Merge 9dcca36b1988c2c45bf1e2214ca508dadbecd8b2 into a93fc844d9ff58d26c1bbd93cf3b799b57cd13ee

2026-01-22 19:54:57 +08:00 · 2021-06-10 15:03:48 -07:00 · 2021-06-10 15:03:48 -07:00 · e796359046
commit e796359046
parent a93fc844d9 9dcca36b19
13 changed files with 394 additions and 103 deletions
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@ -0,0 +1,68 @@
+---
+version: 2
+jobs:
+   build-focal:
+     docker:
+       - image: circleci/buildpack-deps:focal-scm
+     steps:
+       - checkout
+       - run: sudo apt install build-essential cmake libcppunit-dev doxygen graphviz
+       - run: git clone https://github.com/google/googletest
+       - run: mkdir googletest/build; cd googletest/build; cmake ..
+       - run: cd googletest/build; make; sudo make install
+       - run: mkdir build 
+       - run: cd build && cmake -DDISABLE_CATKIN=ON ..
+       - run: cd build && make && make test
+   build-macos:
+     macos:
+       xcode: "10.0.0"
+     steps:
+       - checkout
+       - restore-cache:
+           keys:
+             - 2020-09-29-v1
+       - run: brew update 
+       - run: brew upgrade git
+       - run: >
+           for p in llvm cmake cppunit doxygen; do
+           brew list --version $p || brew install $p;
+           brew link $p;
+           done
+       - run: >
+           brew list --version graphviz
+           || brew install graphviz || brew install graphviz || :;
+           brew link graphviz
+       - run: git clone https://github.com/google/googletest
+       - run: mkdir googletest/build; cd googletest/build; cmake ..
+       - run: cd googletest/build; make; sudo make install
+       - save-cache:
+           key: 2020-09-29-v1
+           paths:
+             - /usr/local/Homebrew
+             - /usr/local/Cellar
+       - run: mkdir build 
+       - run: >
+           cd build && cmake
+           -DDISABLE_CATKIN=ON
+           -DENABLE_CATKIN_TESTING=ON
+           ..
+       - run: cd build && make
+       - run: cd build && ARGS="--verbose" make test
+
+
+workflows:
+  version: 2
+  build_all:
+    jobs:
+      - build-focal:
+          filters:
+            branches:
+              only:
+                - master
+                - build
+      - build-macos:
+          filters:
+            branches:
+              only:
+                - master
+                - build
--- a/.gitignore
+++ b/.gitignore
@ -1,4 +1,3 @@
-.*
 .DS_Store
 *.coverage
 *.egg-info
@ -32,3 +31,6 @@ doc/html
 ipch
 Debug
 Release
+
+# Generated from package.xml.in, must live in top dir.
+package.xml
--- a/.travis.yml
+++ b/.travis.yml
@ -1,10 +1,52 @@
-os:
-  - linux
-  - osx
+---
 language: cpp
-install:
-  - make install_deps
-  - source setup.bash
+matrix:
+  include:
+    - os: linux
+      dist: focal
+      compiler: gcc
      script:
-  - mkdir build && cd build && cmake .. -DPYTHON_EXECUTABLE=$(which python2) && make && make tests && make run_tests
-  - catkin_test_results .
+        - sudo apt update
+        - >
+          sudo apt install
+          build-essential cmake doxygen graphviz googletest libgtest-dev
+        - mkdir build && cd build
+        - cmake -DDISABLE_CATKIN=ON ..
+        - make
+        - make test
+    - os: linux
+      dist: xenial
+      compiler: gcc
+      script:
+        - sudo apt update
+        - >
+          sudo apt install
+          build-essential catkin cmake doxygen graphviz libgtest-dev
+        - mkdir build && cd build
+        - cmake -DDISABLE_CATKIN=OFF -DCATKIN_ENABLE_TESTING=OFF ..
+        - make
+
+
+#   Does not build, breaks in make install_deps.
+#   - os: linux
+#     dist: precise
+#     compiler: gcc
+#     install:
+#       - make install_deps
+#       - source setup.bash
+#     script:
+#       - mkdir build && cd build
+#       - cmake -DPYTHON_EXECUTABLE=$(which python2) ..
+#       - make
+#       - make test
+
+#   - os: osx
+#     compiler: clang
+#     install:
+#       - make install_deps
+#       - source setup.bash
+#     script:
+#       - mkdir build && cd build
+#       - cmake -DPYTHON_EXECUTABLE=$(which python2) ..
+#       - make
+#       - make run_tests
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,81 +1,150 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(serial)
+cmake_minimum_required(VERSION 3.5.0)

-# Find catkin
-find_package(catkin REQUIRED)
+# Public options and command line configuration
+option(ENABLE_TEST_PROGRAM "Build test program" OFF)
+option(CATKIN_ENABLE_TESTING "Enable catkin unit tests" ON)

-if(APPLE)
-    find_library(IOKIT_LIBRARY IOKit)
-    find_library(FOUNDATION_LIBRARY Foundation)
+
+option(USE_CXX_SERIAL "build package name cxx-serial" OFF)
+if (USE_CXX_SERIAL)
+    set(PKG_NAME cxx-serial)
+else ()
+    set(PKG_NAME serial)
+endif ()
+message(STATUS "Building package ${PKG_NAME}")
+
+set(SERIAL_DOCDIR ${CMAKE_INSTALL_PREFIX}/share/doc/${PKG_NAME}
+    CACHE STRING "Installation root for doxygen docs."
+)
+option(DISABLE_CATKIN "Disable build of catkin package and tests" OFF)
+if (DISABLE_CATKIN AND "${CATKIN_ENABLE_TESTING}" STREQUAL "" )
+    set(CATKIN_ENABLE_TESTING OFF)
 endif ()

-if(UNIX AND NOT APPLE)
-    # If Linux, add rt and pthread
-    set(rt_LIBRARIES rt)
-    set(pthread_LIBRARIES pthread)
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-        DEPENDS rt pthread
-    )
-else()
-    # Otherwise normal call
+set(PROJ_SOVERSION 1)
+project(${PKG_NAME}
+    VERSION 1.2.1
+    DESCRIPTION "Cross-platform, Serial Port library written in C++"
+    HOMEPAGE_URL "http://wjwwood.io/serial/"
+)
+include(GNUInstallDirs)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Locate packages, headers and libraries
+if (NOT DISABLE_CATKIN)
+    find_package(catkin REQUIRED)
+endif ()
+
+find_path(HAVE_STDINT_H NAMES stdint.h)
+
+if (NOT DISABLE_CATKIN)
+    # Build the catkin library
+    find_library(PTHREAD_LIB NAMES pthread REQUIRED)
+    if (PTHREAD_LIB)
+        set(PTHREAD_LIBRARIES ${PTHREAD_LIB})
+    endif ()
+    find_package(Rt)
+    if (RT_FOUND)
+        set(_RT RT)
+    endif ()
+    configure_file(package.xml.in ${PROJECT_SOURCE_DIR}/package.xml @ONLY)
    catkin_package(
        LIBRARIES ${PROJECT_NAME}
        INCLUDE_DIRS include
+        DEPENDS ${_RT} PTHREAD
    )
+    set(CMAKE_INSTALL_LIBDIR ${CATKIN_PACKAGE_LIB_DESTINATION})
+    set(CMAKE_INSTALL_BINDIR ${CATKIN_GLOBAL_BIN_DESTINATION})
+    set(CMAKE_INSTALL_INCLUDEDIR ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 endif ()

 ## Sources
-set(serial_SRCS
-    src/serial.cc
-    include/serial/serial.h
-    include/serial/v8stdint.h
-)
+set(serial_SRCS src/serial.cc include/serial/serial.h)
+if (NOT HAVE_STDINT_H)
+    list(APPEND serial_SRCS include/serial/v8stdint.h)
+endif ()
+
 if(APPLE)
-    # If OSX
    list(APPEND serial_SRCS src/impl/unix.cc)
    list(APPEND serial_SRCS src/impl/list_ports/list_ports_osx.cc)
 elseif(UNIX)
-    # If unix
+    # linux
    list(APPEND serial_SRCS src/impl/unix.cc)
    list(APPEND serial_SRCS src/impl/list_ports/list_ports_linux.cc)
 else()
-    # If windows
+    # win32
    list(APPEND serial_SRCS src/impl/win.cc)
    list(APPEND serial_SRCS src/impl/list_ports/list_ports_win.cc)
 endif()

-## Add serial library
+set(serial_HEADERS include/serial/serial.h)
+if (NOT HAVE_STDINT_H)
+    list(APPEND serial_HEADERS include/serial/v8stdint.h)
+endif ()
+
+# Build  and link main library
 add_library(${PROJECT_NAME} ${serial_SRCS})
+set_target_properties(${PROJECT_NAME} PROPERTIES
+    VERSION ${PROJECT_VERSION}
+    SOVERSION ${PROJ_SOVERSION}
+    PUBLIC_HEADER "${serial_HEADERS}"
+)
+target_include_directories(${PROJECT_NAME} PUBLIC include)
+if (HAVE_STDINT_H)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE -DHAVE_STDINT_H)
+endif ()
+
 if (APPLE)
-    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
+    find_library(IOKIT_LIB IOKit)
+    find_library(FOUNDATION_LIB Foundation)
+    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIB} ${IOKIT_LIB})
 elseif (UNIX)
-    target_link_libraries(${PROJECT_NAME} rt pthread)
+    target_link_libraries(${PROJECT_NAME} ${RT_LIBRARIES} ${PTHREAD_LIBRARIES})
 else ()
    target_link_libraries(${PROJECT_NAME} setupapi)
 endif ()

-## Uncomment for example
+
+## Install main library, possibly the catkin one.
+install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
+)
+
+# Other targets: test program, pkg-config and tests.
+if (CATKIN_ENABLE_TESTING)
+    include(CTest)
+    find_package(GTest REQUIRED)
+    enable_testing()
+    add_subdirectory(tests)
+endif()
+
+if (DISABLE_CATKIN)
+    configure_file(serial.pc.in ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc @ONLY)
+    install(
+        FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+    )
+endif()
+
+if (ENABLE_TEST_PROGRAM)
    add_executable(serial_example examples/serial_example.cc)
    add_dependencies(serial_example ${PROJECT_NAME})
    target_link_libraries(serial_example ${PROJECT_NAME})
-
-## Include headers
-include_directories(include)
-
-## Install executable
-install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-)
-
-## Install headers
-install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
-
-## Tests
-if(CATKIN_ENABLE_TESTING)
-    add_subdirectory(tests)
+endif()
+
+find_package(Doxygen)
+if (DOXYGEN_FOUND AND DOXYGEN_DOT_FOUND)
+    set(DOXYGEN_OUT ${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile)
+    add_custom_target(doc ALL
+        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        COMMENT "Generating API documentation with Doxygen"
+        VERBATIM
+    )
+    install(DIRECTORY  ${CMAKE_BINARY_DIR}/doc/html
+        DESTINATION ${SERIAL_DOCDIR}
+    )
 endif ()
--- a/FindRt.cmake
+++ b/FindRt.cmake
@ -0,0 +1,19 @@
+# Try to find real time libraries
+# Once done, this will define
+#
+# RT_FOUND - system has rt library
+# RT_LIBRARIES - rt libraries directory
+
+if(RT_LIBRARIES)
+    set(RT_FIND_QUIETLY TRUE)
+endif(RT_LIBRARIES)
+
+find_library(RT_LIBRARY rt)
+set(RT_LIBRARIES ${RT_LIBRARY})
+
+# handle the QUIETLY and REQUIRED arguments and set
+# RT_FOUND to TRUE if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Rt DEFAULT_MSG RT_LIBRARY)
+
+mark_as_advanced(RT_LIBRARY)
--- a/README.md
+++ b/README.md
@ -16,15 +16,18 @@ API Documentation: http://wjwwood.github.com/serial/doc/1.1.0/index.html

 ### Dependencies

-Required:
-* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
+Always required:
 * [cmake](http://www.cmake.org) - buildsystem
+
+Required when building the catkin package:
+* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
 * [Python](http://www.python.org) - scripting language
 * [empy](http://www.alcyone.com/pyos/empy/) - Python templating library
 * [catkin_pkg](http://pypi.python.org/pypi/catkin_pkg/) - Runtime Python library for catkin

 Optional (for tests): 
 * [Boost](http://www.boost.org/) - Boost C++ librairies
+* [Googletest](https://github.com/google/googletest) - Test framework

 Optional (for documentation):
 * [Doxygen](http://www.doxygen.org/) - Documentation generation tool
--- a/appveyor.yml
+++ b/appveyor.yml
@ -0,0 +1,27 @@
+clone_folder: c:\project\serial
+shallow_clone: false
+clone_depth: 10
+
+image:
+- Visual Studio 2017
+
+platform:
+- Win32
+
+configuration: RelWithDebInfo
+test: OFF
+
+install:
+  - call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvars32.bat"
+  - choco install cmake
+
+before_build:
+  - cd c:\project\serial
+  - mkdir build
+  - cd build
+  - cmake -DDISABLE_CATKIN=ON -DCATKIN_ENABLE_TESTING=OFF ..
+
+build_script:
+  - cmake build .
+  - cmake --build . --target install
+
--- a/include/serial/serial.h
+++ b/include/serial/serial.h
@ -43,7 +43,12 @@
 #include <sstream>
 #include <exception>
 #include <stdexcept>
+
+#ifdef HAVE_STDINT_H
+#include <stdint.h>
+#else
 #include <serial/v8stdint.h>
+#endif

 #define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
 __LINE__, (message) )
--- a/package.xml.in
+++ b/package.xml.in
@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
-  <name>serial</name>
-  <version>1.2.1</version>
+  <name>@PROJECT_NAME@</name>
+  <version>@PROJECT_VERSION@</version>
  <description>
    Serial is a cross-platform, simple to use library for using serial ports on computers.
    This library provides a C++, object oriented interface for interacting with RS-232
--- a/serial.pc.in
+++ b/serial.pc.in
@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${exec_prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+
+Name: @PROJECT_NAME@
+Description: C++ portable serial ports communication library
+Version: @PROJECT_VERSION@
+
+Requires:
+Libs: -L${libdir} -l@PROJECT_NAME@
+Cflags: -I${includedir}
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@ -1,4 +1,4 @@
-if(UNIX)
+if (UNIX AND NOT DISABLE_CATKIN)
    catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES})
    if(NOT APPLE)
@ -9,4 +9,35 @@ if(UNIX)
        catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
        target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
    endif()
+elseif (UNIX)
+
+    add_executable(serial_test
+        unix_serial_tests.cc
+    )
+    target_link_libraries(serial_test
+        ${PROJECT_NAME} gtest gtest_main pthread
+    )
+    set_target_properties(serial_test
+        PROPERTIES
+            CXX_STANDARD 11
+            CXX_STANDARD_REQUIRED YES
+    )
+    if (NOT APPLE)
+        target_link_libraries(serial_test util)
+    endif ()
+
+    add_executable(timer_test
+        unit/unix_timer_tests.cc
+    )
+    target_link_libraries(timer_test
+        ${PROJECT_NAME} gtest gtest_main pthread
+    )
+    set_target_properties(timer_test
+        PROPERTIES
+            CXX_STANDARD 11
+            CXX_STANDARD_REQUIRED YES
+    )
+
+    add_test(NAME serial_test COMMAND serial_test)
+    add_test(NAME timer_test COMMAND timer_test)
 endif()
--- a/tests/unit/unix_timer_tests.cc
+++ b/tests/unit/unix_timer_tests.cc
@ -1,13 +1,31 @@
+#include <chrono>
+#include <sstream>
+#include <thread>
+
 #include "gtest/gtest.h"
 #include "serial/impl/unix.h"

-#include <unistd.h>
-#include <stdlib.h>
-
 using serial::MillisecondTimer;

 namespace {

+typedef std::chrono::high_resolution_clock Clock;
+
+
+template <typename T>
+std::chrono::milliseconds as_milliseconds(T duration)
+{
+    return std::chrono::duration_cast<std::chrono::milliseconds>(duration);
+}
+
+
+struct test_timer {
+    MillisecondTimer timer;
+    std::chrono::time_point<Clock> start;
+    test_timer(unsigned value): start(Clock::now()), timer(value) {}
+};
+
+
 /**
 * Do 100 trials of timing gaps between 0 and 19 milliseconds.
 * Expect accuracy within one millisecond.
@ -15,48 +33,45 @@ namespace {
 TEST(timer_tests, short_intervals) {
  for (int trial = 0; trial < 100; trial++)
  {
-    uint32_t ms = rand() % 20;
+      int ms = rand() % 20;
+      auto t1 = Clock::now();
      MillisecondTimer mt(ms);
-    usleep(1000 * ms);
-    int32_t r = mt.remaining(); 
+      std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+      int elapsed = as_milliseconds(Clock::now() - t1).count();
+      EXPECT_NEAR(ms - elapsed, mt.remaining(), 1);
+  }
+}

-    // 1ms slush, for the cost of calling usleep.
-    EXPECT_NEAR(r+1, 0, 1);
-  }
-}

 TEST(timer_tests, overlapping_long_intervals) {
-  MillisecondTimer* timers[10];

-  // Experimentally determined. Corresponds to the extra time taken by the loops,
-  // the big usleep, and the test infrastructure itself.
-  const int slush_factor = 14;
+  std::vector<test_timer> timers;

  // Set up the timers to each time one second, 1 ms apart.
-  for (int t = 0; t < 10; t++)
-  {
-    timers[t] = new MillisecondTimer(1000);
-    usleep(1000);
+  while (timers.size() < 10) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    struct test_timer timer(1000);  // 1 s
+    timers.push_back(timer);
  }

  // Check in on them after 500 ms.
-  usleep(500000);
-  for (int t = 0; t < 10; t++)
-  {
-    EXPECT_NEAR(timers[t]->remaining(), 500 - slush_factor + t, 5);
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  for (auto& t: timers) {
+    auto elapsed = as_milliseconds(Clock::now() - t.start).count();
+    EXPECT_NEAR(1000 - elapsed, t.timer.remaining(), 1);
  }

-  // Check in on them again after another 500ms and free them.
-  usleep(500000);
-  for (int t = 0; t < 10; t++)
-  {
-    EXPECT_NEAR(timers[t]->remaining(), -slush_factor + t, 5);
-    delete timers[t];
+  // Check in on them again after another 500 ms.
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  for (auto& t: timers) {
+    auto elapsed = as_milliseconds(Clock::now() - t.start).count();
+    EXPECT_NEAR(1000 - elapsed, t.timer.remaining(), 1);
  }
 }

 }  // namespace

+
 int main(int argc, char **argv) {
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
--- a/tests/unix_serial_tests.cc
+++ b/tests/unix_serial_tests.cc
@ -20,8 +20,6 @@ void loop()
 #include <string>
 #include "gtest/gtest.h"

-#include <boost/bind.hpp>
-
 // Use FRIEND_TEST... its not as nasty, thats what friends are for
 // // OMG this is so nasty...
 // #define private public