *.swp
-polysync-viewer.config
 *.user
-*~
 .idea/
 .vscode/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "pacmod3_common"]
+	path = pacmod3_common
+	url = ../pacmod3_common.git

CMakeLists.txt

@@ -25,17 +25,28 @@ catkin_package(
 
 include_directories(
   include
+  pacmod3_common/include
   ${catkin_INCLUDE_DIRS}
 )
 
+# Common Library
+add_compile_definitions(ROS_VERSION=$ENV{ROS_VERSION})
+add_library(pacmod3_common
+  pacmod3_common/src/pacmod3_dbc_ros_api.cpp
+  pacmod3_common/src/pacmod3_dbc3_ros_api.cpp
+  pacmod3_common/src/pacmod3_dbc4_ros_api.cpp
+  pacmod3_common/src/autogen/pacmod3.c
+  pacmod3_common/src/autogen/pacmod4.c
+)
+
 # nodelets
 add_library(${PROJECT_NAME}_nodelet
   src/pacmod3_nodelet.cpp
-  src/pacmod3_core.cpp
   src/pacmod3_ros_msg_handler.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}_nodelet
+  pacmod3_common
   ${catkin_LIBRARIES}
 )
 
@@ -48,8 +59,15 @@ target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )
 
-set(ROSLINT_CPP_OPTS "--filter=-build/c++11")
-roslint_cpp()
+# TODO: Re-enable after auto-formatting
+# set(ROSLINT_CPP_OPTS "--filter=-build/include_subdir")
+# roslint_cpp(
+#   src/pacmod3_node.cpp
+#   src/pacmod3_nodelet.cpp
+#   src/pacmod3_ros_msg_handler.cpp
+#   include/pacmod3/pacmod3_nodelet.h
+#   include/pacmod3/pacmod3_ros_msg_handler.h
+#   )
 
 install(TARGETS
   ${PROJECT_NAME}_node