Update Extern library to the latest XDA (2022.0.0)

.gitignore

@@ -38,3 +38,7 @@ build*/
 # Temporary file generated by the mtsdk make
 *.dpp
 Makefile
+
+# Clangd files
+**/.cache
+**/compile_commands.json

CHANGELOG.md

@@ -6,14 +6,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
-## [0.2.2] - 2022-11-17
+Update Extern library to the latest XDA (2022.0.0) (https://github.com/robotology/yarp-device-xsensmt/pull/38).
 
- Fix compatibility with YARP 3.8 (https://github.com/robotology/yarp-device-xsensmt/pull/36).
+## [0.2.2] - 2022-11-17
 
+Fix compatibility with YARP 3.8 (https://github.com/robotology/yarp-device-xsensmt/pull/36).
 
 ## [0.2.1] - 2022-09-28
 
- Add parameter period to set the output frequency of XSens device  (https://github.com/robotology/yarp-device-xsensmt/pull/34)/
+Add parameter period to set the output frequency of XSens device  (https://github.com/robotology/yarp-device-xsensmt/pull/34)/
 
 ## [0.2.0] - 2022-05-30
 

extern/CMakeLists.txt

@@ -1,19 +1,41 @@
-# Copyright (C) 2017-2018  iCub Facility, Istituto Italiano di Tecnologia
+# Copyright (C) 2017-2023 Fondazione Istituto Italiano di Tecnologia
 # Authors: Silvio Traversaro <silvio.traversaro@iit.it>
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LICENSE
 
-# The code contained in this directory is imported directly from the src_cpp example 
-# in the MT Software Suite, version 4.8.2, available from https://www.xsens.com/mt-software-suite/
+# The code contained in this directory is imported directly from the src_cpp example
+# in the MT Software Suite, version 2022.0.0, available from https://www.movella.com/support/software-documentation/
 # If you want to update the code to a new version of the MT Software Suite, run make in the mtsdk
-# example directory and copy the relevant files from the src_example in this directory.
+# example directory and copy the xspublic files from the public directory in this directory.
+# Furthermore, you should update the CMake scripts options by inspecting the xspublic's Makefiles
 
-# Globbing should be avoided in general, but this is a library that we use directly as provided by Xsens 
-file(GLOB xcommunication_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/xcommunication/*.cpp ${CMAKE_CURRENT_SOURCE_DIR}/xcommunication/*.c)
-file(GLOB xstypes_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/xstypes/*.cpp ${CMAKE_CURRENT_SOURCE_DIR}/xstypes/*.c)
-add_library(xsens_mt_software_suite STATIC deviceclass.cpp ${xcommunication_SRCS} ${xstypes_SRCS})
-target_include_directories(xsens_mt_software_suite PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} 
-                                                          ${CMAKE_CURRENT_SOURCE_DIR}/include 
-                                                          ${CMAKE_CURRENT_SOURCE_DIR}/include/xcommunication 
-                                                          ${CMAKE_CURRENT_SOURCE_DIR}/include/xsens) 
 find_package (Threads)
-target_link_libraries(xsens_mt_software_suite PUBLIC ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_DL_LIBS})
+
+# Globbing should be avoided in general, but this is a library that we use directly as provided by Xsens 
+file(GLOB xstypes_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xstypes/*.cpp ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xstypes/*.c)
+# See EXCLUDE argument in xstypes' Makefile
+list(FILTER xstypes_SRCS EXCLUDE REGEX "xstypesdynlib")
+add_library(xstypes STATIC ${xstypes_SRCS})
+target_include_directories(xstypes PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic)
+target_include_directories(xstypes PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xstypes)
+target_link_libraries(xstypes PUBLIC ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_DL_LIBS})
+
+
+file(GLOB xscommon_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscommon/*.cpp ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscommon/*.c)
+add_library(xscommon STATIC ${xscommon_SRCS})
+target_include_directories(xscommon PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic)
+target_include_directories(xscommon PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscommon)
+target_compile_options(xscommon PRIVATE "SHELL:-include xscommon_config.h" "SHELL:-include xstypes/xsens_compat.h")
+target_link_libraries(xscommon PUBLIC xstypes)
+
+
+file(GLOB xscontroller_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscontroller/*.cpp ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscontroller/*.c)
+add_library(xscontroller STATIC ${xscontroller_SRCS})
+target_include_directories(xscontroller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic)
+target_include_directories(xscontroller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/xspublic/xscontroller)
+target_compile_options(xscontroller PRIVATE "SHELL:-include xscontrollerconfig.h")
+target_compile_definitions(xscontroller PRIVATE -DHAVE_JOURNALLER)
+target_link_libraries(xscontroller PUBLIC xstypes xscommon)
+
+
+add_library(xsens_mt_software_suite INTERFACE)
+target_link_libraries(xsens_mt_software_suite INTERFACE xstypes xscommon xscontroller)