Resolved the issue where the build was failing on SBC

[yun-goon]

Description

Fixed the issue where the Workbench example was not building on SBC by adding the ARM option.

Testing & Validation

Verified that it builds successfully on the TurtleBot3 SBC without any issues.

Motivation

#301 #294

[Copilot]

Copilot reviewed 26 out of 26 changed files in this pull request and generated no comments.

[gemini-code-assist]

Hello @yun-goon, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request addresses issue #301, where the Workbench example was failing to build on SBC (Single Board Computers). The fix involves adding an ARM option to the CMakeLists.txt file to link against the correct library for SBC architectures. Additionally, there are minor formatting changes across multiple C++ example files, primarily adjusting spacing and line endings.

Highlights

• Build Fix: The primary change is to enable building the dynamixel_workbench_toolbox examples on ARM-based SBCs by linking against libdxl_sbc_cpp.so when the system processor is ARM or AArch64.
• CMakeLists.txt Modification: The CMakeLists.txt file in the dynamixel_workbench_toolbox/examples/ directory is updated to include a conditional library link based on the system processor architecture.
• Minor Formatting Changes: Several C++ example files in dynamixel_workbench_toolbox/examples/src/ have been modified to adjust spacing and ensure consistent line endings.

Changelog

Click here to see the changelog

• dynamixel_workbench_toolbox/examples/CMakeLists.txt
  • Added conditional logic to link libdxl_sbc_cpp.so when the system processor is ARM or AArch64.
  • Ensured that the monitor target links against dynamixel_workbench.
• dynamixel_workbench_toolbox/examples/src/a_Model_Scan.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/b_Ping.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
• dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/g_Reset.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/h_Position.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/n_Bulk_Read_Write.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/o_Find_Dynamixel.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/examples/src/p_Monitor.cpp
  • Minor formatting changes to the main function declaration.
  • Adjusted spacing around the printf function call.
  • Ensured consistent line endings.
• dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_driver.h
  • Minor formatting changes to typedef struct and class DynamixelDriver.
• dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_item.h
  • Minor formatting changes to typedef struct.
• dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_tool.h
  • Minor formatting changes to class DynamixelTool.
• dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_workbench.h
  • Minor formatting changes to class DynamixelWorkbench.
• dynamixel_workbench_toolbox/src/DynamixelWorkbench.h
  • Removed an extra newline at the end of the file.
• dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
  • Minor formatting changes to class DynamixelDriver.
• dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_item.cpp
  • Minor formatting changes to static const ModelInfo and static const ControlItem.
• dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp
  • Minor formatting changes to typedef struct and class DynamixelTool.
• dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_workbench.cpp
  • Minor formatting changes to class DynamixelWorkbench.

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[gemini-code-assist]

Code Review

The pull request addresses an issue where the Workbench example was failing to build on SBC by adding the ARM option. The changes look good overall, but I have a few suggestions to improve the code's maintainability and readability.

Summary of Findings

• Conditional Compilation: The use of CMAKE_SYSTEM_PROCESSOR to detect ARM architectures is a good approach, but it might be beneficial to add a comment explaining why this is necessary and linking to the relevant issue.
• Code Consistency: There are some inconsistencies in the use of whitespace and indentation across the changed files. While not critical, addressing these would improve the code's overall readability.
• Missing newline at end of file: Many of the C++ files are missing a newline at the end of the file. This is a common convention, and adding it would improve consistency.

Merge Readiness

The pull request addresses a valid issue and the changes seem to resolve it. However, addressing the comments related to code consistency and adding a comment to explain the conditional compilation would improve the code's quality. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. I recommend that the author address the comments before merging.

[gemini-code-assist]

Consider adding a comment here to explain why this conditional compilation is necessary and linking to the issue. This will help future developers understand the context of this change.

elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "arm" OR CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64") # Added for SBC build (Issue #301)
  target_link_libraries(dynamixel_workbench LINK_PUBLIC "/usr/local/lib/libdxl_sbc_cpp.so")

[robotpilot]

@yun-goon, please add the CI at least. The Lint can be added later.

[GyuH13]

Good. It seems that users' inconvenience will be reduced.

[yun-goon]

@robotpilot Added CI for the Humble version

[robotpilot]

LGTM