RoboUtils

C++ classes used for speeding up development of robots, suitable for Raspberry Pi hat KAMBot.

Features classes for:

RoboUtils::IO namespace

I2C thread-safe driver for RaspberryPi
ADC using AD7997 chip
GPIO using MCP23017 chip
KM2 using KM2 motor controller board
PWM using xxxx chip (currently not implemented)

RoboUtils::comm namespace

UDP driver for transporting strings over network
TCP driver (not reimplemented)

RoboUtils::util namespace

Thread safe variable access
Measuring time
Convenient string to list manipulation utility (usable for NMEA parser)

RoboUtils namespace

PID
Advanced logging with streams and logging over network

What will be NEVER featured:

The NMEA parser (part of student semestral project)
The analog preprocessing of line
The robot wheel kinematics (yep, the hell!)
The robot controller for line following
Yep, any part of code the students should develop in the labs in their way that will be examined

Installation

Using global liborary

git clone https://student.robotika.ceitec.vutbr.cz/VYUKA/BPC-PRP/RoboUtils.git
cd RoboUtils
cmake . && make install

In your project's CMakeLists.txt:

find_package(RoboUtils REQUIRED)

add_executable(<appname> <... src/main.cpp etc ...>)

target_link_libraries(<appname> libroboutils)

WARNING: Any future change in API of the lib will disturb all your projects you are using it. The devil who owns library root will rule all your code.

Using specific branch in Your project (dependency hell issue)

Use this in the case you want to maintain specific version of lib (ie you do not want future library changes to be ported to your code) This is the case when the library API is changing and you need to maintain a lot of projects that depends on it. The updating root library from previous example might be a nightmare.

Assume you have project with CMakeLists.txt in root directory of you GITted project. Assume you have all sources in src subdirectory and you want all libraries to be sourced from lib subdirectory (that is some standard style). If you using different style, you need to update the example accordingly.

Run this in git root of your project:

git submodule add https://student.robotika.ceitec.vutbr.cz/VYUKA/BPC-PRP/RoboUtils.git lib/RoboUtils

next, add following lines into your CMakeLists ()

find_library(libroboutils lib/RoboUtils)

add_subdirectory(lib/RoboUtils)
add_executable(<appname> <... src/main.cpp etc ...>)

target_link_libraries(<appname> PRIVATE libroboutils <... other libs ...>)

with this setup you will have fixed version of library unlike you update it by using git pull from the lib/RoboUtils subdirectory. Any future changes to API of the lib will not disturb your project unlike you want to. You will be a god of your code.

Authors

This library has been originally written by Matous Hybl hyblmatous@gmail.com in 2020. We have very thanks for his work.

Some parts has been later reimplemented by Frantisek Burian - bufran at seznam.cz from 2022 for the sake of demonstrating simple API design, and good programming skills for our BPC-UDP course on Brno university of Technology.

BuFran/RoboUtils