Jazzy for pr safety

.github/workflows/ci.yml

@@ -36,6 +36,11 @@ jobs:
           options: -v ${{github.workspace}}/:/ros/
           run: |
             cd /ros
+            # Install click, try via apt first, fallback to pip with --break-system-packages
+            apt-get update
+            apt-get install -y python3-click || (apt-get install -y python3-pip && python3 -m pip install --break-system-packages click)
+            # Install both system and ROS2 yaml-cpp packages
+            apt-get install -y libyaml-cpp-dev ros-jazzy-yaml-cpp-vendor pkg-config
             . /opt/ros/jazzy/setup.sh
             rosdep install --ignore-src --from-paths . -y -r && \
             colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -47,6 +52,11 @@ jobs:
           options: -v ${{github.workspace}}/:/ros/
           run: |
             cd /ros
+            # Install click, try via apt first, fallback to pip with --break-system-packages
+            apt-get update
+            apt-get install -y python3-click || (apt-get install -y python3-pip && python3 -m pip install --break-system-packages click)
+            # Install both system and ROS2 yaml-cpp packages
+            apt-get install -y libyaml-cpp-dev ros-jazzy-yaml-cpp-vendor pkg-config
             . /opt/ros/jazzy/setup.sh
             rosdep install --ignore-src --from-paths . -y -r && \
             colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -35,7 +35,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.20.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -48,7 +48,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 6.0.0
+    rev: 7.3.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
@@ -59,7 +59,7 @@ repos:
       - id: ament_uncrustify
         name: ament_uncrustify
         description: Uncrustify.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_uncrustify
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -92,7 +92,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -104,7 +104,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -115,13 +115,13 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v2.0.0
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -138,7 +138,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.4.1
     hooks:
       - id: codespell
         args: ['--write-changes']

ethercat_driver/CMakeLists.txt

@@ -7,21 +7,28 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(ethercat_interface REQUIRED)
+find_package(yaml_cpp_vendor REQUIRED)
 
-add_library(
-  ${PROJECT_NAME}
-  SHARED
-  src/ethercat_driver.cpp)
+# Find system yaml-cpp for proper linking
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
 
-target_include_directories(
-  ${PROJECT_NAME}
-  PRIVATE
-  include
+file(GLOB_RECURSE PLUGINS_SRC src/*.cpp)
+
+add_library(${PROJECT_NAME} ${PLUGINS_SRC})
+
+target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
 )
 
 ament_target_dependencies(
@@ -31,27 +38,117 @@ ament_target_dependencies(
   rclcpp
   rclcpp_lifecycle
   ethercat_interface
+  yaml_cpp_vendor
 )
 
+# Explicitly link yaml-cpp
+target_link_libraries(${PROJECT_NAME} ${YAML_CPP_LIBRARIES})
+target_include_directories(${PROJECT_NAME} PRIVATE ${YAML_CPP_INCLUDE_DIRS})
+target_compile_options(${PROJECT_NAME} PRIVATE ${YAML_CPP_CFLAGS_OTHER})
+
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
-target_compile_definitions(ethercat_driver PRIVATE "ETHERCAT_DRIVER_BUILDING_LIBRARY")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ETHERCAT_DRIVER_BUILDING_LIBRARY")
+
 # prevent pluginlib from using boost
 target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
 pluginlib_export_plugin_description_file(hardware_interface ethercat_driver_plugin.xml)
 
 # INSTALL
 install(
   TARGETS ${PROJECT_NAME}
   DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
 )
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
 if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ethercat_interface REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  # Ensure test data is copied to the build directory
+  set(CFG_FILES
+    safety.ros2_control.xacro
+    safety_estop.ros2_control.template.xacro
+    estop_ethercat_safety.yaml
+    test_config_ethercat_safety.yaml
+    beckhoff_ek1914.yaml
+    beckhoff_el1918.yaml
+  )
+
+  set(CFG_IN ${CMAKE_CURRENT_SOURCE_DIR}/examples/configurations)
+  set(CFG_DST ${CMAKE_CURRENT_BINARY_DIR}/test_configurations)
+  list(TRANSFORM CFG_FILES PREPEND "${CFG_IN}" OUTPUT_VARIABLE CFG_SRC)
+
+  # Ensure the destination directory exists
+  file(MAKE_DIRECTORY ${CFG_DST})
+
+  # List to keep track of the output files
+  set(CFG_OUT)
+
+  foreach(file ${CFG_FILES})
+    set(src_file "${CMAKE_CURRENT_SOURCE_DIR}/examples/configurations/${file}")
+    set(dst_file "${CFG_DST}/${file}")
+
+    add_custom_command(
+        OUTPUT ${dst_file}
+        COMMAND ${CMAKE_COMMAND} -E copy ${src_file} ${dst_file}
+        DEPENDS ${src_file}
+        COMMENT "Copying ${src_file} to ${dst_file}"
+    )
+
+    list(APPEND CFG_OUT ${dst_file})
+  endforeach()
+  # message(WARNING "Copying ${CFG_SRC} to ${CFG_DST}")
+
+  # Create a custom target to group the copy commands
+  add_custom_target(copy_safety_config ALL DEPENDS ${CFG_OUT})
+
+  set(UP_PY ${CMAKE_CURRENT_SOURCE_DIR}/examples/configurations/update_slave_config_path.py)
+  set(UP_IN ${CFG_DST}/safety_estop.ros2_control.template.xacro)
+  set(UP_OUT ${CFG_DST}/safety_estop.ros2_control.xacro)
+  set(UP_DEPS ${UP_PY} ${UP_IN})
+
+  # message(WARNING "Running ${UP_PY} ${UP_IN} -p ${CFG_DST} -o ${UP_OUT}")
+  add_custom_command(
+    OUTPUT ${UP_OUT}
+    COMMAND ${CMAKE_COMMAND} -E echo "Running update_slave_config_path.py"
+    COMMAND ${CMAKE_COMMAND} -E env python3 ${UP_PY} ${UP_IN} -p ${CFG_DST} -o ${UP_OUT}
+    DEPENDS ${UP_DEPS}
+    COMMENT "Running update_slave_config_path.py"
+  )
+
+  add_custom_target(update_slave_config_path ALL DEPENDS ${UP_OUT})
+
+  ament_add_gmock(test_ethercat_safety_driver test/test_ethercat_safety_driver.cpp)
+  target_include_directories(test_ethercat_safety_driver PRIVATE include)
+
+  target_compile_definitions(test_ethercat_safety_driver PRIVATE "TEST_RESOURCES_DIRECTORY=\"${CFG_DST}\"")
+
+  target_link_libraries(test_ethercat_safety_driver
+    ${PROJECT_NAME}
+    ${YAML_CPP_LIBRARIES}
+  )
+
+  ament_target_dependencies(test_ethercat_safety_driver
+    hardware_interface
+    pluginlib
+    rclcpp
+    rclcpp_lifecycle
+    ethercat_interface
+    yaml_cpp_vendor
+  )
+
+  # Add yaml-cpp to test target as well
+  target_include_directories(test_ethercat_safety_driver PRIVATE ${YAML_CPP_INCLUDE_DIRS})
+  target_compile_options(test_ethercat_safety_driver PRIVATE ${YAML_CPP_CFLAGS_OTHER})
 endif()
 
 ## EXPORTS
@@ -67,5 +164,6 @@ ament_export_dependencies(
   rclcpp
   rclcpp_lifecycle
   ethercat_interface
+  yaml_cpp_vendor
 )
 ament_package()

ethercat_driver/ethercat_driver_plugin.xml

@@ -1,9 +1,12 @@
 <library path="ethercat_driver">
-  <class name="ethercat_driver/EthercatDriver"
-         type="ethercat_driver::EthercatDriver"
-         base_class_type="hardware_interface::SystemInterface">
+  <class name="ethercat_driver/EthercatDriver" type="ethercat_driver::EthercatDriver" base_class_type="hardware_interface::SystemInterface">
     <description>
         EtherCAT Driver for ros2_control.
     </description>
   </class>
+  <class name="ethercat_driver/EthercatSafetyDriver" type="ethercat_driver::EthercatSafetyDriver" base_class_type="hardware_interface::SystemInterface">
+    <description>
+        EtherCAT Safety Driver for ros2_control.
+    </description>
+  </class>
 </library>

ethercat_driver/examples/configurations/beckhoff_ek1914.yaml

@@ -0,0 +1,93 @@
+# Configuration file for Beckhoff EK1914
+# Description : Coupler, 4-channel digital input,
+#  2-channel digital safety input, 4-channel digital output,
+#  2-channel digital safety output, 24 V DC, 1 ms (TBC).
+vendor_id: 0x00000002
+product_id: 0x077a2c52
+tpdo: # Slave-OUT & Master-IN
+  - index: 0x1a00
+    channels:
+      - { index: 0x6000, sub_index: 0x01, type: int8 }
+      - { index: 0x6001, sub_index: 0x01, type: bool, mask: 1 }
+      - { index: 0x6001, sub_index: 0x02, type: bool, mask: 2 }
+      - { index: 0x0000, sub_index: 0x00, type: bit6 }
+      - { index: 0x6000, sub_index: 0x03, type: int16 }
+      - { index: 0x6000, sub_index: 0x02, type: int16 }
+  - index: 0x1a01
+    channels:
+      - {
+          index: 0x6010,
+          sub_index: 0x01,
+          type: bool,
+          mask: 1,
+          state_interface: input_1,
+        }
+      - {
+          index: 0x6010,
+          sub_index: 0x02,
+          type: bool,
+          mask: 2,
+          state_interface: input_2,
+        }
+      - {
+          index: 0x6010,
+          sub_index: 0x03,
+          type: bool,
+          mask: 4,
+          state_interface: input_3,
+        }
+      - {
+          index: 0x6010,
+          sub_index: 0x04,
+          type: bool,
+          mask: 8,
+          state_interface: input_4,
+        }
+      - { index: 0x0000, sub_index: 0x00, type: bit12 }
+rpdo: # Slave-IN & Master-OUT
+  - index: 0x1600
+    channels:
+      - { index: 0x7000, sub_index: 0x01, type: int8 }
+      - { index: 0x7001, sub_index: 0x01, type: bool, mask: 1 }
+      - { index: 0x7001, sub_index: 0x02, type: bool, mask: 2 }
+      - { index: 0x0000, sub_index: 0x00, type: bit6 }
+      - { index: 0x7000, sub_index: 0x03, type: int16 }
+      - { index: 0x7000, sub_index: 0x02, type: int16 }
+  - index: 0x1601
+    channels:
+      - {
+          index: 0x7010,
+          sub_index: 0x01,
+          type: bool,
+          mask: 1,
+          command_interface: output_1,
+        }
+      - {
+          index: 0x7010,
+          sub_index: 0x02,
+          type: bool,
+          mask: 2,
+          command_interface: output_2,
+        }
+      - {
+          index: 0x7010,
+          sub_index: 0x03,
+          type: bool,
+          mask: 4,
+          command_interface: output_3,
+        }
+      - {
+          index: 0x7010,
+          sub_index: 0x04,
+          type: bool,
+          mask: 8,
+          command_interface: output_4,
+        }
+      - { index: 0x7010, sub_index: 0x05, type: bool, mask: 16 }
+      - { index: 0x7010, sub_index: 0x06, type: bool, mask: 32 }
+      - { index: 0x0000, sub_index: 0x00, type: bit10 }
+sm:
+  - { index: 0, type: output, watchdog: disable }
+  - { index: 1, type: input, watchdog: disable }
+  - { index: 2, type: output, pdo: rpdo, watchdog: disable }
+  - { index: 3, type: input, pdo: tpdo, watchdog: disable }