FIX: initializers

Author: slimasziom

robotiq_hande_driver/CMakeLists.txt

@@ -7,24 +7,19 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
-# add_library(
-#   libmodbus
-# )
-
 include_directories(
   "include"
   "src"
 )
 
-add_executable(communication src/communication.cpp)
-add_executable(protocol_logic src/protocol_logic.cpp)
-add_executable(application src/application.cpp)
-add_executable(hande_driver src/hande_driver.cpp)
+add_executable(hande_driver src/hande_driver.cpp src/application.cpp src/protocol_logic.cpp src/communication.cpp)
+target_link_libraries(hande_driver ${catkin_LIBRARIES})
+target_link_libraries(hande_driver /lib/x86_64-linux-gnu/libmodbus.so)
 
 target_include_directories(hande_driver PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(hande_driver PUBLIC c_std_99 cxx_std_20)  # Require C99 and C++17
 
 install(TARGETS hande_driver
   DESTINATION lib/${PROJECT_NAME})

robotiq_hande_driver/src/application.cpp

@@ -1,14 +1,21 @@
+#include <cstdio>
 #include "application.hpp"
 
 
 namespace hande_driver
 {
 
-ApplicationLayer::ApplicationLayer(){
-    protocol_logic_ = ProtocolLogic();
+ApplicationLayer::ApplicationLayer()
+:   requested_position_(0)
+,   position_(0)
+,   current_(0)
+{
+    printf("ApplicationLayer constructor\n");
 }
 
-ApplicationLayer::~ApplicationLayer(){}
+ApplicationLayer::~ApplicationLayer(){
+    printf("ApplicationLayer destructor\n");
+}
 
 void ApplicationLayer::stop(){
     protocol_logic_.stop();

robotiq_hande_driver/src/communication.cpp

@@ -1,3 +1,4 @@
+#include <cstdio>
 #include <stdint.h>
 
 #include "communication.hpp"
@@ -17,14 +18,19 @@ constexpr uint8_t slaveID = 0x09;
 constexpr uint16_t gripperOutputFirstReg = 0x07D0;
 constexpr uint16_t gripperInputFirstReg = 0x03E8;
 
-Communication::Communication(){
+Communication::Communication()
+:    input_registers(0, 0, 0)
+,    output_registers(0, 0, 0)
+{
+    printf("Communication constructor\n");
     mb = modbus_new_rtu(deviceName, baudrate, parity, dataBits, stopBit);
     modbus_set_slave(mb, slaveID);
     modbus_set_debug(mb, debugModbus);
     connect();
 }
 
 Communication::~Communication(){
+    printf("Communication destructor\n");
     disconnect();
     modbus_free(mb);
 }

robotiq_hande_driver/src/hande_driver.cpp

@@ -2,24 +2,35 @@
 #include <unistd.h>
 #include "application.hpp"
 
+
 int main(int argc, char ** argv)
 {
   (void) argc;
   (void) argv;
 
-  printf("hello world robotiq_hande_driver package\n");
+  printf("hello world robotiq_hande_driver package4\n");
+  hande_driver::ApplicationLayer app_test;
 
-  hande_driver::ApplicationLayer app_test = hande_driver::ApplicationLayer();
+  printf("Activation robotiq_hande_driver\n");
   app_test.activate();
   sleep(2);
 
+  printf("Open-Close loop x2\n");
+  
+  printf("Open\n");
   app_test.open();
   sleep(2);
+  printf("Close\n");
   app_test.close();
   sleep(2);
+
+  printf("Open\n");
   app_test.open();
   sleep(2);
+  printf("Close\n");
   app_test.close();
 
+  printf("Finished\n");
+
   return 0;
 }

robotiq_hande_driver/src/protocol_logic.cpp

@@ -1,15 +1,26 @@
+#include <cstdio>
 #include "protocol_logic.hpp"
 
 
 namespace hande_driver
 {
 
-ProtocolLogic::ProtocolLogic(){
-    communication_ = Communication();
+ProtocolLogic::ProtocolLogic()
+:   status_(0)
+,   activation_status_(GRIPPER_RESET)
+,   action_status_(STOPPED)
+,   gripper_status_(NOT_USED)
+,   object_detection_status_(REQ_POS_NO_OBJECT)
+,   fault_status(0)
+,   position_request_echo(0)
+,   position(0)
+,   current(0)
+{
+    printf("ProtocolLogic constructor\n");
 }
 
 ProtocolLogic::~ProtocolLogic(){
-    communication_.~Communication();
+    printf("ProtocolLogic destructor\n");
 }
 
 void ProtocolLogic::reset(){