Move udp_board and rosflight_firmware to sim package

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "rosflight_io/include/rosflight_io/mavlink/v1.0"]
 	path = rosflight_io/include/rosflight_io/mavlink/v1.0
 	url = https://github.com/rosflight/mavlink_c_library.git
-[submodule "rosflight_firmware/rosflight_firmware"]
-	path = rosflight_firmware/rosflight_firmware
+[submodule "rosflight_sim/include/rosflight_sim/rosflight_firmware"]
+	path = rosflight_sim/include/rosflight_sim/rosflight_firmware
 	url = https://github.com/rosflight/rosflight_firmware.git

rosflight_pkgs/package.xml

@@ -18,7 +18,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>rosflight_io</exec_depend>
-  <exec_depend>rosflight_firmware</exec_depend>
   <exec_depend>rosflight_msgs</exec_depend>
   <exec_depend>rosflight_sim</exec_depend>
   <exec_depend>rosflight_utils</exec_depend>

rosflight_sim/CMakeLists.txt

@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
-add_compile_options(-Wall)
+add_compile_options(-Wall -fPIC)
 
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE "Release")
@@ -21,44 +21,128 @@ find_package(gazebo_plugins REQUIRED)
 find_package(gazebo_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
-find_package(rosflight_firmware REQUIRED)
 find_package(rosflight_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+
+##############
+## Firmware ##
+##############
+
+set(FIRMWARE_INCLUDE_DIRS
+  include/rosflight_sim/rosflight_firmware/include/
+  include/rosflight_sim/rosflight_firmware/lib/
+  include/rosflight_sim/rosflight_firmware/comms/
+  include/rosflight_sim/rosflight_firmware/test/
+)
+
+include_directories(
+  ${FIRMWARE_INCLUDE_DIRS}
+)
+
+# clone firmware submodule if it is missing
+set(FIRMWARE_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include/rosflight_sim/rosflight_firmware")
+if(NOT EXISTS "${FIRMWARE_SUBMODULE_DIR}/.git")
+  message(STATUS "Firmware submodule not found at ${FIRMWARE_SUBMODULE_DIR}")
+  execute_process(
+          COMMAND git submodule update --init --recursive
+          WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  )
+endif()
+
+# Git information
+execute_process(COMMAND git rev-parse --short=8 HEAD
+        OUTPUT_VARIABLE GIT_VERSION_HASH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rosflight_firmware)
+
+execute_process(COMMAND git describe --tags --abbrev=8 --always --dirty --long
+        OUTPUT_VARIABLE GIT_VERSION_STRING
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/rosflight_firmware)
+
+if("${GIT_VERSION_STRING}" STREQUAL "")
+  set(GIT_VERSION_STRING "undefined")
+endif()
+
+if("${GIT_VERSION_HASH}" STREQUAL "")
+  set(GIT_VERSION_HASH "0")
+endif()
+
+# rosflight_firmware
+add_library(rosflight_firmware
+  include/rosflight_sim/rosflight_firmware/src/rosflight.cpp
+  include/rosflight_sim/rosflight_firmware/src/nanoprintf.cpp
+  include/rosflight_sim/rosflight_firmware/src/estimator.cpp
+  include/rosflight_sim/rosflight_firmware/src/mixer.cpp
+  include/rosflight_sim/rosflight_firmware/src/controller.cpp
+  include/rosflight_sim/rosflight_firmware/src/param.cpp
+  include/rosflight_sim/rosflight_firmware/src/state_manager.cpp
+  include/rosflight_sim/rosflight_firmware/src/rc.cpp
+  include/rosflight_sim/rosflight_firmware/src/command_manager.cpp
+  include/rosflight_sim/rosflight_firmware/src/sensors.cpp
+  include/rosflight_sim/rosflight_firmware/src/comm_manager.cpp
+
+  include/rosflight_sim/rosflight_firmware/comms/mavlink/mavlink.cpp
+
+  include/rosflight_sim/rosflight_firmware/lib/turbomath/turbomath.cpp
+)
+target_compile_definitions(rosflight_firmware PUBLIC
+  GIT_VERSION_HASH=0x${GIT_VERSION_HASH}
+  GIT_VERSION_STRING=\"${GIT_VERSION_STRING}\"
+)
+ament_export_targets(rosflight_firmwareTargets HAS_LIBRARY_TARGET)
+install(
+  TARGETS rosflight_firmware
+  EXPORT rosflight_firmwareTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+
+###################
+## ROSflight SIL ##
+###################
 
 include_directories(include
   ${ament_INCLUDE_DIRS}
   ${rclcpp_INLCUDE_DIRS}
   ${Eigen_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
   ${SDFormat_INCLUDE_DIRS}
-  )
+  ${Boost_INCLUDE_DIRS}
+)
 link_directories(${GAZEBO_LIBRARY_DIRS})
 
 add_library(rosflight_sil_plugin SHARED
   src/rosflight_sil.cpp
   src/sil_board.cpp
+  src/udp_board.cpp
   src/multirotor_forces_and_moments.cpp
   src/fixedwing_forces_and_moments.cpp
-  )
+)
 target_link_libraries(rosflight_sil_plugin
+  rosflight_firmware
   ${rclcpp_INLCUDE_DIRS}
   ${ament_INCLUDE_DIRS}
   ${GAZEBO_LIBRARIES}
-  )
+  ${Boost_LIBRARIES}
+)
 ament_target_dependencies(rosflight_sil_plugin
   rclcpp
   geometry_msgs
   nav_msgs
-  rosflight_firmware
   rosflight_msgs
   gazebo_ros
-  )
+)
 ament_export_targets(rosflight_sil_pluginTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   rclcpp
   geometry_msgs
   nav_msgs
-  rosflight_firmware
   rosflight_msgs
   gazebo_ros
 )
@@ -72,12 +156,16 @@ install(
   INCLUDES DESTINATION include
 )
 
+
+#############
+## Install ##
+#############
+
 install(
   DIRECTORY include/${PROJECT_NAME}
   DESTINATION include/${PROJECT_NAME}
 )
 
-# Install launch files.
 install(
   DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}