.dockerignore

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

.forgejo/workflows/package.yaml

@@ -1,76 +0,0 @@
----
-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

@@ -1,34 +0,0 @@
----
-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

@@ -0,0 +1,38 @@
+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

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

CMakeLists.txt

@@ -1,17 +1,3 @@
-#########
-# 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)
@@ -19,14 +5,12 @@ include(Versioning)
 #    target_link_libraries(... ${libcreate_LIBRARIES})
 #
 
-project(
+cmake_minimum_required(VERSION 2.8.12)
-  libcreate 
+project(libcreate)
-  VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH}
-)
 
-add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+add_compile_options(-Wall -Wextra -Wpedantic)
 
-set(PACKAGE_VERSION ${TAG_VERSION_MAJOR}.${TAG_VERSION_MINOR}.${TAG_VERSION_PATCH})
+set(PACKAGE_VERSION 3.0.0)
 
 option(LIBCREATE_BUILD_TESTS "Enable the build of tests." ON)
 
@@ -100,8 +84,6 @@ endforeach()
 # Configuration #
 #################
 
-# set(CMAKE_INSTALL_PREFIX "/usr/") // complib needs  this, riplib doesn't
-
 # Install directories layout:
 #   * <prefix>/lib/
 #   * <prefix>/bin/
@@ -219,9 +201,3 @@ 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 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.
+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.
 
-* [Code API](http://docs.ros.org/noetic/api/libcreate/html/index.html)
+* [Code API](http://docs.ros.org/kinetic/api/libcreate/html/index.html)
 * Protocol documentation:
-  - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k/view?usp=sharing&resourcekey=0-KxMpRPBMsGAj7eSYC_9ewA) (Roomba 400 series )
+  - [`V_1`](https://drive.google.com/file/d/0B9O4b91VYXMdUHlqNklDU09NU0k) (Roomba 400 series )
-  - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U/view?usp=sharing&resourcekey=0-bqKH8xhtWdYtTik_LLWo9Q) (Create 1, Roomba 500 series)
+  - [`V_2`](https://drive.google.com/file/d/0B9O4b91VYXMdMmFPMVNDUEZ6d0U) (Create 1, Roomba 500 series)
-  - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c/view?usp=sharing&resourcekey=0-rKvug2IzC7nj4zV31EJtww) (Create 2, Roomba 600-800 series)
+  - [`V_3`](https://drive.google.com/file/d/0B9O4b91VYXMdSVk4amw1N09mQ3c) (Create 2, Roomba 600-800 series)
-* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](https://autonomy.cs.sfu.ca), [Simon Fraser University](http://www.sfu.ca))
+* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [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

@@ -1,41 +0,0 @@
-# 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

@@ -1,31 +0,0 @@
-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

@@ -135,11 +135,6 @@ namespace create {
        */
       ~Create();
 
-      /**
-       * \brief Resets the create as if the battery was removed and reinserted.
-       */
-      void reset();
-
       /**
        * \brief Make a serial connection to Create.
        *
@@ -411,26 +406,6 @@ 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

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

src/create.cpp

@@ -67,15 +67,6 @@ 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();
@@ -165,23 +156,17 @@ 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;
@@ -753,46 +738,6 @@ 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

@@ -16,10 +16,6 @@ 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 + 17 = 34
+  // 17 + 13 = 30
-  EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 34);
+  EXPECT_EQ(static_cast<int>(data_v_3.getNumPackets()), 30);
 
   create::Data data_v_all(create::V_ALL);
-  EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 37);
+  EXPECT_EQ(static_cast<int>(data_v_all.getNumPackets()), 33);
 }
 
 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()), 34);
+  ASSERT_EQ(static_cast<int>(packet_ids.size()), 30);
 
   // 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 29 bytes
+  // V_3 has an additional 21 bytes
   create::Data data_v_3(create::V_3);
-  EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 50);
+  EXPECT_EQ(static_cast<int>(data_v_3.getTotalDataBytes()), 42);
 }
 
 TEST(DataTest, IsValidPacketID)