[Msg] Support packing and unpacking all command messages and Compile Static Library

.github/workflows/ctest-develop.yml

@@ -0,0 +1,22 @@
+name: GTest Sanity Check
+
+on:
+  push:
+    branches: [ "develop" ]
+  pull_request:
+    branches: [ "develop" ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Cmake
+      run: | 
+        cmake -B build -DBUILD_TESTING=ON
+        cmake --build build
+        ctest --test-dir build
+        cd build && ctest && cd ..
+

.github/workflows/release.yml

@@ -0,0 +1,46 @@
+name: Publish Multi-Target Release
+
+on:
+  push:
+    tags:
+      - 'v*'
+    branches:
+      - main
+      - release
+
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Install ARM Toolchain for STM
+        run: sudo apt-get update && sudo apt-get install -y gcc-arm-none-eabi
+
+      # Build Linux version
+      - name: Build Linux target
+        run: |
+          cmake -B build_linux -DCMAKE_INSTALL_PREFIX=lib_linux -DBUILD_TESTING=OFF
+          cmake --build build_linux
+          cmake --install build_linux
+          cd lib_linux && zip -r ../linux_package.zip . && cd ..
+
+      # Build STM32 version
+      - name: Build STM32 target
+        run: |
+          cmake -B build_stm -DCMAKE_INSTALL_PREFIX=lib_stm -DBUILD_TESTING=OFF -DTARGET_STM=ON
+          cmake --build build_stm
+          cmake --install build_stm
+          cd lib_stm && zip -r ../stm_package.zip . && cd ..
+
+      # Upload both release artifacts
+      - name: Upload release artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: release-artifacts-${{ github.ref_name }}
+          path: |
+            linux_package.zip
+            stm_package.zip

.gitignore

@@ -30,3 +30,8 @@
 *.exe
 *.out
 *.app
+
+# Build Archive
+build*/
+lib*/
+.vscode/

CMakeLists.txt

@@ -1,32 +1,65 @@
+option(TARGET_STM "Build for STM32F0 using ARM toolchain" OFF)
+
 cmake_minimum_required(VERSION 3.14)
-project(my_project)
+project(MotorControllerLib)
 
-# GoogleTest requires at least C++17
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-include(FetchContent)
-FetchContent_Declare(
-  googletest
-  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+if(TARGET_STM)
+  message(STATUS "Configuring build for STM32F0")
+  set(CMAKE_TOOLCHAIN_FILE "${CMAKE_SOURCE_DIR}/cmake/arm-gcc-toolchain.cmake")
+  set(CMAKE_CXX_STANDARD 17)
+else()
+  message(STATUS "Configuring build for native Linux")
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+# === Library Target ===
+add_library(Odrive STATIC
+    src/lib.cpp
 )
-# For Windows: Prevent overriding the parent project's compiler/linker settings
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(googletest)
 
-enable_testing()
+target_include_directories(Odrive PUBLIC ${CMAKE_SOURCE_DIR}/inc)
 
-add_executable(
-  utils_test
-  test/test_can_header.cpp
-)
+# === Install Targets ===
+install(TARGETS Odrive
+        ARCHIVE DESTINATION lib)
 
-target_include_directories(utils_test PRIVATE ${CMAKE_SOURCE_DIR}/inc)
+install(DIRECTORY inc/ DESTINATION include)
 
-target_link_libraries(
-  utils_test
-  GTest::gtest_main
-)
+if(NOT CMAKE_CROSSCOMPILING)
+  # === Enable Testing ===
+  include(CTest)  # enables BUILD_TESTING option
+  if(BUILD_TESTING)
+
+      # Fetch GoogleTest
+      include(FetchContent)
+      FetchContent_Declare(
+        googletest
+        URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+      )
+      set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+      FetchContent_MakeAvailable(googletest)
+
+      # === Test Executable ===
+      add_executable(utils_test
+          test/test_can_header.cpp
+          test/test_can_msg.cpp
+      )
+
+      target_include_directories(utils_test PRIVATE ${CMAKE_SOURCE_DIR}/inc)
+
+      target_link_libraries(utils_test
+          PRIVATE
+          Odrive         # <-- your library
+          GTest::gtest_main
+      )
+
+      include(GoogleTest)
+      gtest_discover_tests(utils_test)
+
+  endif()
 
-include(GoogleTest)
-gtest_discover_tests(utils_test)
+endif()

README.md

@@ -1,36 +1,39 @@
 # Introduction
 
-This is an official branch for all the device that need to interact with ODrive or Similar Motor Controller. Our team are currently using ODrive V3.6, ODrive Micro, and ODrive S1.
-
-# Folder Structure
-
-The project is divided into generic code & interface in the /inc and /src folder. Target specific code are linked in the /target folder.
-
-```bash
-.
-├── inc
-├── src
-└── target
-    ├── ros
-    ├── seeedxiao
-    └── stm 
-```
+This is an official library repository for all the device that need to interact with ODrive  micro or S1 or similar Motor Controller. Our team are currently using ODrive V3.6, ODrive Micro, and ODrive S1. Currently the command set support ODrive Micro and S1 using documentation 6.11. [ODrive Docs](https://docs.odriverobotics.com/v/latest/guides/getting-started.html)
 
 # Project Objective
 
 In short term, this project is aimed to support ODrive family. In long term, this project is also aiming to support custom FOC Device manufactured in house.
-- Device Identification
-- Device Command Abstraction over CAN
-- Grouping Device Command
+
+- High-Level CAN Message Agent
+  - Device Identification
+  - Device Command Abstraction over CAN
+  - Grouping Device Command
 - INS/ GNSS Fusion and Logging
 - Device Error Handling
 - Robotics Simulation Abstraction(Gazebo)
 
-Anyone using this library still need to integrate application/ simulation on top of this static library.
+Anyone using this library still need to integrate this library into the application/ simulation on top of this static library.
 
+On my computer the post-compiled library is libodrive.a.
 
+# Folder Structure
 
-# Interface
+The project
+
+```bash
+.
+├── C++.gitignore
+├── CMake.gitignore
+├── CMakeLists.txt
+├── LICENSE
+├── README.md
+├── build
+├── inc
+├── src
+└── test   
+```
 
 ## Movement Command
 
@@ -77,25 +80,44 @@ class Logging {
 }
 ```
 
+# Compile Library and UnitTest
 
+```bash
+# Linux Target
+# Option 1:
+mkdir build && cd build
+cmake .. && cd ..
+make
+
+# Option 2:
+cmake -B build -DCMAKE_INSTALL_PREFIX=lib -DBUILD_TESTING=OFF
+cmake --build build
+cmake --install build
+```
 
-## Set Command
-
-```c++
-//todo
+```cpp
+# STM Target
+cmake -B build_stm -DCMAKE_INSTALL_PREFIX=lib_stm -DBUILD_TESTING=OFF -DTARGET_STM=ON
+cmake --build build_stm
+cmake --install build_stm
 ```
 
 # Testing and Validation
 
 ```bash
-# Create build folder based on CMakeLists.txt
-cmake -S . -b build
-
-# Compile the project
+cmake -B build -DBUILD_TESTING=ON
 cmake --build build
+ctest --test-dir build
 
 # Execute test
 cd build && ctest && cd ..
 ```
 
+## Triggering Actions
+
+```bash
+git tag -a v0.0.3 -m "Release v0.0.1" 
+git push --follow-tags origin develop
+```
+
 # Acknowledgements

cmake/arm-gcc-toolchain.cmake

@@ -0,0 +1,19 @@
+# Set compiler
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR cortex-m0)
+
+# Specify cross compiler
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
+set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
+
+# No standard C library, no OS
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+set(CMAKE_EXE_LINKER_FLAGS_INIT "")
+set(CMAKE_C_FLAGS_INIT "-mcpu=cortex-m0 -mthumb -mfloat-abi=soft -fno-exceptions -ffunction-sections -fdata-sections")
+set(CMAKE_CXX_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -fno-rtti")
+set(CMAKE_ASM_FLAGS_INIT "-mcpu=cortex-m0 -mthumb")
+
+# Prevent default CMake stdlib linkage
+set(CMAKE_CXX_STANDARD_LIBRARIES "")
+set(CMAKE_C_STANDARD_LIBRARIES "")

example/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(LibExample)
+
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Add the library manually
+add_library(libOdrive STATIC IMPORTED GLOBAL)
+set_target_properties(libOdrive PROPERTIES
+    IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/lib/odrive/lib/libOdrive.a
+    INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_SOURCE_DIR}/lib/odrive/include
+)
+
+# Create your executable
+add_executable(exec main.cpp)
+
+# Link the imported static lib
+target_link_libraries(exec PRIVATE libOdrive)