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‎.clang-format

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---
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Language: Cpp
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BasedOnStyle: LLVM
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortCompoundRequirementOnASingleLine: true
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AllowShortEnumsOnASingleLine: true
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: Never
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AllowShortLambdasOnASingleLine: All
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AllowShortLoopsOnASingleLine: false
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: false
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AlwaysBreakTemplateDeclarations: MultiLine
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- __capability
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakAdjacentStringLiterals: true
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BreakAfterAttributes: Leave
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BreakAfterJavaFieldAnnotations: false
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BreakArrays: true
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BreakBeforeBinaryOperators: None
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BreakBeforeConceptDeclarations: Always
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BreakBeforeBraces: Attach
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BreakBeforeInlineASMColon: OnlyMultiline
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializers: BeforeColon
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BreakInheritanceList: BeforeColon
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BreakStringLiterals: true
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CommentPragmas: '^ IWYU pragma:'
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DerivePointerAlignment: false
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DisableFormat: false
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EmptyLineAfterAccessModifier: Never
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EmptyLineBeforeAccessModifier: LogicalBlock
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IfMacros:
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- KJ_IF_MAYBE
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IncludeBlocks: Preserve
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- Regex: '^"(llvm|llvm-c|clang|clang-c)/'
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IndentCaseLabels: false
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IndentExternBlock: AfterExternBlock
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SortJavaStaticImport: Before
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SortUsingDeclarations: LexicographicNumeric
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SpaceAfterCStyleCast: false
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SpaceAfterLogicalNot: false
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SpaceAfterTemplateKeyword: true
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SpaceAroundPointerQualifiers: Default
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeCaseColon: false
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SpaceBeforeCpp11BracedList: false
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SpaceBeforeCtorInitializerColon: true
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SpaceBeforeInheritanceColon: true
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SpaceBeforeJsonColon: false
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SpaceBeforeParens: ControlStatements
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SpaceBeforeParensOptions:
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AfterControlStatements: true
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AfterForeachMacros: true
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AfterFunctionDefinitionName: false
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AfterFunctionDeclarationName: false
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AfterIfMacros: true
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AfterOverloadedOperator: false
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AfterPlacementOperator: true
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AfterRequiresInClause: false
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AfterRequiresInExpression: false
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BeforeNonEmptyParentheses: false
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SpaceBeforeRangeBasedForLoopColon: true
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SpaceBeforeSquareBrackets: false
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SpaceInEmptyBlock: false
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SpacesBeforeTrailingComments: 1
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SpacesInAngles: Never
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SpacesInContainerLiterals: true
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Standard: Latest
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StatementAttributeLikeMacros:
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- Q_EMIT
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StatementMacros:
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- Q_UNUSED
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UseTab: Never
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- BOOST_PP_STRINGIZE
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...
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‎.gitignore

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**/build
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.vscode
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‎CMakeLists.txt

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# 指定CMake的最低版本要求
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cmake_minimum_required(VERSION 3.10)
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# 定义项目名称和使用的编程语言
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project(D5RC VERSION 0.2)
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# 设置C++标准
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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add_subdirectory(lib/RMD)
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add_subdirectory(lib/Nator)
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add_library(D5Robot SHARED src/D5Robot.cpp src/DllApi.cpp)
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target_include_directories(D5Robot PUBLIC "${PROJECT_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}/include" "${PROJECT_SOURCE_DIR}/lib/RMD" "${PROJECT_SOURCE_DIR}/lib/Nator")
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target_link_libraries(D5Robot PUBLIC RMDMotor)
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target_link_libraries(D5Robot PUBLIC NatorMotor)
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target_compile_definitions(D5Robot PUBLIC "D5R_EXPORTS")
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add_executable(test test.cpp)
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target_link_libraries(test D5Robot)
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# 包含头文件目录
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# include_directories(include)
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# 将子目录下的CMakeLists.txt文件包括到当前的构建中
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# 链接库 SHARED 共享库
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# add_library(DOF5RobotControl SHARED DOF5RobotControl.cpp)
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# 设置包含目录 确保编译时可以找到头文件
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# target_include_directories(DOF5RobotControl PUBLIC "${PROJECT_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}/lib/RMDControl" "${PROJECT_SOURCE_DIR}/lib/NatorControl")
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# target_link_libraries(DOF5RobotControl PUBLIC RMDControl)
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# target_link_libraries(DOF5RobotControl PUBLIC NatorControl)
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# 为指定目标添加预处理宏定义
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# target_compile_definitions(DOF5RobotControl PRIVATE "D5R_EXPORTS")
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# 定义可执行文件及其源文件
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# add_executable(D5R_Main main.cpp)
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# 链接库到可执行文件
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# target_include_directories(D5R_Main PUBLIC "${PROJECT_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}/lib/RMDControl" "${PROJECT_SOURCE_DIR}/lib/NatorControl")
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# target_link_libraries(D5R_Main PUBLIC RMDControl)
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# target_link_libraries(D5R_Main PUBLIC NatorControl)
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# target_link_libraries(D5R_Main PUBLIC DOF5RobotControl)
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# 启用测试
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# enable_testing()
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# 定义测试用例
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# add_test(NAME MyTest COMMAND MyExecutable)
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# 设置安装规则
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# install(TARGETS MyExecutable RUNTIME DESTINATION bin)
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# install(FILES datafile.txt DESTINATION share/data)
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# 设置包信息
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# set(CPACK_PACKAGE_NAME "DOF5RobotControl")
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# set(CPACK_PACKAGE_VERSION "${MyProject_VERSION}")
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# set(CPACK_PACKAGE_CONTACT "Hin <[email protected]>")
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# include(CPack)
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# enable_testing()

‎README.md

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# DOF5RobotControl
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> 该库消极开发中
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这是用于控制五自由度机器人的 C/C++ 库代码。
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注意！要正常使用请进入 `lib/NatorControl/SDK1.4.12` 按指示操作。
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> 为什么？这是厂家的 bug 处理方式。
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‎include/D5Robot.h

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#pragma once
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#include "LogUtil.h"
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#include "NatorMotor.h"
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#include "RMDMotor.h"
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#include "SerialPort.h"
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#ifdef D5R_EXPORTS
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#define D5R_API __declspec(dllexport)
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#else
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#define D5R_API __declspec(dllimport)
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#endif
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namespace D5R {
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struct Joints {
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int r1;
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int x;
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int y;
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int z;
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int r5;
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};
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class D5R_API D5Robot {
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public:
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D5Robot(const char *serialPort, std::string natorID, uint8_t topRMDID,
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uint8_t botRMDID);
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~D5Robot();
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bool IsInit();
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bool SetZero();
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bool Stop();
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bool JointsMoveAbsolute(const Joints j);
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bool JointsMoveRelative(const Joints j);
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private:
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SerialPort _port;
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NatorMotor _NatorMotor;
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RMDMotor _topRMDMotor;
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RMDMotor _botRMDMotor;
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bool _isInit;
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};
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} // namespace D5R

‎include/DllApi.h

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#include "D5Robot.h"
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#ifdef D5R_EXPORTS
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#define D5R_API __declspec(dllexport)
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#else
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#define D5R_API __declspec(dllimport)
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#endif
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using namespace D5R;
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extern "C" {
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D5R_API D5Robot *CreateD5RobotInstance(const char *serialPort,
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std::string natorID, uint8_t topRMDID,
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uint8_t botRMDID);
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D5R_API void DestroyD5RobotInstance(D5Robot *instance);
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D5R_API bool CallIsInit(D5Robot *instance);
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D5R_API bool CallSetZero(D5Robot *instance);
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D5R_API bool CallStop(D5Robot *instance);
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D5R_API bool CallJointsMoveAbsolute(D5Robot *instance, const Joints j);
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D5R_API bool CallJointsMoveRelative(D5Robot *instance, const Joints j);
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}

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