Add examples module (#18)

# Description ## Type of change Please delete options that are not relevant. - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) - Breaking change (fix or feature that would cause existing functionality to not work as expected) ## Checklist before requesting a review - [ ] I have performed a self-review of my code. - [ ] If it is a core feature, I have added thorough tests. - [ ] If this is a new component I have added examples. - [ ] I updated the README and related documentation.
olympus-robotics · Feb 2, 2024 · 01e8b1d · 01e8b1d
1 parent 7a18aae
commit 01e8b1d
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Showing 38 changed files with 187 additions and 224 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -10,7 +10,7 @@ on:
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  PRESET: preferred
+  PRESET: CI
 
 jobs:
   docker_build_and_publish:
@@ -77,7 +77,7 @@ jobs:
       run: cmake --build ${{github.workspace}}/build -- all examples
 
     - name: Test
-      working-directory: ${{github.workspace}}/build
+      # working-directory: ${{github.workspace}}/build
       # Execute tests defined by the CMake configuration.
       # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ninja checks
+      run: cd ${{github.workspace}}/build && ninja check
diff --git a/CMakePresets.json b/CMakePresets.json
@@ -9,7 +9,7 @@
    "installDir": "/install",
    "toolchainFile": "${sourceDir}/toolchains/toolchain_clang.cmake",
    "cacheVariables": {
-    "BUILD_MODULES": "all"
+    "BUILD_MODULES": "all;examples"
    }
   },
   {
@@ -20,7 +20,7 @@
     "installDir": "/install",
     "toolchainFile": "${sourceDir}/toolchains/toolchain_clang.cmake",
     "cacheVariables": {
-     "BUILD_MODULES": "all",
+     "BUILD_MODULES": "all;examples",
      "ENABLE_LINTER": "OFF",
      "CMAKE_BUILD_TYPE": "Release"
     }
@@ -33,7 +33,7 @@
     "installDir": "/install",
     "toolchainFile": "${sourceDir}/toolchains/toolchain_clang.cmake",
     "cacheVariables": {
-     "BUILD_MODULES": "all",
+     "BUILD_MODULES": "all;examples",
      "ENABLE_LINTER": "OFF",
      "CMAKE_BUILD_TYPE": "Release"
     }
@@ -46,7 +46,7 @@
     "installDir": "/install",
     "toolchainFile": "${sourceDir}/toolchains/toolchain_clang.cmake",
     "cacheVariables": {
-     "BUILD_MODULES": "all",
+     "BUILD_MODULES": "all;examples",
      "ENABLE_LINTER": "ON",
      "CMAKE_BUILD_TYPE": "Release",
      "CMAKE_PREFIX_PATH": "/install"

diff --git a/cmake/05_modules.cmake b/cmake/05_modules.cmake
@@ -144,7 +144,7 @@ endmacro()
 #  DEPENDS_ON_EXTERNAL_PROJECTS (list): List of tags to external projects that this module depends on
 #
 macro(declare_module)
-  set(flags ALWAYS_BUILD)
+  set(flags ALWAYS_BUILD EXCLUDE_FROM_ALL)
   set(single_opts NAME)
   set(multi_opts DEPENDS_ON_MODULES DEPENDS_ON_EXTERNAL_PROJECTS)
 
@@ -161,7 +161,7 @@ macro(declare_module)
 
   # Either have it always build, or allow user to choose at configuration-time
   if(("${MODULE_ARG_NAME}" IN_LIST BUILD_MODULES)
-     OR ("all" IN_LIST BUILD_MODULES)
+     OR (("all" IN_LIST BUILD_MODULES) AND NOT MODULE_ARG_EXCLUDE_FROM_ALL)
      OR MODULE_ARG_ALWAYS_BUILD)
     # Explicitly disable modules
     if((NOT MODULE_ARG_ALWAYS_BUILD)

diff --git a/modules/cli/include/eolo/cli/program_options.h b/modules/cli/include/eolo/cli/program_options.h
@@ -23,7 +23,7 @@ class ProgramOptions {
   /// @brief  Holds program options and their details
   struct Option {
     std::string key;
-    char short_key;
+    char short_key{};
     std::string description;
     std::string value_type;
     std::string value;

diff --git a/modules/examples/CMakeLists.txt b/modules/examples/CMakeLists.txt
@@ -0,0 +1,59 @@
+declare_module(
+    NAME examples
+    DEPENDS_ON_MODULES base ipc serdes
+    DEPENDS_ON_EXTERNAL_PROJECTS Eigen3 fmt Protobuf
+    EXCLUDE_FROM_ALL
+)
+
+find_package(Eigen3 REQUIRED)
+find_package(fmt REQUIRED)
+
+add_subdirectory(proto)
+
+# library sources
+set(TYPES_SOURCES
+        src/types/pose.cpp
+        README.md
+        include/eolo/examples/types/pose.h)
+
+# library target
+define_module_library(
+        NAME examples_types
+        PUBLIC_LINK_LIBS
+            Eigen3::Eigen
+            fmt::fmt
+        PRIVATE_LINK_LIBS ""
+        SOURCES ${TYPES_SOURCES}
+        PUBLIC_INCLUDE_PATHS
+            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:include>
+        PRIVATE_INCLUDE_PATHS ""
+        SYSTEM_PRIVATE_INCLUDE_PATHS "")
+
+# library sources
+set(TYPES_PROTOBUF_SOURCES
+        src/types_protobuf/geometry.cpp
+        src/types_protobuf/pose.cpp
+        include/eolo/examples/types_protobuf/geometry.h
+        include/eolo/examples/types_protobuf/pose.h)
+
+# library target
+define_module_library(
+        NAME examples_types_protobuf
+        PUBLIC_LINK_LIBS
+            eolo::base
+            eolo::serdes
+            eolo::examples_types
+            eolo::examples_types_proto
+            Eigen3::Eigen
+        PRIVATE_LINK_LIBS ""
+        SOURCES ${TYPES_PROTOBUF_SOURCES}
+        PUBLIC_INCLUDE_PATHS
+            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+            $<INSTALL_INTERFACE:include>
+        PRIVATE_INCLUDE_PATHS ""
+        SYSTEM_PRIVATE_INCLUDE_PATHS "")
+
+# Subprojects
+add_subdirectory(tests)
+add_subdirectory(examples)
diff --git a/modules/types/README.md → modules/examples/README.md b/modules/types/README.md → modules/examples/README.md
@@ -1,8 +1,8 @@
-# README: types
+# README: examples
 
 ## Brief
 
-types provides .. <one line description>
+examples provides .. <one line description>
 
 ## Detailed description
 

diff --git a/...es/types_protobuf/examples/CMakeLists.txt → modules/examples/examples/CMakeLists.txt b/...es/types_protobuf/examples/CMakeLists.txt → modules/examples/examples/CMakeLists.txt
@@ -3,8 +3,15 @@
 #=================================================================================================
 
 define_module_example(
-        NAME example
-        SOURCES example.cpp
+        NAME zenoh_pub
+        SOURCES zenoh_pub.cpp zenoh_program_options.h
         PUBLIC_INCLUDE_PATHS
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
-        PUBLIC_LINK_LIBS "")
+        PUBLIC_LINK_LIBS eolo::ipc)
+
+define_module_example(
+        NAME zenoh_sub
+        SOURCES zenoh_sub.cpp zenoh_program_options.h
+        PUBLIC_INCLUDE_PATHS
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
+        PUBLIC_LINK_LIBS eolo::ipc)
diff --git a/modules/ipc/examples/zenoh_program_options.h → ...examples/examples/zenoh_program_options.h b/modules/ipc/examples/zenoh_program_options.h → ...examples/examples/zenoh_program_options.h
diff --git a/modules/ipc/examples/zenoh_pub.cpp → modules/examples/examples/zenoh_pub.cpp b/modules/ipc/examples/zenoh_pub.cpp → modules/examples/examples/zenoh_pub.cpp
@@ -11,11 +11,11 @@
 #include <zenohc.hxx>
 
 #include "eolo/base/exception.h"
+#include "eolo/examples/types/pose.h"
+#include "eolo/examples/types_protobuf/pose.h"
 #include "eolo/ipc/publisher.h"
 #include "eolo/ipc/zenoh/publisher.h"
 #include "eolo/ipc/zenoh/session.h"
-#include "eolo/types/pose.h"
-#include "eolo/types_protobuf/pose.h"
 #include "zenoh_program_options.h"
 
 auto main(int argc, const char* argv[]) -> int {
@@ -38,7 +38,7 @@ auto main(int argc, const char* argv[]) -> int {
 
     static constexpr auto LOOP_WAIT = std::chrono::seconds(1);
     while (true) {
-      eolo::types::Pose pose;
+      eolo::examples::types::Pose pose;
       pose.position = Eigen::Vector3d{ 1, 2, 3 };
 
       fmt::println("Publishing Data ('{} : {})", config.topic, pose);

diff --git a/modules/ipc/examples/zenoh_sub.cpp → modules/examples/examples/zenoh_sub.cpp b/modules/ipc/examples/zenoh_sub.cpp → modules/examples/examples/zenoh_sub.cpp
@@ -12,11 +12,11 @@
 #include <zenoh.h>
 #include <zenohc.hxx>
 
+#include "eolo/examples/types/pose.h"
+#include "eolo/examples/types_protobuf/pose.h"
 #include "eolo/ipc/subscriber.h"
 #include "eolo/ipc/zenoh/session.h"
 #include "eolo/ipc/zenoh/subscriber.h"
-#include "eolo/types/pose.h"
-#include "eolo/types_protobuf/pose.h"
 #include "zenoh_program_options.h"
 
 auto main(int argc, const char* argv[]) -> int {
@@ -32,13 +32,13 @@ auto main(int argc, const char* argv[]) -> int {
     auto session = eolo::ipc::zenoh::createSession(config);
 
     auto cb = [topic = config.topic](const eolo::ipc::MessageMetadata& metadata,
-                                     const std::shared_ptr<eolo::types::Pose>& pose) {
+                                     const std::shared_ptr<eolo::examples::types::Pose>& pose) {
       fmt::println(">> Time: {}. Topic {}. From: {}. Counter: {}. Received {}",
                    std::chrono::system_clock::time_point{
                        std::chrono::duration_cast<std::chrono::system_clock::duration>(metadata.timestamp) },
                    topic, metadata.sender_id, metadata.sequence_id, *pose);
     };
-    auto subscriber = eolo::ipc::subscribe<eolo::ipc::zenoh::Subscriber, eolo::types::Pose>(
+    auto subscriber = eolo::ipc::subscribe<eolo::ipc::zenoh::Subscriber, eolo::examples::types::Pose>(
         session, std::move(config), std::move(cb));
     (void)subscriber;
 

diff --git a/modules/types/include/eolo/types/pose.h → ...amples/include/eolo/examples/types/pose.h b/modules/types/include/eolo/types/pose.h → ...amples/include/eolo/examples/types/pose.h
@@ -9,7 +9,7 @@
 
 #include <fmt/format.h>
 
-namespace eolo::types {
+namespace eolo::examples::types {
 
 struct Pose {
   Eigen::Quaterniond orientation = Eigen::Quaterniond::Identity();
@@ -24,20 +24,20 @@ struct Pose {
                      pose.orientation.z());
 }
 
-}  // namespace eolo::types
+}  // namespace eolo::examples::types
 
 template <>
-struct std::formatter<eolo::types::Pose> final : public std::formatter<std::string_view> {
+struct std::formatter<eolo::examples::types::Pose> final : public std::formatter<std::string_view> {
   template <typename FormatContext>
-  auto format(const eolo::types::Pose& pose, FormatContext& ctx) {
+  auto format(const eolo::examples::types::Pose& pose, FormatContext& ctx) {
     return std::format_to(ctx.out(), toString(pose));
   }
 };
 
 template <>
-struct fmt::formatter<eolo::types::Pose> : fmt::formatter<std::string_view> {
+struct fmt::formatter<eolo::examples::types::Pose> : fmt::formatter<std::string_view> {
   template <typename FormatContext>
-  auto format(const eolo::types::Pose& pose, FormatContext& ctx) {
+  auto format(const eolo::examples::types::Pose& pose, FormatContext& ctx) {
     return fmt::format_to(ctx.out(), "{}", toString(pose));
   }
 };
diff --git a/...uf/include/eolo/types_protobuf/geometry.h → ...e/eolo/examples/types_protobuf/geometry.h b/...uf/include/eolo/types_protobuf/geometry.h → ...e/eolo/examples/types_protobuf/geometry.h
@@ -7,9 +7,9 @@
 #include <Eigen/Dense>
 
 #include "eolo/base/exception.h"
-#include "eolo/types/proto/geometry.pb.h"
+#include "eolo/examples/types/proto/geometry.pb.h"
 
-namespace eolo::types {
+namespace eolo::examples::types {
 
 template <class TypeT, int ROWS, int COLS, class ProtoMatrixT>
 inline void toProto(ProtoMatrixT& proto_matrix, const Eigen::Matrix<TypeT, ROWS, COLS>& matrix) {
@@ -91,4 +91,4 @@ inline void fromProto(const proto::Quaterniond& proto_q, Eigen::Quaterniond& q)
   q.w() = proto_q.w();
 }
 
-}  // namespace eolo::types
+}  // namespace eolo::examples::types
diff --git a/...otobuf/include/eolo/types_protobuf/pose.h → ...clude/eolo/examples/types_protobuf/pose.h b/...otobuf/include/eolo/types_protobuf/pose.h → ...clude/eolo/examples/types_protobuf/pose.h
@@ -4,15 +4,15 @@
 
 #pragma once
 
+#include "eolo/examples/types/pose.h"
+#include "eolo/examples/types/proto/pose.pb.h"
 #include "eolo/serdes/protobuf/buffers.h"
-#include "eolo/types/pose.h"
-#include "eolo/types/proto/pose.pb.h"
 
-namespace eolo::types {
+namespace eolo::examples::types {
 void toProto(proto::Pose& proto_pose, const Pose& pose);
 void fromProto(const proto::Pose& proto_pose, Pose& pose);
 
 void toProtobuf(serdes::protobuf::SerializerBuffer& buffer, const Pose& pose);
 void fromProtobuf(serdes::protobuf::DeserializerBuffer& buffer, Pose& pose);
 
-}  // namespace eolo::types
+}  // namespace eolo::examples::types
diff --git a/modules/types_protobuf/proto/CMakeLists.txt → modules/examples/proto/CMakeLists.txt b/modules/types_protobuf/proto/CMakeLists.txt → modules/examples/proto/CMakeLists.txt
@@ -3,8 +3,8 @@
 #=================================================================================================
 
 set(SOURCES
-    eolo/types/proto/geometry.proto
-    eolo/types/proto/pose.proto
+    eolo/examples/types/proto/geometry.proto
+    eolo/examples/types/proto/pose.proto
 )
 
-define_module_proto_library(NAME types_proto SOURCES ${SOURCES})
+define_module_proto_library(NAME examples_types_proto SOURCES ${SOURCES})
diff --git a/modules/types_protobuf/proto/buf.yaml → modules/examples/proto/buf.yaml b/modules/types_protobuf/proto/buf.yaml → modules/examples/proto/buf.yaml
diff --git a/...buf/proto/eolo/types/proto/geometry.proto → .../eolo/examples/types/proto/geometry.proto b/...buf/proto/eolo/types/proto/geometry.proto → .../eolo/examples/types/proto/geometry.proto
@@ -1,6 +1,6 @@
 syntax = "proto3";
 
-package eolo.types.proto;
+package eolo.examples.types.proto;
 
 message Vector3d {
   double x = 1;

diff --git a/...rotobuf/proto/eolo/types/proto/pose.proto → ...roto/eolo/examples/types/proto/pose.proto b/...rotobuf/proto/eolo/types/proto/pose.proto → ...roto/eolo/examples/types/proto/pose.proto
@@ -1,8 +1,8 @@
 syntax = "proto3";
 
-package eolo.types.proto;
+package eolo.examples.types.proto;
 
-import "eolo/types/proto/geometry.proto";
+import "eolo/examples/types/proto/geometry.proto";
 
 message Pose {
     Vector3d position = 1;

diff --git a/modules/types/src/pose.cpp → modules/examples/src/types/pose.cpp b/modules/types/src/pose.cpp → modules/examples/src/types/pose.cpp
@@ -2,4 +2,4 @@
 // Copyright (C) 2023-2024 EOLO Contributors
 //=================================================================================================
 
-#include "eolo/types/pose.h"
+#include "eolo/examples/types/pose.h"
diff --git a/modules/types_protobuf/src/geometry.cpp → .../examples/src/types_protobuf/geometry.cpp b/modules/types_protobuf/src/geometry.cpp → .../examples/src/types_protobuf/geometry.cpp
@@ -2,4 +2,4 @@
 // Copyright (C) 2023-2024 EOLO Contributors
 //=================================================================================================
 
-#include "eolo/types_protobuf/geometry.h"
+#include "eolo/examples/types_protobuf/geometry.h"
diff --git a/modules/types_protobuf/src/pose.cpp → modules/examples/src/types_protobuf/pose.cpp b/modules/types_protobuf/src/pose.cpp → modules/examples/src/types_protobuf/pose.cpp
@@ -2,12 +2,12 @@
 // Copyright (C) 2023-2024 EOLO Contributors
 //=================================================================================================
 
-#include "eolo/types_protobuf/pose.h"
+#include "eolo/examples/types_protobuf/pose.h"
 
+#include "eolo/examples/types_protobuf/geometry.h"
 #include "eolo/serdes/protobuf/protobuf.h"
-#include "eolo/types_protobuf/geometry.h"
 
-namespace eolo::types {
+namespace eolo::examples::types {
 void toProto(proto::Pose& proto_pose, const Pose& pose) {
   toProto(*proto_pose.mutable_position(), pose.position);
   toProto(*proto_pose.mutable_orientation(), pose.orientation);
@@ -25,4 +25,4 @@ void toProtobuf(serdes::protobuf::SerializerBuffer& buffer, const Pose& pose) {
 void fromProtobuf(serdes::protobuf::DeserializerBuffer& buffer, Pose& pose) {
   serdes::protobuf::fromProtobuf<proto::Pose>(buffer, pose);
 }
-}  // namespace eolo::types
+}  // namespace eolo::examples::types
diff --git a/modules/types_protobuf/tests/CMakeLists.txt → modules/examples/tests/CMakeLists.txt b/modules/types_protobuf/tests/CMakeLists.txt → modules/examples/tests/CMakeLists.txt
@@ -3,8 +3,8 @@
 #=================================================================================================
 
 define_module_test(
-        NAME tests
-        SOURCES tests.cpp
+        NAME types_protobuf_tests
+        SOURCES types_protobuf_tests.cpp
         PUBLIC_INCLUDE_PATHS
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
         PUBLIC_LINK_LIBS "")