Refactor usb cam library with no ros deps

.github/workflows/build_test.yml

@@ -15,6 +15,7 @@ jobs:
         ros_distribution:
           - foxy
           - galactic
+          - humble
           - rolling
         include:
           # Foxy Fitzroy (June 2020 - May 2023)
@@ -43,8 +44,28 @@ jobs:
         with:
           path: ros_ws/src
       - name: build and test
+        id: build_and_test_step
         uses: ros-tooling/action-ros-ci@master
         with:
           package-name: usb_cam
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: ""
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          # If possible, pin the repository in the workflow to a specific commit to avoid
+          # changes in colcon-mixin-repository from breaking your tests.
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.ros_distribution }}
+          path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
+        if: always()
+      - uses: actions/upload-artifact@v1
+        with:
+          name: lcov-logs-${{ matrix.ros_distribution }}
+          path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
+        if: always()

CMakeLists.txt

@@ -15,35 +15,50 @@ ament_auto_find_build_dependencies()
 
 find_package(OpenCV REQUIRED)
 
-## pkg-config libraries
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(avcodec libavcodec REQUIRED)
-pkg_check_modules(swscale libswscale REQUIRED)
+pkg_check_modules(avcodec REQUIRED libavcodec)
+pkg_check_modules(avutil REQUIRED libavutil)
+pkg_check_modules(swscale REQUIRED libswscale)
 
-include_directories(include
-  ${avcodec_INCLUDE_DIRS}
-  ${swscale_INCLUDE_DIRS}
-)
+if(EXISTS ${avcodec})
+  message(STATUS "Found libavcodec: ${avcodec}")
+endif()
+
+if(EXISTS ${avutil})
+  message(STATUS "Found libavutil: ${avutil}")
+endif()
+
+if(EXISTS ${swscale})
+  message(STATUS "Found libswscale: ${swscale}")
+endif()
 
 ## Build the USB camera library
-ament_auto_add_library(${PROJECT_NAME} SHARED
+## Do not use ament_auto here so as to not link to rclcpp
+add_library(${PROJECT_NAME} SHARED
   src/usb_cam.cpp
 )
 
-## Declare a cpp executable
-ament_auto_add_library(${PROJECT_NAME}_node SHARED
-  src/usb_cam_node.cpp
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "include"
 )
 
-target_link_libraries(${PROJECT_NAME}_node
-  ${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME}
   ${avcodec_LIBRARIES}
+  ${avutil_LIBRARIES}
   ${swscale_LIBRARIES}
-  ${OpenCV_LIBRARIES}
-  # TODO(lucasw) should this have been in libavcodec?
-  #avutil
+  ${OpenCV_LIBRARIES})
+
+ament_export_libraries(${PROJECT_NAME})
+
+## Declare a ROS 2 composible node as a library
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/usb_cam_node.cpp
 )
 
+target_link_libraries(${PROJECT_NAME}_node
+  ${PROJECT_NAME})
+
+## Use node to generate an executable
 rclcpp_components_register_node(${PROJECT_NAME}_node
   PLUGIN "usb_cam::UsbCamNode"
   EXECUTABLE ${PROJECT_NAME}_node_exe
@@ -53,7 +68,18 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  # TODO(flynneva): add some unit and integration tests
+  find_package(ament_cmake_gtest)
+
+  # Unit tests
+  ament_add_gtest(test_usb_cam_utils
+    test/test_usb_cam_utils.cpp)
+  target_link_libraries(test_usb_cam_utils
+    ${PROJECT_NAME})
+  # Integration tests
+  ament_add_gtest(test_usb_cam_lib
+    test/test_usb_cam_lib.cpp)
+  target_link_libraries(test_usb_cam_lib
+    ${PROJECT_NAME})
 endif()
 
 install(

include/usb_cam/constants.hpp

@@ -0,0 +1,87 @@
+// Copyright 2022 Evan Flynn
+// Copyright 2014 Robert Bosch, LLC
+//
+// 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 Evan Flynn 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 USB_CAM__CONSTANTS_HPP_
+#define USB_CAM__CONSTANTS_HPP_
+
+#include <vector>
+
+namespace usb_cam
+{
+namespace constants
+{
+
+
+const std::vector<unsigned char> uchar_clipping_table = {
+  0, 0, 0, 0, 0, 0, 0, 0,        // -128 - -121
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -120 - -101
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -100 - -81
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -80  - -61
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -60  - -41
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -40  - -21
+  0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,  // -20  - -1
+  0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20,
+  21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40,
+  41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
+  61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80,
+  81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100,
+  101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115,
+  116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130,
+  131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145,
+  146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160,
+  161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175,
+  176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190,
+  191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205,
+  206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220,
+  221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235,
+  236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250,
+  251, 252, 253, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255,  // 256-263
+  255, 255, 255, 255, 255, 255, 255, 255,  // 264-271
+  255, 255, 255, 255, 255, 255, 255, 255,  // 272-279
+  255, 255, 255, 255, 255, 255, 255, 255,  // 280-287
+  255, 255, 255, 255, 255, 255, 255, 255,  // 288-295
+  255, 255, 255, 255, 255, 255, 255, 255,  // 296-303
+  255, 255, 255, 255, 255, 255, 255, 255,  // 304-311
+  255, 255, 255, 255, 255, 255, 255, 255,  // 312-319
+  255, 255, 255, 255, 255, 255, 255, 255,  // 320-327
+  255, 255, 255, 255, 255, 255, 255, 255,  // 328-335
+  255, 255, 255, 255, 255, 255, 255, 255,  // 336-343
+  255, 255, 255, 255, 255, 255, 255, 255,  // 344-351
+  255, 255, 255, 255, 255, 255, 255, 255,  // 352-359
+  255, 255, 255, 255, 255, 255, 255, 255,  // 360-367
+  255, 255, 255, 255, 255, 255, 255, 255,  // 368-375
+  255, 255, 255, 255, 255, 255, 255, 255,  // 376-383
+};
+const int clipping_table_offset = 128;
+
+}  // namespace constants
+}  // namespace usb_cam
+
+#endif  // USB_CAM__CONSTANTS_HPP_