BUMP 4.0.4

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "DynamixelSDK c++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.3
+PROJECT_NUMBER         = 4.0.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

ReleaseNote.md

@@ -1,5 +1,10 @@
 # Dynamixel SDK Release Notes
 
+4.0.4 (2026-03-27)
+------------------
+* Added CMakeLists.txt for unified build system in c, c++
+* Contributors: Hyungyu Kim
+
 4.0.3 (2025-12-17)
 ------------------
 * Dynamixel Easy SDK supports Linux SBC environments, Linux 32-bit platforms, and ROS 2 based build and deployment workflows

c++/CMakeLists.txt

@@ -0,0 +1,183 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Standalone C++ SDK: configure/build from the c++/ directory (paths below are relative to c++/).
+project(dynamixel_sdk VERSION 4.0.4 LANGUAGES CXX)
+
+set(_dxl_pkg "dynamixel_sdk")
+
+# --------------------------------------------------------
+# 1. Build Environment Configuration
+# --------------------------------------------------------
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+option(DYNAMIXEL_SDK_RUN_LDCONFIG
+  "Run ldconfig after install (usually requires root). Recommended OFF."
+  OFF
+)
+
+# --------------------------------------------------------
+# 2. Build C++ Library (common sources + platform-specific, like c/CMakeLists.txt)
+# --------------------------------------------------------
+set(_dxl_common_sources
+  src/dynamixel_sdk/group_bulk_read.cpp
+  src/dynamixel_sdk/group_bulk_write.cpp
+  src/dynamixel_sdk/group_sync_read.cpp
+  src/dynamixel_sdk/group_sync_write.cpp
+  src/dynamixel_sdk/group_fast_bulk_read.cpp
+  src/dynamixel_sdk/group_fast_sync_read.cpp
+  src/dynamixel_sdk/group_handler.cpp
+  src/dynamixel_sdk/packet_handler.cpp
+  src/dynamixel_sdk/port_handler.cpp
+  src/dynamixel_sdk/protocol1_packet_handler.cpp
+  src/dynamixel_sdk/protocol2_packet_handler.cpp
+)
+
+if(APPLE)
+  set(_dxl_platform_sources
+    src/dynamixel_sdk/port_handler_mac.cpp
+  )
+elseif(WIN32)
+  set(_dxl_platform_sources
+    src/dynamixel_sdk/port_handler_windows.cpp
+  )
+else()
+  set(_dxl_platform_sources
+    src/dynamixel_sdk/port_handler_linux.cpp
+    src/dynamixel_easy_sdk/connector.cpp
+    src/dynamixel_easy_sdk/control_table.cpp
+    src/dynamixel_easy_sdk/motor.cpp
+    src/dynamixel_easy_sdk/dynamixel_error.cpp
+    src/dynamixel_easy_sdk/group_executor.cpp
+  )
+endif()
+
+set(_dxl_sources
+  ${_dxl_common_sources}
+  ${_dxl_platform_sources}
+)
+
+add_library(dynamixel_sdk SHARED ${_dxl_sources})
+
+target_include_directories(dynamixel_sdk PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  $<INSTALL_INTERFACE:include/dynamixel_sdk>
+)
+target_include_directories(dynamixel_sdk PRIVATE
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/dynamixel_sdk
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/dynamixel_easy_sdk
+)
+
+set_target_properties(dynamixel_sdk PROPERTIES
+  VERSION ${PROJECT_VERSION}
+  SOVERSION 2
+  CXX_STANDARD 17
+  CXX_STANDARD_REQUIRED ON
+  OUTPUT_NAME "dxl_cpp"
+)
+
+if(UNIX AND NOT APPLE)
+  target_link_libraries(dynamixel_sdk PRIVATE rt)
+endif()
+
+if(NOT APPLE)
+  set(_control_table_path "${CMAKE_INSTALL_PREFIX}/share/${_dxl_pkg}/control_table")
+  target_compile_definitions(dynamixel_sdk
+    PUBLIC
+      CONTROL_TABLE_PATH="${_control_table_path}"
+  )
+endif()
+
+# --------------------------------------------------------
+# 3. Installation
+# --------------------------------------------------------
+include(GNUInstallDirs)
+
+install(
+  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/dynamixel_sdk/
+  DESTINATION include/${_dxl_pkg}
+)
+
+if(UNIX AND NOT APPLE)
+  install(
+    DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/dynamixel_easy_sdk/
+    DESTINATION include/dynamixel_easy_sdk
+  )
+endif()
+
+if(NOT APPLE)
+  install(
+    DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../control_table/
+    DESTINATION share/${_dxl_pkg}/control_table
+  )
+endif()
+
+set(_dxl_cmake_package_dir "${CMAKE_INSTALL_LIBDIR}/cmake/${_dxl_pkg}")
+
+install(
+  TARGETS dynamixel_sdk
+  EXPORT dynamixel_sdkTargets
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  INCLUDES DESTINATION include
+)
+
+install(
+  EXPORT dynamixel_sdkTargets
+  FILE dynamixel_sdkTargets.cmake
+  NAMESPACE dynamixel_sdk::
+  DESTINATION ${_dxl_cmake_package_dir}
+)
+
+include(CMakePackageConfigHelpers)
+
+configure_package_config_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/dynamixel_sdkConfig.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/dynamixel_sdkConfig.cmake"
+  INSTALL_DESTINATION ${_dxl_cmake_package_dir}
+)
+
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/dynamixel_sdkConfigVersion.cmake"
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+install(
+  FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/dynamixel_sdkConfig.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/dynamixel_sdkConfigVersion.cmake"
+  DESTINATION ${_dxl_cmake_package_dir}
+)
+
+if(DYNAMIXEL_SDK_RUN_LDCONFIG AND UNIX AND NOT APPLE)
+  install(CODE "execute_process(COMMAND ldconfig)")
+endif()
+
+# --------------------------------------------------------
+# 4. Uninstall / Reinstall Targets
+# --------------------------------------------------------
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+  IMMEDIATE @ONLY
+)
+
+if(NOT TARGET uninstall)
+  add_custom_target(uninstall
+    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+    COMMENT "Uninstalling DynamixelSDK (C++)..."
+  )
+endif()
+
+if(NOT TARGET reinstall)
+  add_custom_target(reinstall
+    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+    COMMAND ${CMAKE_COMMAND} --build ${CMAKE_CURRENT_BINARY_DIR} --target install
+    COMMENT "Reinstalling DynamixelSDK (C++)..."
+  )
+endif()

c++/cmake/cmake_uninstall.cmake.in

@@ -0,0 +1,53 @@
+# Uninstall files listed in install_manifest.txt (created by cmake --install).
+# Configured from cmake_uninstall.cmake.in via configure_file(... IMMEDIATE @ONLY).
+
+if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR
+    "Cannot find @CMAKE_BINARY_DIR@/install_manifest.txt\n"
+    "Run: cmake --install <build-dir> (or make install) at least once so the manifest exists."
+  )
+endif()
+
+file(STRINGS "@CMAKE_BINARY_DIR@/install_manifest.txt" _dxl_installed_files)
+
+foreach(_dxl_file IN LISTS _dxl_installed_files)
+  string(STRIP "${_dxl_file}" _dxl_file)
+  if(_dxl_file STREQUAL "")
+    continue()
+  endif()
+  message(STATUS "Uninstalling: ${_dxl_file}")
+  # EXISTS is false for broken symlinks, so also check IS_SYMLINK.
+  if(EXISTS "${_dxl_file}" OR IS_SYMLINK "${_dxl_file}")
+    file(REMOVE "${_dxl_file}")
+  endif()
+endforeach()
+
+# Remove installed directories (manifest only removes files).
+# Derive prefix from install_manifest.txt paths so --prefix overrides work.
+set(_dxl_prefix "")
+foreach(_dxl_file IN LISTS _dxl_installed_files)
+  string(STRIP "${_dxl_file}" _dxl_file_stripped)
+  if(_dxl_file_stripped STREQUAL "")
+    continue()
+  endif()
+
+  # Example:
+  #   ${prefix}/include/dynamixel_sdk/dynamixel_sdk.h
+  if(_dxl_file_stripped MATCHES "^(.*)/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_sdk/.*$")
+    set(_dxl_prefix "${CMAKE_MATCH_1}")
+    break()
+  endif()
+endforeach()
+
+if(NOT _dxl_prefix STREQUAL "")
+  file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_sdk")
+  if(NOT APPLE)
+    file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_easy_sdk")
+  endif()
+
+  if(NOT APPLE)
+    file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_DATAROOTDIR@/dynamixel_sdk/control_table")
+  endif()
+
+  file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_LIBDIR@/cmake/dynamixel_sdk")
+endif()

c++/cmake/dynamixel_sdkConfig.cmake.in

@@ -0,0 +1,4 @@
+@PACKAGE_INIT@
+
+# Imported target: dynamixel_sdk::dynamixel_sdk
+include("${CMAKE_CURRENT_LIST_DIR}/dynamixel_sdkTargets.cmake")

c++/example/dxl_monitor/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Standalone build for C++ DXL Monitor example (uses installed dynamixel_sdk).
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  project(dynamixel_sdk_cpp_examples_dxl_monitor LANGUAGES CXX)
+endif()
+
+find_package(dynamixel_sdk CONFIG REQUIRED)
+
+add_executable(dxl_monitor "${CMAKE_CURRENT_SOURCE_DIR}/dxl_monitor.cpp")
+target_link_libraries(dxl_monitor PRIVATE dynamixel_sdk::dynamixel_sdk)
+

c++/example/protocol1.0/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Standalone build for C++ Protocol 1.0 examples (uses installed dynamixel_sdk).
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  project(dynamixel_sdk_cpp_examples_protocol1 LANGUAGES CXX)
+endif()
+
+find_package(dynamixel_sdk CONFIG REQUIRED)
+
+set(_dxl_protocol1_examples
+  sync_write
+  reset
+  multi_port
+  read_write
+  ping
+  bulk_read
+)
+
+foreach(_dxl_example IN LISTS _dxl_protocol1_examples)
+  set(_dxl_src "${CMAKE_CURRENT_SOURCE_DIR}/${_dxl_example}/${_dxl_example}.cpp")
+  if(NOT EXISTS "${_dxl_src}")
+    message(FATAL_ERROR "Missing example source: ${_dxl_src}")
+  endif()
+
+  set(_dxl_target "${_dxl_example}")
+  add_executable(${_dxl_target} "${_dxl_src}")
+  target_link_libraries(${_dxl_target} PRIVATE dynamixel_sdk::dynamixel_sdk)
+endforeach()
+

c++/example/protocol2.0/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Standalone build for C++ Protocol 2.0 examples (uses installed dynamixel_sdk).
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  project(dynamixel_sdk_cpp_examples_protocol2 LANGUAGES CXX)
+endif()
+
+find_package(dynamixel_sdk CONFIG REQUIRED)
+
+set(_dxl_protocol2_examples
+  broadcast_ping
+  ping
+  read_write
+  sync_read_write
+  reboot
+  multi_port
+  clear_multi_turn
+  factory_reset
+  indirect_address
+  fast_sync_read
+  fast_bulk_read
+  bulk_read_write
+)
+
+foreach(_dxl_example IN LISTS _dxl_protocol2_examples)
+  set(_dxl_src "${CMAKE_CURRENT_SOURCE_DIR}/${_dxl_example}/${_dxl_example}.cpp")
+  if(NOT EXISTS "${_dxl_src}")
+    message(FATAL_ERROR "Missing example source: ${_dxl_src}")
+  endif()
+
+  set(_dxl_target "${_dxl_example}")
+  add_executable(${_dxl_target} "${_dxl_src}")
+  target_link_libraries(${_dxl_target} PRIVATE dynamixel_sdk::dynamixel_sdk)
+endforeach()
+

c++/example/protocol_combined/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.10)
+
+# Standalone build for C++ Protocol Combined example (uses installed dynamixel_sdk).
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  project(dynamixel_sdk_cpp_examples_protocol_combined LANGUAGES CXX)
+endif()
+
+find_package(dynamixel_sdk CONFIG REQUIRED)
+
+add_executable(protocol_combined
+  "${CMAKE_CURRENT_SOURCE_DIR}/protocol_combined.cpp"
+)
+target_link_libraries(protocol_combined PRIVATE dynamixel_sdk::dynamixel_sdk)
+

c++/library.properties

@@ -1,5 +1,5 @@
 name=DynamixelSDK
-version=4.0.3
+version=4.0.4
 author=ROBOTIS
 maintainer=ROBOTIS
 sentence=DynamixelSDK for Arduino