odrive_cpp_sdk
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moorage
fix: build on linux, add includes for std::find and std::strerror functions
I tried to build on Ubuntu 20.04 and faced with compile error.
odrive_cpp_sdk$ cmake -G Ninja -B build
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/viy/workspace/motor/odrive_cpp_sdk/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/viy/workspace/motor/odrive_cpp_sdk/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for one of the modules 'libusb-1.0'
-- Configuring done
-- Generating done
-- Build files have been written to: /home/viy/workspace/motor/odrive_cpp_sdk/build
odrive_cpp_sdk$ cmake --build build
[1/2] Building CXX object CMakeFiles/odrive_cpp_sdk.dir/src/odrive_cpp_sdk.cpp.o
FAILED: CMakeFiles/odrive_cpp_sdk.dir/src/odrive_cpp_sdk.cpp.o
/usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"odrive_cpp_sdk\" -Dodrive_cpp_sdk_EXPORTS -I../include -I/opt/ros/noetic/include -I/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -isystem /usr/include/libusb-1.0 -fPIC -std=c++11 -MD -MT CMakeFiles/odrive_cpp_sdk.dir/src/odrive_cpp_sdk.cpp.o -MF CMakeFiles/odrive_cpp_sdk.dir/src/odrive_cpp_sdk.cpp.o.d -o CMakeFiles/odrive_cpp_sdk.dir/src/odrive_cpp_sdk.cpp.o -c ../src/odrive_cpp_sdk.cpp
../src/odrive_cpp_sdk.cpp: In member function ‘int odrive::CppSdk::init()’:
../src/odrive_cpp_sdk.cpp:102:173: error: no matching function for call to ‘find(std::string*&, std::string*, std::string&)’
102 | long sn_index = std::distance(odrive_serial_numbers_, std::find(odrive_serial_numbers_, odrive_serial_numbers_ + num_odrives_, motor_to_odrive_serial_number_map_[i]));
| ^
In file included from /usr/include/c++/9/bits/locale_facets.h:48,
from /usr/include/c++/9/bits/basic_ios.h:37,
from /usr/include/c++/9/ios:44,
from /usr/include/c++/9/ostream:38,
from /usr/include/c++/9/iostream:39,
from ../include/odrive_cpp_sdk/odrive_cpp_sdk.h:5,
from ../src/odrive_cpp_sdk.cpp:1:
/usr/include/c++/9/bits/streambuf_iterator.h:373:5: note: candidate: ‘template<class _CharT2> typename __gnu_cxx::__enable_if<std::__is_char<_CharT2>::__value, std::istreambuf_iterator<_CharT> >::__type std::find(std::istreambuf_iterator<_CharT>, std::istreambuf_iterator<_CharT>, const _CharT2&)’
373 | find(istreambuf_iterator<_CharT> __first,
| ^~~~
/usr/include/c++/9/bits/streambuf_iterator.h:373:5: note: template argument deduction/substitution failed:
../src/odrive_cpp_sdk.cpp:102:173: note: mismatched types ‘std::istreambuf_iterator<_CharT>’ and ‘std::string*’ {aka ‘std::__cxx11::basic_string<char>*’}
102 | long sn_index = std::distance(odrive_serial_numbers_, std::find(odrive_serial_numbers_, odrive_serial_numbers_ + num_odrives_, motor_to_odrive_serial_number_map_[i]));
| ^
../src/odrive_cpp_sdk.cpp: In member function ‘int odrive::CppSdk::initUSBHandlesBySNs()’:
../src/odrive_cpp_sdk.cpp:221:129: error: ‘strerror’ was not declared in this scope; did you mean ‘perror’?
221 | std::cerr << "Could not call libusb_claim_interface: " << result << " - " << libusb_error_name(result) << ": " << strerror(errno) << std::endl;
| ^~~~~~~~
| perror
../src/odrive_cpp_sdk.cpp: In member function ‘int odrive::CppSdk::odriveEndpointRequest(libusb_device_handle*, int, commBuffer&, int&, commBuffer, int, int)’:
../src/odrive_cpp_sdk.cpp:277:125: error: ‘strerror’ was not declared in this scope; did you mean ‘perror’?
277 | std::cerr << "Could not call libusb_bulk_transfer for writing: " << result << " - " << libusb_error_name(result) << strerror(errno) << std::endl;
| ^~~~~~~~
| perror
../src/odrive_cpp_sdk.cpp:287:127: error: ‘strerror’ was not declared in this scope; did you mean ‘perror’?
287 | std::cerr << "Could not call libusb_bulk_transfer for reading: " << result << " - " << libusb_error_name(result) << strerror(errno) << std::endl;
| ^~~~~~~~
| perror
ninja: build stopped: subcommand failed.
