Version 3.0.0

.gitignore

@@ -0,0 +1 @@
+build

CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(HokuyoAIST)
+string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
+include(${PROJECT_SOURCE_DIR}/cmake/hokuyoaist_utils.cmake)
+set(PROJECT_VERSION 3.0.0 CACHE STRING "HokuyoAIST version")
+DISSECT_VERSION()
+set(PROJECT_DESCRIPTION "Hokuyo range sensor driver.")
+set(PROJECT_VENDOR "Geoffrey Biggs, AIST")
+
+# Add an "uninstall" target
+configure_file("${PROJECT_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
+    "${PROJECT_BINARY_DIR}/uninstall_target.cmake" IMMEDIATE @ONLY)
+add_custom_target(uninstall "${CMAKE_COMMAND}" -P
+    "${PROJECT_BINARY_DIR}/uninstall_target.cmake")
+
+option(BUILD_EXAMPLES "Build and install examples" ON)
+option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
+option(BUILD_DOCUMENTATION "Build the documentation" ON)
+
+option(HOKUYOAIST_STATIC_LIBS "Build static libraries" OFF)
+if(HOKUYOAIST_STATIC_LIBS)
+    set(LIB_TYPE STATIC)
+else(HOKUYOAIST_STATIC_LIBS)
+    set(LIB_TYPE SHARED)
+endif(HOKUYOAIST_STATIC_LIBS)
+
+# Set up installation directories
+set(BIN_INSTALL_DIR "bin")
+set(LIB_INSTALL_DIR "lib")
+set(INC_INSTALL_DIR
+    "include/${PROJECT_NAME_LOWER}-${PROJECT_VERSION_MAJOR}")
+set(SHARE_INSTALL_DIR
+    "share/${PROJECT_NAME_LOWER}-${PROJECT_VERSION_MAJOR}")
+
+# Dependencies
+find_package(Flexiport)
+# May need to link to the rt library
+include(CheckFunctionExists)
+set(CMAKE_REQUIRED_INCLUDES time.h)
+set(CMAKE_REQUIRED_LIBRARIES rt)
+CHECK_FUNCTION_EXISTS(clock_gettime HAVE_CLOCK_GETTIME)
+set(CMAKE_REQUIRED_INCLUDES)
+set(CMAKE_REQUIRED_LIBRARIES)
+
+# Subdirectories
+add_subdirectory(cmake)
+if(BUILD_DOCUMENTATION)
+    add_subdirectory(doc)
+endif(BUILD_DOCUMENTATION)
+if(BUILD_EXAMPLES)
+    add_subdirectory(examples)
+endif(BUILD_EXAMPLES)
+add_subdirectory(include)
+add_subdirectory(src)
+if(BUILD_PYTHON_BINDINGS)
+    add_subdirectory(python)
+endif(BUILD_PYTHON_BINDINGS)
+
+# Package creation
+include(InstallRequiredSystemLibraries)
+set(PROJECT_EXECUTABLES ${EXAMPLE_EXECUTABLES})
+set(cpack_options "${PROJECT_BINARY_DIR}/cpack_options.cmake")
+configure_file("${PROJECT_SOURCE_DIR}/cmake/cpack_options.cmake.in"
+    ${cpack_options} @ONLY)
+set(CPACK_PROJECT_CONFIG_FILE ${cpack_options})
+include(CPack)
+

COPYING.LESSER

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
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+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.txt

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+HokuyoAIST
+==========
+
+Hokuyo range sensor driver.
+
+This library provides a driver for Hokuyo laser scanner devices using
+the SCIP protocol version 1 or 2. It has been tested with the Hokuyo
+URG-04LX, UBG-04LX, UHG-08LX, UTM-30LX and UXM-30LX-E but it should work
+with any scanner that conforms to these protocol versions, including the
+URG-04LX-F01 and the URG-04LX-UG01 (Simple-URG).
+
+This software is developed at the National Institute of Advanced
+Industrial Science and Technology. Approval number H22PRO-1195. This
+software is licensed under the Lesser General Public License. See
+COPYING.LESSER.
+

cmake/CMakeLists.txt

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+set(PKG_DEPS flexiport)
+set(PKG_LIBS -l${PROJECT_NAME_LOWER} -lrt)
+set(pkg_conf_file ${CMAKE_CURRENT_BINARY_DIR}/hokuyoaist.pc)
+configure_file(hokuyoaist.pc.in ${pkg_conf_file} @ONLY)
+install(FILES ${pkg_conf_file}
+    DESTINATION ${LIB_INSTALL_DIR}/pkgconfig/ COMPONENT library)
+
+# Install CMake modules
+set(cmake_config ${CMAKE_CURRENT_BINARY_DIR}/hokuyoaist-config.cmake)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/hokuyoaist-config.cmake.in
+    ${cmake_config} @ONLY)
+set(cmake_version_config ${CMAKE_CURRENT_BINARY_DIR}/hokuyoaist-config-version.cmake)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/hokuyoaist-config-version.cmake.in
+    ${cmake_version_config} @ONLY)
+set(cmake_mods ${cmake_config} ${cmake_version_config})
+install(FILES ${cmake_mods} DESTINATION ${SHARE_INSTALL_DIR} COMPONENT library)
+

cmake/cpack_options.cmake.in

@@ -0,0 +1,53 @@
+set(CPACK_PACKAGE_NAME "@PROJECT_NAME@")
+set(CPACK_PACKAGE_VERSION_MAJOR "@PROJECT_VERSION_MAJOR@")
+set(CPACK_PACKAGE_VERSION_MINOR "@PROJECT_VERSION_MINOR@")
+set(CPACK_PACKAGE_VERSION_PATCH "@PROJECT_VERSION_REVISION@")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "@PROJECT_DESCRIPTION@")
+set(CPACK_PACKAGE_VENDOR "@PROJECT_VENDOR@")
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "@PROJECT_NAME@")
+set(CPACK_PACKAGE_FILE_NAME "@PROJECT_NAME@-@PROJECT_VERSION@")
+set(CPACK_RESOURCE_FILE_LICENSE "@PROJECT_SOURCE_DIR@/COPYING.LESSER")
+
+set(CPACK_COMPONENTS_ALL library)
+set(CPACK_COMPONENT_LIBRARY_DISPLAY_NAME "HokuyoAIST library")
+set(CPACK_COMPONENT_LIBRARY_DESCRIPTION
+    "The HokuyoAIST library, for use with other applications.")
+set(INSTALL_EXAMPLES @BUILD_EXAMPLES@)
+if(INSTALL_EXAMPLES)
+    set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} examples)
+    set(CPACK_COMPONENT_EXAMPLES_DISPLAY_NAME "Examples")
+    set(CPACK_COMPONENT_EXAMPLES_DESCRIPTION
+        "Example source files and utilities.")
+    set(CPACK_COMPONENT_EXAMPLES_DEPENDS library)
+endif(INSTALL_EXAMPLES)
+set(INSTALL_DOCUMENTATION @BUILD_DOCUMENTATION@)
+if(INSTALL_DOCUMENTATION)
+    set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} documentation)
+    set(CPACK_COMPONENT_DOCUMENTATION_DISPLAY_NAME "Documentation")
+    set(CPACK_COMPONENT_DOCUMENTATION_DESCRIPTION
+        "API documentation")
+    set(CPACK_COMPONENT_DOCUMENTATION_DEPENDS library)
+endif(INSTALL_DOCUMENTATION)
+
+IF (WIN32)
+    set(CPACK_NSIS_HELP_LINK "https://github.com/gbiggs/hokuyoaist")
+    set(CPACK_NSIS_URL_INFO_ABOUT "https://github.com/gbiggs/hokuyoaist")
+    set(CPACK_NSIS_MODIFY_PATH ON)
+    set(CPACK_PACKAGE_EXECUTABLES @PROJECT_EXECUTABLES@)
+    if(INSTALL_DOCUMENTATION)
+        set(CPACK_NSIS_MENU_LINKS
+            "@CMAKE_INSTALL_PREFIX@/share/doc/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@/html/index.html"
+            "API documentation")
+    endif(INSTALL_DOCUMENTATION)
+    string(REPLACE "/@PROJECT_NAME@" "" install_prefix_root
+        "@CMAKE_INSTALL_PREFIX@")
+    file(TO_NATIVE_PATH "${install_prefix_root}" install_prefix_root)
+    set(CPACK_NSIS_INSTALL_ROOT "${install_prefix_root}")
+    set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS
+        "  Rename \"$INSTDIR\\share\\@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@\\@[email protected]\" \"$INSTDIR\\@[email protected]\"
+  Rename \"$INSTDIR\\share\\@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@\\@[email protected]\" \"$INSTDIR\\@[email protected]\"")
+    set(CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS
+        "  Delete \"$INSTDIR\\@[email protected]\"
+  Delete \"$INSTDIR\\@[email protected]\"")
+ENDIF (WIN32)
+

cmake/hokuyoaist-config-version.cmake.in

@@ -0,0 +1,12 @@
+# Check the HokuyoAIST version provided.
+
+set(PACKAGE_VERSION @PROJECT_VERSION@)
+if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+    set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+    set(PACKAGE_VERSION_COMPATIBLE TRUE)
+    if(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION)
+        set(PACKAGE_VERSION_EXACT TRUE)
+    endif(PACKAGE_VERSION VERSION_EQUAL PACKAGE_FIND_VERSION)
+endif(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
+

cmake/hokuyoaist-config.cmake.in

@@ -0,0 +1,42 @@
+# HokuyoAIST CMake config file
+#
+# This file sets the following variables:
+# HokuyoAIST_FOUND - Always TRUE.
+# HokuyoAIST_INCLUDE_DIRS - Directories containing the HokuyoAIST include files.
+# HokuyoAIST_LIBRARIES - Libraries needed to use HokuyoAIST.
+# HokuyoAIST_DEFINITIONS - Compiler flags for HokuyoAIST.
+# HokuyoAIST_VERSION - The version of HokuyoAIST found.
+# HokuyoAIST_VERSION_MAJOR - The major version of HokuyoAIST found.
+# HokuyoAIST_VERSION_MINOR - The minor version of HokuyoAIST found.
+# HokuyoAIST_VERSION_REVISION - The revision version of HokuyoAIST found.
+# HokuyoAIST_VERSION_CANDIDATE - The candidate version of HokuyoAIST found.
+
+message(STATUS "Found HokuyoAIST-@PROJECT_VERSION@")
+set(HokuyoAIST_FOUND TRUE)
+
+find_package(Flexiport REQUIRED)
+
+set(HokuyoAIST_INCLUDE_DIRS
+    "@CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@"
+    ${Flexiport_INCLUDE_DIRS})
+
+if(WIN32)
+    set(HokuyoAIST_LIBRARIES
+        "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@/@CMAKE_SHARED_LIBRARY_PREFIX@@PROJECT_NAME_LOWER@@CMAKE_STATIC_LIBRARY_SUFFIX@"
+        ${Flexiport_LIBRARIES}
+        )
+else(WIN32)
+    set(HokuyoAIST_LIBRARIES
+        "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@/@CMAKE_SHARED_LIBRARY_PREFIX@@PROJECT_NAME_LOWER@@CMAKE_SHARED_LIBRARY_SUFFIX@"
+        ${Flexiport_LIBRARIES}
+        )
+endif(WIN32)
+
+set(HokuyoAIST_DEFINITIONS ${Flexiport_DEFINITIONS})
+
+set(HokuyoAIST_VERSION @PROJECT_VERSION@)
+set(HokuyoAIST_VERSION_MAJOR @PROJECT_VERSION_MAJOR@)
+set(HokuyoAIST_VERSION_MINOR @PROJECT_VERSION_MINOR@)
+set(HokuyoAIST_VERSION_REVISION @PROJECT_VERSION_REVISION@)
+set(HokuyoAIST_VERSION_CANDIDATE @PROJECT_VERSION_CANDIDATE@)
+

cmake/hokuyoaist.pc.in

@@ -0,0 +1,13 @@
+# This file was generated by CMake for @PROJECT_NAME@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${prefix}/@LIB_INSTALL_DIR@
+includedir=${prefix}/include
+
+Name: @PROJECT_NAME@
+Description: @PROJECT_DESCRIPTION@
+Version: @PROJECT_VERSION@
+Requires: @PKG_DEPS@
+Libs: -L${libdir} @PKG_LIBS@
+Cflags: -I${includedir}/@PROJECT_NAME_LOWER@-@PROJECT_VERSION_MAJOR@
+