libingenialink
is a portable, pure C implementation library for simple motion
control tasks and communications with Ingenia drives.
The library provides:
- Simple motion control functions (homing, profile position, etc.)
- Communications API for Ingenia drives (multiple protocols supported)
- Load and use IngeniaDictionary XML dictionaries
- Operate directly using units (e.g. degrees, rad/s, etc.)
- Register polling and monitoring for scope applications
- Servo listing and monitoring
- Object oriented interface
- Thread-safe communications
- Descriptive and detailed error messages
libingenialink
depends on libsercomm and libxml2. A
couple of sections below you will find some instructions on how to build and
install them. libingenialink
can be built and installed on any system like
this:
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL
cmake --build _build
cmake --build _build --target install
Note that a INSTALL
is the installation folder.
The following build options are available:
WITH_PROT_EUSB
(ON): BuildEUSB
protocol support.WITH_PROT_MCB
(OFF): BuildMCB
protocol support (EXPERIMENTAL).WITH_EXAMPLES
(OFF): When enabled, the library usage example applications will be built.WITH_DOCS
(OFF): When enabled the API documentation can be built.WITH_PIC
(OFF): When enabled, generated code will be position independent. This may be useful if you want to embed ingenialink into a dynamic library.
Furthermore, standard CMake build options can be used. You may find useful to read this list of useful CMake variables.
As mentioned before, libingenialink
depends on libsercomm and
libxml2, both referenced in the external folder as
submodules. Therefore, if building them make sure to initialize the submodules
first:
git submodule update --init --recursive
Below you can find some building instructions for dependencies. Note that
INSTALL
is the installation folder.
libsercomm
also uses CMake, so it can be built and installed on any system
like this:
cd external/sercomm
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL
cmake --build _build --target install
Athough libxml2
is multiplatform, the building process can be somewhat painful
on some systems, specially on Windows. This is why we provide a CMake script
to build it on the systems we support. It can be built and installed like this:
cd external/libxml2
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL
cmake --build _build --target install
If using Linux, we actually recommend installing the library packages from the official repositories. For example in Debian/Ubuntu systems:
sudo apt install libxml2-dev
On recent versions of macOS, it seems to be already installed on the system. If not, you can also use brew to install it.
libingenialink
is written in ANSI C (C99), so any modern compiler
should work.
Code is written following the Linux Kernel coding style. You can
check for errors or suggestions like this (uses checkpatch.pl
):
cmake --build build --target style_check