From d5b3da58daa6caf3b62b41437dc50944c7d9e852 Mon Sep 17 00:00:00 2001
From: Ruixiang Du <ruixiang.du@westonrobot.com>
Date: Mon, 1 Jun 2020 18:45:56 +0800
Subject: [PATCH] added catkin support

---
 CMakeLists.txt                       | 47 +++++++++++++++++++++++++++-
 package.xml                          | 24 ++++++++++++++
 src/apps/hunter_demo/hunter_demo.cpp | 26 +++++++--------
 3 files changed, 83 insertions(+), 14 deletions(-)
 create mode 100644 package.xml

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5f05bf3..c932acf 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.1.0)
 project(wrp_sdk)
 
+# Find catkin
+find_package(catkin REQUIRED)
+
 # generate symbols for IDE indexer
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/devel)
@@ -51,4 +54,46 @@ add_subdirectory(src)
 
 if(BUILD_TESTS)
 add_subdirectory(unit_tests)
-endif()
\ No newline at end of file
+endif()
+
+## Export catkin targets
+set(EXPORTED_LIBS 
+    asyncio
+    stopwatch
+    scout_protocol
+    scoutbase
+    hunter_protocol
+    hunterbase
+)
+set(INCLUDE_DIRS 
+    src/common/async_io/asio
+    src/common/async_io/include
+    src/common/utilities/stopwatch/include
+    src/scout_sdk/scout_protocol/include
+    src/scout_sdk/scout_base/include
+    src/hunter_sdk/hunter_protocol/include
+    src/hunter_sdk/hunter_base/include
+)
+catkin_package(
+    LIBRARIES ${EXPORTED_LIBS}
+    INCLUDE_DIRS ${INCLUDE_DIRS}
+    # DEPENDS rt pthread
+)
+
+## Add catkin install targets
+# install(TARGETS ${EXPORTED_LIBS}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+# install(DIRECTORY asio/asio
+#   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+# install(FILES asio/asio.hpp
+#   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+# install(DIRECTORY scripts
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
\ No newline at end of file
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..801975f
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>wrp_sdk</name>
+  <version>0.3.3</version>
+  <description>Weston Robot Platform SDK</description>
+
+  <author email="ruixiang.du@westonrobot.com">Ruixiang Du</author>
+  <maintainer email="ruixiang.du@westonrobot.com">Ruixiang Du</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">TODO</url>
+  <url type="bugtracker">TODO</url>
+  <url type="repository">TODO</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <export></export>
+</package>
diff --git a/src/apps/hunter_demo/hunter_demo.cpp b/src/apps/hunter_demo/hunter_demo.cpp
index be1520e..c22f8eb 100644
--- a/src/apps/hunter_demo/hunter_demo.cpp
+++ b/src/apps/hunter_demo/hunter_demo.cpp
@@ -23,13 +23,13 @@ int main(int argc, char **argv)
     }
     else
     {
-        std::cout << "Usage: app_scout_demo <interface>" << std::endl
-                  << "Example 1: ./app_scout_demo can0" << std::endl;
+        std::cout << "Usage: app_hunter_demo <interface>" << std::endl
+                  << "Example 1: ./app_hunter_demo can0" << std::endl;
         return -1;
     }
 
-    HunterBase scout;
-    scout.Connect(device_name);
+    HunterBase hunter;
+    hunter.Connect(device_name);
 
     int count = 0;
     while (true)
@@ -38,45 +38,45 @@ int main(int argc, char **argv)
         if (count < 5)
         {
             std::cout << "Motor: 0.2, 0.0" << std::endl;
-            scout.SetMotionCommand(0.2, 0.0);
+            hunter.SetMotionCommand(0.2, 0.0);
         }
         else if (count < 10)
         {
         std::cout << "Motor: 0.8, 0.3" << std::endl;
-        scout.SetMotionCommand(0.8, 0.3);
+        hunter.SetMotionCommand(0.8, 0.3);
         }
         else if (count < 15)
         {
             std::cout << "Motor: 1.5, 0.5" << std::endl;
-            scout.SetMotionCommand(1.5, 0.5);
+            hunter.SetMotionCommand(1.5, 0.5);
         }
         else if (count < 20)
         {
             std::cout << "Motor: 1.0, 0.3" << std::endl;
-            scout.SetMotionCommand(1.0, 0.3);
+            hunter.SetMotionCommand(1.0, 0.3);
         }
         else if (count < 25)
         {
             std::cout << "Motor: 0.0, 0.0" << std::endl;
-            scout.SetMotionCommand(0.0, 0.0);
+            hunter.SetMotionCommand(0.0, 0.0);
         }
         else if (count < 30)
         {
             std::cout << "Motor: -0.5, -0.3" << std::endl;
-            scout.SetMotionCommand(-0.5, -0.3);
+            hunter.SetMotionCommand(-0.5, -0.3);
         }
         else if (count < 35)
         {
             std::cout << "Motor: -1.0, -0.5" << std::endl;
-            scout.SetMotionCommand(-1.0, -0.5);
+            hunter.SetMotionCommand(-1.0, -0.5);
         }
         else if (count < 40)
         {
             std::cout << "Motor: 0.0, 0.0," << std::endl;
-            scout.SetMotionCommand(0.0, 0.0);
+            hunter.SetMotionCommand(0.0, 0.0);
         }
 
-        auto state = scout.GetHunterState();
+        auto state = hunter.GetHunterState();
         std::cout << "-------------------------------" << std::endl;
         std::cout << "count: " << count << std::endl;
         std::cout << "control mode: " << static_cast<int>(state.control_mode) << " , base state: " << static_cast<int>(state.base_state) << std::endl;