Initial Commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.9)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
+project(soem
+  DESCRIPTION "Simple Open EtherCAT Master"
+  VERSION 1.4.0
+  LANGUAGES C
+)
+
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  # Default to installing in SOEM source directory
+  set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
+endif()
+
+set(SOEM_INCLUDE_INSTALL_DIR include)
+set(SOEM_LIB_INSTALL_DIR lib)
+
+if(WIN32)
+  set(OS "win32")
+  include_directories(oshw/win32/wpcap/Include)
+  if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
+  elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
+  endif()
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  /WX")
+  set(OS_LIBS wpcap.lib Packet.lib Ws2_32.lib Winmm.lib)
+elseif(UNIX AND NOT APPLE)
+  set(OS "linux")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(OS_LIBS pthread rt)
+elseif(APPLE)
+  # This must come *before* linux or MacOSX will identify as Unix.
+  set(OS "macosx")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(OS_LIBS pthread pcap)
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
+  set(OS "rtk")
+  message(STATUS "ARCH is ${ARCH}")
+  message(STATUS "BSP is ${BSP}")
+  include_directories(oshw/${OS}/${ARCH})
+  file(GLOB OSHW_EXTRA_SOURCES oshw/${OS}/${ARCH}/*.c)
+  set(OSHW_SOURCES "${OS_HW_SOURCES} ${OSHW_ARCHSOURCES}")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-but-set-variable")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
+  set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
+  message(STATUS "Building for RTEMS")
+  set(OS "rtems")
+  set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
+  set(BUILD_TESTS FALSE)
+endif()
+
+message(STATUS "OS is ${OS}")
+
+file(GLOB SOEM_SOURCES soem/*.c)
+file(GLOB OSAL_SOURCES osal/${OS}/*.c)
+file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
+
+file(GLOB SOEM_HEADERS soem/*.h)
+file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
+file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
+
+add_library(soem SHARED
+  ${SOEM_SOURCES}
+  ${OSAL_SOURCES}
+  ${OSHW_SOURCES}
+  ${OSHW_EXTRA_SOURCES}
+)
+
+target_link_libraries(soem ${OS_LIBS})
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
+  $<INSTALL_INTERFACE:include>
+)
+
+
+target_include_directories(soem PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
+  $<INSTALL_INTERFACE:include>
+)
+
+message(STATUS "LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
+
+# Export to lower stream files
+ament_export_targets(soem_EXPORT HAS_LIBRARY_TARGET)
+
+# Registering headers
+install(FILES
+  ${SOEM_HEADERS}
+  ${OSAL_HEADERS}
+  ${OSHW_HEADERS}
+  DESTINATION ${SOEM_INCLUDE_INSTALL_DIR}
+)
+
+install(TARGETS soem
+  EXPORT soem_EXPORT
+  LIBRARY DESTINATION ${SOEM_LIB_INSTALL_DIR}
+  ARCHIVE DESTINATION ${SOEM_LIB_INSTALL_DIR}
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION ${SOEM_INCLUDE_INSTALL_DIR}
+)
+
+ament_package()

LICENSE

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+Simple Open EtherCAT Master Library
+
+Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
+Copyright (C) 2005-2017 Arthur Ketels
+Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
+Copyright (C) 2009-2017 rt-labs AB, Sweden
+
+SOEM is free software; you can redistribute it and/or modify it under the terms
+of the GNU General Public License version 2 as published by the Free Software
+Foundation.
+
+SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
+WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+PARTICULAR PURPOSE.  See the GNU General Public License for more details.
+
+As a special exception, if other files instantiate templates or use macros or
+inline functions from this file, or you compile this file and link it with other
+works to produce a work based on this file, this file does not by itself cause
+the resulting work to be covered by the GNU General Public License. However the
+source code for this file must still be made available in accordance with
+section (3) of the GNU General Public License.
+
+This exception does not invalidate any other reasons why a work based on this
+file might be covered by the GNU General Public License.
+
+The EtherCAT Technology, the trade name and logo "EtherCAT" are the intellectual
+property of, and protected by Beckhoff Automation GmbH. You can use SOEM for the
+sole purpose of creating, using and/or selling or otherwise distributing an
+EtherCAT network master provided that an EtherCAT Master License is obtained
+from Beckhoff Automation GmbH.
+
+In case you did not receive a copy of the EtherCAT Master License along with
+SOEM write to Beckhoff Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany
+(www.beckhoff.com).

README.md

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+# ROS2-SOEM
+![Static Badge](https://img.shields.io/badge/license-GPLv2-red)
+![Static Badge](https://img.shields.io/badge/Test_on_-ros2_humble_in_Ubuntu22.04-blue)
+
+
+This package is down-stream of SOEM project, you can view the origin project [HERE](https://github.com/OpenEtherCATsociety/SOEM). This project have removed all the examples, if you want to build the example program, please download the up-stream package.
+
+## Install
+ROS2-SOEM is a ros2 package, to install and use it in your project, please running the following steps in your terminal:
+
+```bash
+$ cd ${your_worksapce_path}/src
+$ git clone https://github.com/UoN-Hari/ROS2-SOEM soem
+$ cd ..
+$ colcon build
+```
+
+## Usage
+To use SOEM in your project, please add following lines in your `package.xml`,
+
+```XML
+<build_depend>soem</build_depend>
+<exec_depend>soem</exec_depend>
+```
+
+And in your `CMakeLists.txt`, add the corressponding dependency,
+
+```cmake
+# Add soem package here
+find_package(soem REQUIRED)
+
+# No need to derive
+include_directories(
+  include
+)
+
+# Your executable generation command, no need to derive
+add_executable(${executable_name} SOURCES)
+
+# Add soem package here
+ament_target_dependencies(${executable_name}
+  soem ...
+)
+
+# No need to derive
+install(TARGETS ${executable_name}
+  DESTINATION lib/${PROJECT_NAME}
+)
+```
+
+## TODO
+* Multi-platform test
+* Build binary package

cmake/Modules/Platform/rt-kernel-C.cmake

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+
+message("rt-kernel-C.cmake")
+
+# Determine toolchain
+include(CMakeForceCompiler)
+
+if(${ARCH} MATCHES "kinetis")
+  cmake_force_c_compiler(arm-eabi-gcc GNU)
+  cmake_force_cxx_compiler(arm-eabi-g++ GNU)
+elseif(${ARCH} MATCHES "bfin")
+  cmake_force_c_compiler(bfin-elf-gcc GNU)
+  cmake_force_cxx_compiler(bfin-elf-g++ GNU)
+endif()  

cmake/Modules/Platform/rt-kernel-gcc-bfin.cmake

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+
+set(MACHINE "-mcpu=bf537")
+set(LDFLAGS "-T${RT_KERNEL_PATH}/bsp/${BSP}/${BSP}.ld")

cmake/Modules/Platform/rt-kernel-gcc-kinetis.cmake

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+
+message("rt-kernel-gcc-kinetis.cmake")
+
+#SET_PROPERTY(GLOBAL PROPERTY ARCH kinetis)
+#SET_PROPERTY(GLOBAL PROPERTY BSP twrk60)
+
+set(MACHINE "-mfpu=vfp -mcpu=cortex-m3 -mthumb")

cmake/Modules/Platform/rt-kernel-gcc.cmake

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+
+message("rt-kernel-gcc.cmake")
+
+set(CMAKE_C_OUTPUT_EXTENSION .o)
+set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS FALSE)
+
+set(CFLAGS "${CFLAGS} -Wall -Wextra -Wno-unused-parameter -Werror")
+set(CFLAGS "${CFLAGS} -fomit-frame-pointer -fno-strict-aliasing -fshort-wchar")
+#set(CFLAGS" ${CFLAGS} -B$(GCC_PATH)/libexec/gcc")
+
+set(CXXFLAGS "${CXXFLAGS} -fno-rtti -fno-exceptions")
+
+set(LDFLAGS "${LDFLAGS} -nostartfiles")
+
+set(CMAKE_C_FLAGS "${CFLAGS} ${MACHINE}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS "${MACHINE} ${LDFLAGS}" CACHE STRING "")
+
+
+

cmake/Modules/Platform/rt-kernel.cmake

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+if(__RTK_CMAKE_INCLUDED)
+  return()
+endif()
+set(__RTK_CMAKE_INCLUDED TRUE)
+message("rt-kernel.cmake")
+
+include_directories(
+  ${RT_KERNEL_PATH}/include
+  ${RT_KERNEL_PATH}/include/kern
+  ${RT_KERNEL_PATH}/kern
+  ${RT_KERNEL_PATH}/include/drivers
+  ${RT_KERNEL_PATH}/include/arch/${ARCH}
+  ${RT_KERNEL_PATH}/bsp/${BSP}/include
+  ${RT_KERNEL_PATH}/lwip/src/include
+  ${RT_KERNEL_PATH}/lwip/src/include/ipv4
+)
+
+link_directories(
+  ${RT_KERNEL_PATH}/lib/${ARCH}
+)

cmake/Modules/Platform/rtems.cmake

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+message("rtems.cmake")
+
+set(ARCH ${HOST})
+set(BSP ${RTEMS_BSP})
+
+set(CMAKE_C_COMPILER_FORCED true)
+set(CMAKE_CXX_COMPILER_FORCED true)
+set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc)
+set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++)
+
+set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem)
+set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}")
+
+if(NOT ${HOST_LIBS} STREQUAL "")
+  set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}")
+else()
+  set(OS_LIBS "-lrtemscpu -lbsd")
+endif()
+

cmake/Toolchains/rt-kernel-bfin.cmake

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+
+message("rt-kernel-kinetis.cmake")
+
+set(CMAKE_SYSTEM_NAME rt-kernel)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR bfin)
+
+set(ARCH bfin CACHE STRING "Architecture")
+set(BSP stamp537 CACHE STRING "Board")

cmake/Toolchains/rt-kernel-kinetis.cmake

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+
+message("rt-kernel-kinetis.cmake")
+
+set(CMAKE_SYSTEM_NAME rt-kernel)
+set(CMAKE_SYSTEM_VERSION 1)
+set(CMAKE_SYSTEM_PROCESSOR kinetis)
+
+set(ARCH kinetis CACHE STRING "Architecture")
+set(BSP twrk60 CACHE STRING "Board")