Update Autonomy Lab link

(cherry picked from commit 116be443e7970de1574b5dc5f91e414828854c08)

.dockerignore

@@ -0,0 +1,2 @@
+.github
+ci/Dockerfile

.forgejo/workflows/package.yaml

@@ -0,0 +1,76 @@
+---
+name: Package
+
+on:
+  push:
+    tags:
+      - "*"
+
+jobs:
+  package:
+    strategy:
+      matrix:
+        platform:
+          - dpkg: arm64
+            runs-on: debian-12-arm64
+
+    runs-on: debian-12-arm64
+
+    steps:
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
+        with:
+          fetch-depth: 0
+
+      - name: Install dependencies
+        run: |
+          apt update
+          apt install -y \
+            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
+
+      - uses: actions/checkout@v4
+
+      - name: configure
+        run: cmake -B build -DCMAKE_BUILD_TYPE=Release -DCPACK_DEBIAN_PACKAGE_RELEASE=compair1
+
+      - name: build
+        run: cmake --build build --config Release -j2
+
+      - name: test
+        working-directory: build
+        run: ctest -C Release
+
+      - name: build deb
+        working-directory: build
+        run: cpack --build . -G DEB
+
+      - name: get tag
+        run: |
+          echo "TAG=$(git describe --abbrev=0 --tags)-compair1" >>$GITHUB_ENV
+
+      # https://forgejo.org/docs/latest/user/packages/debian/#publish-a-package
+      - name: push deb to apt repository
+        env:
+          REPO: ${{ github.repository }}
+        run: |
+          url="${GITHUB_SERVER_URL}/api/packages/${{ github.repository_owner }}/debian/pool/bookworm/compair/upload"
+          urlBotball="${GITHUB_SERVER_URL}/api/packages/Botball/debian/pool/bookworm/wombatos/upload"
+
+          echo "api url: $url"
+          debfile="_packages/libcreate_${TAG}_${{ matrix.platform.dpkg }}.deb"
+
+          echo "uploading file: $debfile"
+          curl --fail-with-body \
+            -X PUT \
+            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
+            --upload-file "$debfile" \
+            "$url"
+
+          echo "uploading file for WombatOs: $debfile"
+          curl --fail-with-body \
+            -X PUT \
+            --user "oauth2:${{ secrets.PACKAGE_REGISTRY_TOKEN }}" \
+            --upload-file "$debfile" \
+            "$urlBotball"
+
+          echo "final url: ${GITHUB_SERVER_URL}/${{ github.repository_owner }}/-/packages/debian/libcreate/${TAG}"
+          echo "final url for Botball: ${GITHUB_SERVER_URL}/Botball/-/packages/debian/libcreate/${TAG}"

.forgejo/workflows/test.yaml

@@ -0,0 +1,34 @@
+---
+name: Build and test
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  test:
+    runs-on: debian-12
+
+    steps:
+      - name: Install dependencies
+        run: |
+          apt update
+          apt install -y \
+            build-essential cmake git libboost-system-dev libboost-thread-dev file libgtest-dev googletest
+
+      - uses: actions/checkout@v4
+
+      - name: Configure CMake
+        run: cmake -B ${{ github.workspace }}/build -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}
+
+      - name: Build
+        run: cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }}
+
+      - name: Test
+        working-directory: ${{ github.workspace }}/build
+        run: ctest -C ${{ env.BUILD_TYPE }}

.github/workflows/ci.yaml

@@ -1,38 +0,0 @@
-name: Build and test
-
-on:
-  push:
-    branches: ['master']
-  pull_request:
-
-env:
-  BUILD_TYPE: Release
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-18.04, ubuntu-20.04]
-
-    steps:
-    - name: Install dependencies
-      run: |
-        sudo apt install build-essential cmake git libboost-system-dev libboost-thread-dev
-        git clone https://github.com/google/googletest.git
-        cd googletest
-        cmake CMakeLists.txt
-        make
-        sudo make install
-
-    - uses: actions/checkout@v2
-
-    - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_CXX_FLAGS="-Werror"
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      run: ctest -C ${{env.BUILD_TYPE}}

.gitignore

@@ -0,0 +1,3 @@
+# CMake/CPack
+build/
+_packages/

CMakeLists.txt

@@ -1,3 +1,17 @@
+#########
+# Setup #
+#########
+
+cmake_minimum_required(VERSION 3.25)
+
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+include(Versioning)
+
+########
+# Main #
+########
+
 # After installation this project can be found by 'find_package' command:
 #
 #    find_package(libcreate REQUIRED)
@@ -5,12 +19,14 @@
 #    target_link_libraries(... ${libcreate_LIBRARIES})
 #
 
-cmake_minimum_required(VERSION 2.8.12)
+project(
-project(libcreate)
+  libcreate 
+  VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH}
+)
 
-add_compile_options(-Wall -Wextra -Wpedantic)
+add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 
-set(PACKAGE_VERSION 3.0.0)
+set(PACKAGE_VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH})
 
 option(LIBCREATE_BUILD_TESTS "Enable the build of tests." ON)
 
@@ -84,6 +100,8 @@ endforeach()
 # Configuration #
 #################
 
+# set(CMAKE_INSTALL_PREFIX "/usr/") // complib needs  this, riplib doesn't
+
 # Install directories layout:
 #   * <prefix>/lib/
 #   * <prefix>/bin/
@@ -201,3 +219,9 @@ if(LIBCREATE_BUILD_TESTS AND ${GTEST_FOUND})
 else()
   message("No GTest installation found. Skipping tests.")
 endif()
+
+#############
+# Packaging #
+#############
+
+include(Packing)

README.md

@@ -1,13 +1,13 @@
 # libcreate #
 
-C++ library for interfacing with iRobot's [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx) as well as most models of Roomba. [create_autonomy](http://wiki.ros.org/create_autonomy) is a [ROS](http://www.ros.org/) wrapper for this library.
+C++ library for interfacing with iRobot's Create 1 and 2 as well as most models of Roomba. [create_robot](http://wiki.ros.org/create_robot) is a [ROS](http://www.ros.org/) wrapper for this library.
 
-* [Code API](http://docs.ros.org/kinetic/api/libcreate/html/index.html)
+* [Code API](http://docs.ros.org/noetic/api/libcreate/html/index.html)
 * Protocol documentation:
-  - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k) (Roomba 400 series )
+  - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k/view?usp=sharing&resourcekey=0-KxMpRPBMsGAj7eSYC_9ewA) (Roomba 400 series )
-  - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U) (Create 1, Roomba 500 series)
+  - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U/view?usp=sharing&resourcekey=0-bqKH8xhtWdYtTik_LLWo9Q) (Create 1, Roomba 500 series)
-  - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c) (Create 2, Roomba 600-800 series)
+  - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c/view?usp=sharing&resourcekey=0-rKvug2IzC7nj4zV31EJtww) (Create 2, Roomba 600-800 series)
-* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
+* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](https://autonomy.cs.sfu.ca), [Simon Fraser University](http://www.sfu.ca))
 * Contributors: [Mani Monajjemi](http:mani.im), [Ben Wolsieffer](https://github.com/lopsided98), [Josh Gadeken](https://github.com/process1183)
 
 ## Build Status ##

cmake/Packing.cmake

@@ -0,0 +1,41 @@
+# these are cache variables, so they could be overwritten with -D,
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}
+    CACHE STRING "The resulting package name"
+)
+# which is useful in case of packing only selected components instead of the whole thing
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "C++ library for interfacing with iRobot's Create 1 and 2"
+    CACHE STRING "Package description for the package metadata"
+)
+set(CPACK_PACKAGE_VENDOR "Verein zur Förderung von Jugendlichen durch Robotikwettbewerbe")
+
+set(CPACK_VERBATIM_VARIABLES YES)
+
+set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CPACK_PACKAGE_NAME})
+SET(CPACK_OUTPUT_FILE_PREFIX "${CMAKE_SOURCE_DIR}/_packages")
+
+set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+
+set(CPACK_PACKAGE_CONTACT "kontakt@comp-air.at")
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "comp-air dev team")
+
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+
+# Discover and set dependencies correcly
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS YES)
+
+# The installation path directory should have 0755 permissions
+set(
+    CPACK_INSTALL_DEFAULT_DIRECTORY_PERMISSIONS
+    OWNER_READ OWNER_WRITE OWNER_EXECUTE
+    GROUP_READ GROUP_EXECUTE
+    WORLD_READ WORLD_EXECUTE
+)
+
+# package name for deb. If set, then instead of some-application-0.9.2-Linux.deb
+# you'll get some-application_0.9.2_amd64.deb (note the underscores too)
+set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+
+include(CPack)

cmake/Versioning.cmake

@@ -0,0 +1,31 @@
+find_package(Git)
+
+if(GIT_EXECUTABLE)
+    execute_process(
+        COMMAND ${GIT_EXECUTABLE} describe --tags
+        OUTPUT_VARIABLE TAG_VERSION
+        RESULT_VARIABLE ERROR_CODE
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if(DEFINED ENV{GITHUB_REF} AND ENV{GITHUB_REF_TYPE} EQUAL "tag")
+        set(TAG_VERSION $ENV{GITHUB_REF})
+        message(STATUS "Extracted version from GITHUB_REF")
+    endif()
+
+    if(TAG_VERSION STREQUAL "")
+        set(TAG_VERSION 0.0.0)
+        message(WARNING "Failed to determine version from Git tags. Using default version \"${TAG_VERSION}\".")
+    endif()
+
+    message(STATUS "Project version: ${TAG_VERSION}")
+
+    # Split into major, minor, patch
+    string(
+        REGEX MATCH "([0-9]+)\\.([0-9]+)\\.([0-9]+)"
+        TAG_VERSION_MATCH ${TAG_VERSION}
+    )
+    set(TAG_VERSION_MAJOR ${CMAKE_MATCH_1})
+    set(TAG_VERSION_MINOR ${CMAKE_MATCH_2})
+    set(TAG_VERSION_PATCH ${CMAKE_MATCH_3})
+endif()

include/create/create.h

@@ -135,6 +135,11 @@ namespace create {
        */
       ~Create();
 
+      /**
+       * \brief Resets the create as if the battery was removed and reinserted.
+       */
+      void reset();
+
       /**
        * \brief Make a serial connection to Create.
        *
@@ -406,6 +411,26 @@ namespace create {
        */
       bool isCliffFrontRight() const;
 
+      /**
+       * \return the IR value of the left cliff sensor.
+       */
+      uint16_t getCliffSignalLeft() const;
+
+      /**
+       * \return the IR value of the front left cliff sensor.
+       */
+      uint16_t getCliffSignalFrontLeft() const;
+
+      /**
+       * \return the IR value of the right cliff sensor.
+       */
+      uint16_t getCliffSignalRight() const;
+
+      /**
+       * \return the IR value of the front right cliff sensor.
+       */
+      uint16_t getCliffSignalFrontRight() const;
+
       /**
        * \return true if there is a virtual wall signal is being received.
        */

include/create/packet.h

@@ -32,6 +32,7 @@ POSSIBILITY OF SUCH DAMAGE.
 #define CREATE_PACKET_H
 
 #include <mutex>
+#include <string>
 
 namespace create {
   class Packet {

src/create.cpp

@@ -67,6 +67,15 @@ namespace create {
     disconnect();
   }
 
+  void Create::reset() {
+    if (!connected()) {
+      CERR("[create::Serial] ", "send failed, not connected.");
+      return;
+    }
+    serial->sendOpcode(OC_START);
+    serial->sendOpcode(OC_RESET);
+  }
+
   Create::Matrix Create::addMatrices(const Matrix &A, const Matrix &B) const {
     size_t rows = A.size1();
     size_t cols = A.size2();
@@ -156,17 +165,23 @@ namespace create {
       // Compute ticks since last update
       int ticksLeft = totalTicksLeft - prevTicksLeft;
       int ticksRight = totalTicksRight - prevTicksRight;
+
+    // Handle wrap around
+    if (ticksLeft > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksLeft -= util::V_3_MAX_ENCODER_TICKS;
+    } else if (ticksLeft < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksLeft += util::V_3_MAX_ENCODER_TICKS;
+    }
+
+    if (ticksRight > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksRight -= util::V_3_MAX_ENCODER_TICKS;
+    } else if (ticksRight < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksRight += util::V_3_MAX_ENCODER_TICKS;
+    }
+
       prevTicksLeft = totalTicksLeft;
       prevTicksRight = totalTicksRight;
 
-      // Handle wrap around
-      if (std::abs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
-        ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;
-      }
-      if (std::abs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
-        ticksRight = (ticksRight % util::V_3_MAX_ENCODER_TICKS) + 1;
-      }
-
       // Compute distance travelled by each wheel
       leftWheelDist = (ticksLeft / util::V_3_TICKS_PER_REV)
           * model.getWheelDiameter() * util::PI;
@@ -738,6 +753,46 @@ namespace create {
     }
   }
 
+  uint16_t Create::getCliffSignalLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_LEFT)) {
+      return GET_DATA(ID_CLIFF_LEFT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Left cliff sensor signals not supported!");
+      return false;
+      }
+  }
+
+  uint16_t Create::getCliffSignalFrontLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_LEFT)) {
+      return GET_DATA(ID_CLIFF_FRONT_LEFT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Front left cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
+  uint16_t Create::getCliffSignalRight() const {
+    if (data->isValidPacketID(ID_CLIFF_RIGHT)) {
+      return GET_DATA(ID_CLIFF_RIGHT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Rightt cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
+  uint16_t Create::getCliffSignalFrontRight() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_RIGHT)) {
+      return GET_DATA(ID_CLIFF_FRONT_RIGHT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Front right cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
   bool Create::isVirtualWall() const {
     if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
       return GET_DATA(ID_VIRTUAL_WALL);

src/data.cpp

@@ -16,6 +16,10 @@ namespace create {
     ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left", V_ALL);
     ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right", V_ALL);
     ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right", V_ALL);
+    ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal", V_3);
+    ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal", V_3);
+    ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal", V_3);
+    ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal", V_3);
     ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall", V_ALL);
     ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_ALL);
     ADD_PACKET(ID_DIRT_DETECT_LEFT, 1, "dirt_detect_left", V_ALL);

tests/test_data.cpp

@@ -65,11 +65,11 @@ TEST(DataTest, GetNumPackets)
 
   create::Data data_v_3(create::V_3);
   // Number exclusive to V_3 = 13
-  // 17 + 13 = 30
+  // 17 + 17 = 34
-  EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 30);
+  EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 34);
 
   create::Data data_v_all(create::V_ALL);
-  EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 33);
+  EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 37);
 }
 
 TEST(DataTest, GetPacket)
@@ -108,7 +108,7 @@ TEST(DataTest, GetPacketIDs)
   create::Data data_v_3(create::V_3);
   const std::vector<uint8_t> packet_ids = data_v_3.getPacketIDs();
   // Vector should have same length as reported by getNumPackets()
-  ASSERT_EQ(static_cast<int>(packet_ids.size()), 30);
+  ASSERT_EQ(static_cast<int>(packet_ids.size()), 34);
 
   // Vector should contain ID_LEFT_ENC
   bool found = false;
@@ -133,9 +133,9 @@ TEST(DataTest, GetTotalDataBytes)
   create::Data data_v_2(create::V_2);
   EXPECT_EQ(static_cast<int>(data_v_2.getTotalDataBytes()), 26);
 
-  // V_3 has an additional 21 bytes
+  // V_3 has an additional 29 bytes
   create::Data data_v_3(create::V_3);
-  EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 42);
+  EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 50);
 }
 
 TEST(DataTest, IsValidPacketID)