cloned repos

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/.gitignore

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+# These are some examples of commonly ignored file patterns.
+# You should customize this list as applicable to your project.
+# Learn more about .gitignore:
+#     https://www.atlassian.com/git/tutorials/saving-changes/gitignore
+
+# Build folder
+build/
+
+# Node artifact files
+node_modules/
+dist/
+
+# Compiled Java class files
+*.class
+
+# Compiled Python bytecode
+*.py[cod]
+
+# Log files
+*.log
+
+# Package files
+*.jar
+
+# Maven
+target/
+dist/
+
+# JetBrains IDE
+.idea/
+
+# Unit test reports
+TEST*.xml
+
+# Generated by MacOS
+.DS_Store
+
+# Generated by Windows
+Thumbs.db
+
+# Applications
+*.app
+*.exe
+*.war
+
+# Large media files
+*.mp4
+*.tiff
+*.avi
+*.flv
+*.mov
+*.wmv
+

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/.gitmodules

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+[submodule "qbrobotics-driver"]
+	path = qbrobotics-driver
+	url = https://[email protected]/qbrobotics/qbrobotics-driver.git
+[submodule "serial"]
+	path = serial
+	url = https://bitbucket.org/qbrobotics/serial.git

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package qbdevice-api-7.x.x
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.3 (2022-07-18)
+------------------
+* Bug fixed in qbrobotics-driver pkg with installation directory
+
+1.1.2 (2022-07-15)
+------------------
+* Increased timeout in qbrobotics-driver pkg to improve device scanning on Windows PCs
+
+1.1.1 (2022-07-14)
+------------------
+* GNUInstallDirs icluded in Serial project as installation paths were not found in some tests.
+
+
+1.1.0 (2022-07-13)
+------------------
+* Added set/get hand side parameter for SH2R
+
+1.0.2 (2022-07-07)
+------------------
+* Bug fixed in homing function
+
+1.0.1 (2022-07-06)
+------------------
+* Changed cmake version
+
+1.0.0 (2020-05-05)
+------------------
+* Alarm Bells Began To Ring

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.1)
+project(qbrobotics_device_API VERSION 1.1.3 LANGUAGES CXX)
+message("-- [ ${PROJECT_NAME}] start compiling")
+
+# Add dependencies in the order you want them to build.
+add_subdirectory(serial)
+add_subdirectory(qbrobotics-driver)

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/README.md

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+# qbdevice API
+
+C++ API to control qbrobotics devices (SoftHand Industry, SoftHand Research, SoftHand2 Research and qbmove)
+
+## Get this project
+In order to clone this project and all its submodules, execute the following command:
+```
+git clone --recurse-submodules https://bitbucket.org/qbrobotics/qbdevice-api-7.x.x.git
+```
+
+## INSTALLATION
+
+### Research devices
+In order to compile the libraries (static or dynamic) to be used in external projects, it is necessary to build both __Serial__ and __qbrobotics-driver__ projects.
+
+Execute the following commands, in order to compile the project:
+```
+mkdir build
+cd build
+cmake ..
+make
+```
+Now the **build** folder should contain:
+- **qbrobotics-driver-internal** folder, with libqbrobotics_driver.a or libqbrobotics_driver.so library;
+- **serial** folder, with libSerial.a or libSerial.so library.
+
+Use them to exploit qbrobotics API in external projects.
+
+---
+**NOTE**
+
+In order to compile **STATIC** or **DYNAMIC** libraries just move to each of CMakeLists.txt files contained inside **qbrobotics-driver-internal** and **serial** folders and edit the **add_library** line in that file.
+
+---
+

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/qbrobotics-driver/.gitignore

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+.idea/
+.vscode/
+
+*.pro.*
+*.autosave
+build/

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/qbrobotics-driver/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package qbrobotics_driver
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+7.1.2 (2022-07-18)
+------------------
+* Bug fixed with installation directory
+
+7.1.1 (2022-07-15)
+------------------
+* Increased timeout to improve device scanning on Windows PCs
+
+7.1.0 (2022-07-13)
+------------------
+* Added compatibility with SH2R Left
+
+7.0.2 (2020-05-05)
+------------------
+* Bug fix in homing function
+
+0.0.1 (2020-05-05)
+------------------
+* Here be Dragons

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/qbrobotics-driver/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+project(qbrobotics_driver VERSION 7.1.2 LANGUAGES CXX)
+get_filename_component(API_PATH ../ ABSOLUTE)
+if(EXISTS "${API_PATH}/serial/CMakeLists.txt")
+        message("-- [ ${PROJECT_NAME}] Serial folder found")
+endif()
+SET(CMAKE_PREFIX_PATH ${API_PATH}/serial)
+message("-- [ ${PROJECT_NAME}] start compiling")
+find_package(Serial REQUIRED)
+add_library(qbrobotics_driver 
+  STATIC # [SHARED | STATIC]
+  libs/research/src/qbrobotics_research_api.cpp
+  libs/research/src/qbrobotics_research_api_wrapper.cpp
+  libs/research/src/qbsofthand_research_api.cpp
+  libs/research/src/qbmove_research_api.cpp
+  libs/research/src/qbsofthand2_research_api.cpp
+)
+target_include_directories(qbrobotics_driver PUBLIC
+  $<BUILD_INTERFACE:${qbrobotics_driver_BINARY_DIR}/include>
+  $<BUILD_INTERFACE:${qbrobotics_driver_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  "$<BUILD_INTERFACE:${Serial_SOURCE_DIR}/include>"
+)
+target_include_directories(qbrobotics_driver 
+  PUBLIC  #TODO: make PRIVATE?
+    "$<BUILD_INTERFACE:${qbrobotics_driver_BINARY_DIR}/libs/research/include>"
+    "$<BUILD_INTERFACE:${qbrobotics_driver_SOURCE_DIR}/libs/research/include>"
+  PRIVATE
+    "$<BUILD_INTERFACE:${qbrobotics_driver_SOURCE_DIR}/libs/research/src>"
+)
+target_link_libraries(qbrobotics_driver PRIVATE
+  Serial::Serial
+)
+set_target_properties(qbrobotics_driver PROPERTIES
+  CXX_STANDARD 14
+  CXX_STANDARD_REQUIRED ON
+  CXX_EXTENSIONS NO
+)
+add_library(qbrobotics_driver::qbrobotics_driver ALIAS qbrobotics_driver)
+
+install(DIRECTORY libs/research/include
+  DESTINATION include
+)
+install(TARGETS qbrobotics_driver EXPORT qbrobotics_driverTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+install(EXPORT qbrobotics_driverTargets
+  FILE qbrobotics_driverTargets.cmake
+  NAMESPACE qbrobotics_driver::
+  DESTINATION lib/cmake/qbrobotics_driver
+)
+
+include(CMakePackageConfigHelpers)
+configure_package_config_file(qbrobotics_driverConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/qbrobotics_driverConfig.cmake
+  INSTALL_DESTINATION lib/cmake/qbrobotics_driver
+)
+write_basic_package_version_file(qbrobotics_driverConfigVersion.cmake
+  VERSION ${qbrobotics_driver_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/qbrobotics_driverConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/qbrobotics_driverConfigVersion.cmake
+  DESTINATION lib/cmake/qbrobotics_driver
+)
+
+# Tests
+set(TESTS false) # choose if enabling tests or not
+if(TESTS)
+  enable_testing()
+  find_package(GTest REQUIRED CONFIG)
+
+  add_executable(qbrobotics_research_api_communication
+    tests/qbrobotics_research_api_communication.cpp
+  )
+  target_link_libraries(qbrobotics_research_api_communication PRIVATE
+    qbrobotics_driver::qbrobotics_driver
+    Serial::Serial
+    GTest::gtest
+    GTest::gmock
+    GTest::gtest_main
+  )
+  set_target_properties(qbrobotics_research_api_communication PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED ON
+    CXX_EXTENSIONS NO
+  )
+  add_test(NAME qbrobotics_research_api_communication_tests
+    COMMAND qbrobotics_research_api_communication
+  )
+
+  add_executable(qbrobotics_research_api_wrapper_communication
+    tests/qbrobotics_research_api_wrapper_communication.cpp
+  )
+  target_link_libraries(qbrobotics_research_api_wrapper_communication PRIVATE
+    qbrobotics_driver::qbrobotics_driver
+    Serial::Serial
+    GTest::gtest
+    GTest::gmock
+    GTest::gtest_main
+  )
+  set_target_properties(qbrobotics_research_api_wrapper_communication PROPERTIES
+    CXX_STANDARD 14
+    CXX_STANDARD_REQUIRED ON
+    CXX_EXTENSIONS NO
+  )
+  add_test(NAME qbrobotics_research_api_wrapper_communication_tests
+    COMMAND qbrobotics_research_api_wrapper_communication
+  )
+endif()

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/qbrobotics-driver/README.md

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+# qbrobotics driver
+
+C++ API to control qbrobotics devices (SoftHand Research, SoftHand2 Research and qbmove)
+
+## INSTALLATION
+
+### Research devices
+This project has to be used as a __subdirectory__ together with the __Serial__ project.
+
+Download the qbdevice-api-7.x.x project (downloadable from qbrobotics bitbucket repository) to have the complete project.
+
+---
+**NOTE**
+
+In order to compile **STATIC** or **DYNAMIC** libraries just move to each of CMakeLists.txt files contained inside **qbrobotics-driver-internal** and **serial** folders and edit the **add_library** line in that file.
+
+---

qbdevice-ros/qb_device_driver/api/qbdevice-api-7.x.x/qbrobotics-driver/libs/research/include/qbrobotics_research_api/qbmove_research_api.h

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+/***
+ *  Software License Agreement: BSD 3-Clause License
+ *
+ *  Copyright (c) 2015-2021, qbrobotics®
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+ *  following conditions are met:
+ *
+ *  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+ *    following disclaimer.
+ *
+ *  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+ *    following disclaimer in the documentation and/or other materials provided with the distribution.
+ *
+ *  * Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote
+ *    products derived from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *  INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ *  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ *  WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
+ *  USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef QBROBOTICS_DRIVER_QBMOVE_RESEARCH_API_H
+#define QBROBOTICS_DRIVER_QBMOVE_RESEARCH_API_H
+
+#include <qbrobotics_research_api/qbrobotics_research_api.h>
+
+namespace qbrobotics_research_api {
+
+class qbmoveResearch : public Device {
+ public:
+  class Params : public Device::Params {
+   public:
+    Params() = default;
+    ~Params() override = default;
+
+    void initParams(const std::vector<int8_t> &param_buffer) override;
+  };
+
+  explicit qbmoveResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id);
+  explicit qbmoveResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params);
+  explicit qbmoveResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr<Device::Params> params);
+  ~qbmoveResearch() override = default;
+
+  int computeAndStoreMaximumStiffness();
+  int setPositionAndStiffnessReferences(int16_t position, int16_t stiffness);
+
+  int getParamRateLimiter();
+  int getParamRateLimiter(uint8_t &rate_limiter);
+
+  int setParamRateLimiter(uint8_t rate_limiter);
+};
+
+class qbmoveLegacyResearch : public qbmoveResearch {
+ public:
+  class Params : public qbmoveResearch::Params {
+   public:
+    Params() = default;
+    ~Params() override = default;
+
+    void initParams(const std::vector<int8_t> &param_buffer) override;
+  };
+
+  explicit qbmoveLegacyResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id);
+  explicit qbmoveLegacyResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params);
+  ~qbmoveLegacyResearch() override = default;
+
+  int getControlReferences(std::vector<int16_t> &control_references) override;
+  int setMotorStates(bool motor_state) override;
+
+  int getParamEncoderOffsets() override;
+  int getParamEncoderOffsets(std::vector<int16_t> &encoder_offsets) override;
+
+  int setParameter(uint16_t param_type, const std::vector<int8_t> &param_data) override;
+  int setParamId(uint8_t id) override;
+  int setParamEncoderOffsets(const std::vector<int16_t> &encoder_offsets) override;
+  int setParamZeros() override;
+};
+
+}  // namespace qbrobotics_research_api
+
+#endif  // QBROBOTICS_DRIVER_QBMOVE_RESEARCH_API_H