Merge branch 'master' of github.com:robert-burger/libethercat

.github/workflows/doxygen-gh-pages.yml

@@ -0,0 +1,37 @@
+name: Doxygen
+
+on:
+  repository_dispatch:
+  push:
+    branches:
+      - master
+      - gh-pages
+
+# In that case do the job 'make_and_deploy_doxygen'
+jobs:
+  make_and_deploy_doxygen:
+    runs-on: ubuntu-latest
+    # which needs the following steps to be executed:
+    steps:
+      # 1. Checkout current branch of GitHub repository.
+      - name: Checkout current branch
+        uses: actions/checkout@v2
+      # 2. Install doxygen and its auxiliary components.
+      - name: Install doxygen and latex components
+        run: sudo apt-get update; sudo apt-get install -y doxygen graphviz texlive-full
+      # 3. Create the doxygen pages.
+      - name: Create the doxygen
+        run: |
+          git clone https://github.com/robert-burger/libethercat.git
+          cd libethercat
+          make -f Makefile.doc doc/html BUILDCMD=doxygen
+      - name: Moving Files
+        run: |
+          mv ./libethercat/doc/html ./api
+
+      # Deploy to GitHub Pages
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          deploy_key: ${{ secrets.ACTIONS_DEPLOY_KEY }}
+          publish_dir: ./api

.gitignore

@@ -57,3 +57,5 @@ cmake-build-*
 *.ko
 Module.symvers
 modules.order
+
+build

CMakeLists.txt

@@ -1,34 +1,71 @@
 cmake_minimum_required(VERSION 3.5)
-project(libethercat)
+file(READ "project.properties" PROJECT_PROPERTIES)
+string(REGEX MATCH "VERSION = ([0-9]*.[0-9]*.[0-9]*)" _ ${PROJECT_PROPERTIES})
+set(PROJECT_VERSION ${CMAKE_MATCH_1})
+project(libethercat VERSION ${PROJECT_VERSION})
 
 set(ECAT_DEVICE "sock_raw" CACHE STRING "EtherCAT device layer")
 
-INCLUDE(CheckIncludeFiles)
+include(CheckIncludeFiles)
+include(CheckSymbolExists)
+include(CheckLibraryExists)
+include(ExternalProject)
+include(CMakePackageConfigHelpers)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_C_STANDARD 11)
 
-CHECK_INCLUDE_FILES("netinet/in.h" HAVE_NETINET_IN_H)
-CHECK_INCLUDE_FILES("arpa/inet.h" HAVE_ARPA_INET_H)
-CHECK_INCLUDE_FILES("net/if.h" HAVE_NET_IF_H)
-CHECK_INCLUDE_FILES("net/bpf.h" HAVE_NET_BPF_H)
-CHECK_INCLUDE_FILES("fcntl.h" HAVE_FCNTL_H)
-CHECK_INCLUDE_FILES("limits.h" HAVE_LIMITS_H)
-CHECK_INCLUDE_FILES("stdint.h" HAVE_STDINT_H)
-CHECK_INCLUDE_FILES("stdlib.h" HAVE_STDLIB_H)
-CHECK_INCLUDE_FILES("string.h" HAVE_STRING_H)
-CHECK_INCLUDE_FILES("sys/ioctl.h" HAVE_SYS_IOCTL_H)
-CHECK_INCLUDE_FILES("sys/socket.h" HAVE_SYS_SOCKET_H)
-CHECK_INCLUDE_FILES("sys/time.h" HAVE_SYS_TIME_H)
-CHECK_INCLUDE_FILES("unistd.h" HAVE_UNISTD_H)
-
-find_package (libosal)
+set(LIBETHERCAT_STDC_HEADERS 1)
+set(LIBETHERCAT_PACKAGE_VERSION "${CMAKE_PROJECT_VERSION}")
+set(LIBETHERCAT_VERSION "${CMAKE_PROJECT_VERSION}")
+set(LIBETHERCAT_PACKAGE_URL "${CMAKE_PROJECT_HOMEPAGE_URL}")
+set(LIBETHERCAT_PACKAGE "${CMAKE_PROJECT_NAME}")
+set(LIBETHERCAT_PACKAGE_NAME "${CMAKE_PROJECT_NAME}")
+set(LIBETHERCAT_PACKAGE_TARNAME "${CMAKE_PROJECT_NAME}")
+set(LIBETHERCAT_PACKAGE_STRING "${CMAKE_PROJECT_NAME} ${CMAKE_PROJECT_VERSION}")
+
+check_include_files("arpa/inet.h" LIBETHERCAT_HAVE_ARPA_INET_H)
+check_symbol_exists("clock_gettime" "time.h" LIBETHERCAT_HAVE_CLOCK_GETTIME)
+check_include_files("dlfcn.h" LIBETHERCAT_HAVE_DLFCN_H)
+check_include_files("fcntl.h" LIBETHERCAT_HAVE_FCNTL_H)
+check_include_files("inttypes.h" LIBETHERCAT_HAVE_INTTYPES_H)
+find_library(HAS_RT_RAW rt)
+if(HAS_RT_RAW)
+    SET(LIBETHERCAT_HAVE_LIBRT 1)
+endif()
+check_include_files("limits.h" LIBETHERCAT_HAVE_LIMITS_H)
+check_symbol_exists("malloc" "stdlib.h" LIBETHERCAT_HAVE_MALLOC)
+check_include_files("memory.h" LIBETHERCAT_HAVE_MEMORY_H)
+check_symbol_exists("memset" "string.h" LIBETHERCAT_HAVE_MALLOC)
+check_include_files("net/bpf.h" LIBETHERCAT_HAVE_NET_BPF_H)
+check_include_files("net/if.h" LIBETHERCAT_HAVE_NET_IF_H)
+check_include_files("pthread.h" LIBETHERCAT_HAVE_PTHREAD)
+list(APPEND CMAKE_REQUIRED_DEFINITIONS -D_GNU_SOURCE)
+check_symbol_exists("pthread_setaffinity_np" "pthread.h" LIBETHERCAT_HAVE_PTHREAD_SETAFFINITY_NP)
+check_symbol_exists("realloc" "stdlib.h" LIBETHERCAT_HAVE_REALLOC)
+check_symbol_exists("socket" "sys/socket.h" LIBETHERCAT_HAVE_SOCKET)
+check_include_files("stdint.h" LIBETHERCAT_HAVE_STDINT_H)
+check_include_files("stdlib.h" LIBETHERCAT_HAVE_STDLIB_H)
+check_symbol_exists("strdup" "string.h" LIBETHERCAT_HAVE_STRDUP)
+check_symbol_exists("strerror" "string.h" LIBETHERCAT_HAVE_STRERROR)
+check_include_files("strings.h" LIBETHERCAT_HAVE_STRINGS_H)
+check_include_files("string.h" LIBETHERCAT_HAVE_STRING_H)
+check_symbol_exists("strndup" "string.h" LIBETHERCAT_HAVE_STRNDUP)
+check_include_files("sys/ioctl.h" LIBETHERCAT_HAVE_SYS_IOCTL_H)
+check_include_files("sys/socket.h" LIBETHERCAT_HAVE_SYS_SOCKET_H)
+check_include_files("sys/stat.h" LIBETHERCAT_HAVE_SYS_STAT_H)
+check_include_files("sys/time.h" LIBETHERCAT_HAVE_SYS_TIME_H)
+check_include_files("sys/types.h" LIBETHERCAT_HAVE_SYS_TYPES_H)
+check_include_files("unistd.h" LIBETHERCAT_HAVE_UNISTD_H)
+
+find_package(libosal REQUIRED)
+find_package (Threads REQUIRED)
 
 include_directories(${libosal_INCLUDE_DIRS} include)
+link_directories(${libosal_LIB_DIR})
 
-configure_file(cmake_config.h.in config.h)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/libethercat/config.h)
 
-set(DEFAULT_DEFS HAVE_STDLIB_H HAVE_NET_IF_H HAVE_ARPA_INET_H)
 
 set(SRC_ETHERCAT 
     src/async_loop.c
@@ -50,29 +87,63 @@ set(SRC_ETHERCAT
 
 if (${ECAT_DEVICE} STREQUAL "sock_raw")
     set(SRC_HW_LAYER src/hw_sock_raw.c)
+    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_LEGACY)
+elseif (${ECAT_DEVICE} STREQUAL "sock_raw_mmaped")
+    set(SRC_HW_LAYER src/hw_file.c)
+    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_SOCK_RAW_MMAPED)
 elseif (${ECAT_DEVICE} STREQUAL "file")
     set(SRC_HW_LAYER src/hw_file.c)
+    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_FILE)
 elseif (${ECAT_DEVICE} STREQUAL "pikeos")
     set(SRC_HW_LAYER src/hw_pikeos.c)
+    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_PIKEOS)
 elseif (${ECAT_DEVICE} STREQUAL "bpf")
     set(SRC_HW_LAYER src/hw_bpf.c)
+    add_compile_definitions(LIBETHERCAT_BUILD_DEVICE_BPD)
 endif()
 
 # LIBS
 add_library(ethercat ${SRC_ETHERCAT} ${SRC_HW_LAYER})
-target_compile_definitions(ethercat PRIVATE $DEFAULT_DEFS)
 target_link_libraries (ethercat ${CMAKE_THREAD_LIBS_INIT} ${libosal_LIBS})
 
 # TOOLS
 add_executable(eepromtool tools/eepromtool/eepromtool.c)
-target_compile_definitions(eepromtool PRIVATE $DEFAULT_DEFS)
-target_link_libraries (eepromtool ethercat)
+target_link_libraries (eepromtool ethercat ${libosal_LIBS})
 
 add_executable(ethercatdiag tools/ethercatdiag/ethercatdiag.c)
-target_compile_definitions(ethercatdiag PRIVATE $DEFAULT_DEFS)
-target_link_libraries (ethercatdiag ethercat)
+target_link_libraries (ethercatdiag ethercat ${libosal_LIBS})
 
 add_executable(example_with_dc tools/example_with_dc/example_with_dc.c)
-target_compile_definitions(example_with_dc PRIVATE $DEFAULT_DEFS)
-target_link_libraries (example_with_dc ethercat m)
+target_link_libraries (example_with_dc ethercat ${libosal_LIBS} m)
+
+# Install 
+write_basic_package_version_file(
+    ${CMAKE_CURRENT_BINARY_DIR}/libethercatConfigVersion.cmake
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY AnyNewerVersion
+)
+
+set(INSTALL_DIR ${CMAKE_INSTALL_PREFIX})
+set(ETHERCAT_LIB_NAME ethercat)
+
+configure_package_config_file(
+    ${PROJECT_SOURCE_DIR}/cmake/libethercatConfig.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/libethercatConfig.cmake
+    INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/libethercat
+    PATH_VARS ETHERCAT_LIB_NAME INSTALL_DIR
+)
+
+install(TARGETS ethercat EXPORT libethercatTargets)
+install(
+    EXPORT libethercatTargets 
+    FILE libethercatTargets.cmake
+    DESTINATION lib/cmake/libethercat
+)
+install(DIRECTORY include/libethercat/ DESTINATION include/libethercat 
+	FILES_MATCHING PATTERN "*.h"
+)
 
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/libethercatConfig.cmake" 
+    "${CMAKE_CURRENT_BINARY_DIR}/libethercatConfigVersion.cmake"
+    DESTINATION lib/cmake/libethercat
+)

README.md

@@ -22,7 +22,7 @@ This library provides all functionality to communicate with EtherCAT slaves atta
 
 # Network device access
 
-- **raw socket** » The most common way sending ethernet frames in Linux is opening a raw network socket (`SOCK_RAW`). Therefor the program must either be run as root or with the capability flag `CAP_NET_RAW`. 
+- **raw socket** » The most common way sending ethernet frames in Linux is opening a raw network socket (`SOCK_RAW`). Therefor the program must either be run as root or with the capability flag `CAP_NET_RAW`. Either do sth like: `sudo setcap cap_net_raw=ep .libs/example_with_dc` or checkout grant_cap_net_raw kernel module from Flo Schmidt (https://gitlab.com/fastflo/open_ethercat).
 - **raw_socket_mmaped** » Like above but don't use read/write to provide frame buffers to kernel and use mmaped buffers directly from kernel.
 - **file** » Most performant/determinstic interface to send/receive frames with network hardware. Requires hacked linux network driver. Can also be used without interrupts to avoid context switches. For how to compile and use such a driver head over to [drivers readme](linux/README.md).
 - **pikeos** » Special pikeos hardware access.
@@ -41,7 +41,7 @@ Germany (ETG, www.ethercat.org).
 
 ## Usage 
 
-See INTRODUCTION.md or gh-pages for reference.
+See INTRODUCTION.md or [gh-pages](https://robert-burger.github.io/libethercat/) for reference.
 
 ## Build from source
 
@@ -62,6 +62,16 @@ sudo make install
 
 This will build and install a static as well as a dynamic library. For use in other project you can use the generated pkg-config file to retreave cflags and linker flags.
 
+### CMake
+
+```bash
+mkdir build
+cd build
+# Please change the path to the install dir. If you chose a global install you can omit the CMAKE_PREFIX_PATH option
+cmake .. -DCMAKE_PREFIX_PATH=<installdir of libosal>
+cmake --build . 
+```
+
 ## Tools
 
 libethercat also provides some small helper programs for the EtherCAT bus.