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https://github.com/ingeniamc/ingenialink
Applications library for Ingenia servo drives
https://github.com/ingeniamc/ingenialink
Last synced: 3 months ago
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Applications library for Ingenia servo drives
- Host: GitHub
- URL: https://github.com/ingeniamc/ingenialink
- Owner: ingeniamc
- License: other
- Created: 2017-08-23T12:53:31.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2023-12-04T11:43:37.000Z (7 months ago)
- Last Synced: 2024-01-17T20:23:40.659Z (5 months ago)
- Language: C
- Homepage:
- Size: 1.93 MB
- Stars: 15
- Watchers: 13
- Forks: 9
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Lists
- awesome-stars - ingenialink - Applications library for Ingenia servo drives (C)
README
# libingenialink - Motion and communications library for Ingenia servodrives
[](https://creativecommons.org/licenses/by-nc-nd/4.0/)
`libingenialink` is a portable, pure C implementation library for simple motion
control tasks and communications with Ingenia drives.
[](http://www.ingeniamc.com)
## What it can do
The library provides:
* Simple motion control functions (homing, profile position, etc.)
* Communications API for Ingenia Summit Series 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
## Building libingenialink
Actually, `libingenialink` only supports Windows OS, but Linux support is coming later this year.
`libingenialink` depends on [libxml2][libxml2] and [SOEM][SOEM]. 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:
```sh
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL -DWITH_PROT_ETH=ON -DWITH_PROT_ECAT=ON
cmake --build _build
cmake --build _build --target install
```
Note that a `INSTALL` is the installation folder.
[libxml2]: https://xmlsoft.org
[SOEM]: https://github.com/ingeniamc/SOEM.git
### Build options
The following build options are available:
- `DWITH_PROT_ETH` (ON): Build `ETH` protocol support.
- `WITH_PROT_ECAT` (ON): Build `ECAT` protocol support.
- `WITH_EXAMPLES` (OFF): When enabled, the library usage example applications will be built.
- `WITH_DOCS` (OFF): When enabled the API documentation can be built.
- `WITH_PIC` (OFF): When enabled, generated code will be position independent.
This may be useful if you want to embed ingenialink into a dynamic library.
Furthermore, *standard* CMake build options can be used. You may find useful to
read this list of [useful CMake variables][cmakeuseful].
[cmakeuseful]: https://cmake.org/Wiki/CMake_Useful_Variables
## Dependencies
As mentioned before, `libingenialink` depends on [libxml2][libxml2] and [SOEM][SOEM],
both referenced in the [external][external] folder as
submodules. Therefore, if building them make sure to initialize the submodules
first:
```sh
git submodule update --init --recursive
```
Below you can find some building instructions for dependencies. Note that
`INSTALL` is the installation folder.
[libxml2]: https://xmlsoft.org
[external]: https://github.com/ingeniamc/ingenialink/tree/master/external
### libxml2
Athough `libxml2` is multiplatform, the building process can be somewhat painful
on some systems, specially on Windows. This is why we provide a CMake script
to build it on the systems we support. It can be built and installed like this:
```sh
cd external/libxml2
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL
cmake --build _build --target install
```
[brew]: https://brew.sh
### SOEM (EXPERIMENTAL)
In order to use the embbedded master communications of `ingenialink` (still in development), you must
install SOEM libraries as an external package.
```sh
cd external/SOEM
cmake -H. -B_build -DCMAKE_INSTALL_PREFIX=$INSTALL -DCMAKE_POSITION_INDEPENDENT_CODE=ON
cmake --build _build --target install
```
## Coding standards
`libingenialink` is written in [ANSI C][ansic] (C99), so any modern compiler
should work.
Code is written following the [Linux Kernel coding style][kernelstyle]. You can
check for errors or suggestions like this (uses `checkpatch.pl`):
```sh
cmake --build build --target style_check
```
[ansic]: http://en.wikipedia.org/wiki/ANSI_C
[kernelstyle]: https://www.kernel.org/doc/html/latest/process/coding-style.html