chore: update CMake configuration and enhance project structure with installation and packaging support

.clang-format

@@ -0,0 +1,94 @@
+---
+Language: Cpp
+BasedOnStyle: LLVM
+IndentWidth: 4
+TabWidth: 4
+UseTab: Never
+ColumnLimit: 100
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortBlocksOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterObjCDeclaration: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+CommentPragmas: '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories:
+  - Regex: '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority: 2
+  - Regex: '^(<|"(gtest|gmock|isl|json)/)'
+    Priority: 3
+  - Regex: '.*'
+    Priority: 1
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IndentCaseLabels: true
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakAssignment: 2
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Right
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: C++17

.clang-tidy

@@ -0,0 +1,59 @@
+---
+Checks: >
+  -*,
+  bugprone-*,
+  cert-*,
+  cppcoreguidelines-*,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+  -cppcoreguidelines-pro-type-union-access,
+  -cppcoreguidelines-pro-bounds-constant-array-index,
+  -cppcoreguidelines-avoid-non-const-global-variables,
+  misc-*,
+  -misc-non-private-member-variables-in-classes,
+  performance-*,
+  -performance-avoid-endl,
+  readability-*,
+  -readability-magic-numbers,
+  -readability-identifier-length,
+  -readability-function-cognitive-complexity,
+  modernize-*,
+  -modernize-use-trailing-return-type,
+  -modernize-avoid-c-arrays
+
+WarningsAsErrors: ''
+HeaderFilterRegex: '.*'
+AnalyzeTemporaryDtors: false
+FormatStyle: 'file'
+User: ''
+CheckOptions:
+  - key: readability-identifier-naming.NamespaceCase
+    value: lower_case
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: readability-identifier-naming.FunctionCase
+    value: camelBack
+  - key: readability-identifier-naming.VariableCase
+    value: camelBack
+  - key: readability-identifier-naming.ParameterCase
+    value: camelBack
+  - key: readability-identifier-naming.MemberCase
+    value: camelBack
+  - key: readability-identifier-naming.PrivateMemberPrefix
+    value: m_
+  - key: readability-identifier-naming.ProtectedMemberPrefix
+    value: m_
+  - key: readability-identifier-naming.EnumCase
+    value: CamelCase
+  - key: readability-identifier-naming.EnumConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.ConstantCase
+    value: UPPER_CASE
+  - key: readability-identifier-naming.MacroDefinitionCase
+    value: UPPER_CASE
+  - key: cppcoreguidelines-special-member-functions.AllowSoleDefaultDtor
+    value: true
+  - key: cppcoreguidelines-special-member-functions.AllowMissingMoveFunctions
+    value: true

CMakeLists.txt

@@ -1,5 +1,9 @@
-cmake_minimum_required(VERSION 3.5)
-project(MyProject)
+cmake_minimum_required(VERSION 3.15)
+project(LinkerHand-CPP-SDK
+    VERSION 1.1.7
+    LANGUAGES CXX
+    DESCRIPTION "LinkerHand C++ SDK for robotic hand control"
+)
 
 if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
     set(LIB_SUBDIR "x86_64")
@@ -60,6 +64,53 @@ target_link_libraries(toolset_example ${LINKER_HAND_LIB} pthread)
 add_executable(action_group_show_l10 examples/action_group_show_l10.cpp)
 target_link_libraries(action_group_show_l10 ${LINKER_HAND_LIB} pthread)
 
+#-----------------------------------------------------------------------------
+# INSTALL TARGETS
+#-----------------------------------------------------------------------------
+# 安装头文件
+install(DIRECTORY include/
+    DESTINATION include/linkerhand-cpp-sdk
+    FILES_MATCHING PATTERN "*.h"
+)
+
+# 安装库文件
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR})
+    install(DIRECTORY lib/${LIB_SUBDIR}/
+        DESTINATION lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
+        FILES_MATCHING PATTERN "*.so*"
+    )
+endif()
+
+#-----------------------------------------------------------------------------
+# PACKAGE CONFIGURATION
+#-----------------------------------------------------------------------------
+include(CMakePackageConfigHelpers)
+
+# 创建包配置文件
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
+    VERSION ${PROJECT_VERSION}
+    COMPATIBILITY AnyNewerVersion
+)
+
+# 设置包配置变量（用于 configure_file）
+set(PACKAGE_INCLUDE_INSTALL_DIR "include/linkerhand-cpp-sdk")
+set(PACKAGE_LIB_INSTALL_DIR "lib/linkerhand-cpp-sdk/${LIB_SUBDIR}")
+
+# 创建包配置文件模板
+configure_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/cmake/LinkerHandCPPSDKConfig.cmake.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
+    @ONLY
+)
+
+# 安装包配置文件
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfig.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/LinkerHandCPPSDKConfigVersion.cmake"
+    DESTINATION lib/cmake/LinkerHandCPPSDK
+)
+
 #-----------------------------------------------------------------------------
 # TESTING
 #-----------------------------------------------------------------------------

cmake/LinkerHandCPPSDKConfig.cmake.in

@@ -0,0 +1,45 @@
+@PACKAGE_INIT@
+
+# 确定系统架构
+if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+    set(LIB_SUBDIR "x86_64")
+elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
+    set(LIB_SUBDIR "aarch64")
+else()
+    set(LIB_SUBDIR "x86_64")
+endif()
+
+# 设置包含目录和库目录（相对于安装前缀）
+set(LinkerHandCPPSDK_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../@PACKAGE_INCLUDE_INSTALL_DIR@")
+set(LinkerHandCPPSDK_LIB_DIR "${CMAKE_CURRENT_LIST_DIR}/../../@PACKAGE_LIB_INSTALL_DIR@")
+
+# 也支持从构建目录查找（用于开发时）
+list(APPEND LinkerHandCPPSDK_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}/../../include/linkerhand-cpp-sdk")
+list(APPEND LinkerHandCPPSDK_LIB_DIR "${CMAKE_CURRENT_LIST_DIR}/../../lib/linkerhand-cpp-sdk/${LIB_SUBDIR}")
+
+# 查找库文件
+find_library(LinkerHandCPPSDK_LIBRARY
+    NAMES linkerhand_cpp_sdk
+    PATHS ${LinkerHandCPPSDK_LIB_DIR}
+    NO_DEFAULT_PATH
+)
+
+# 检查库文件是否存在
+if(NOT LinkerHandCPPSDK_LIBRARY)
+    message(FATAL_ERROR "LinkerHandCPPSDK library not found in ${LinkerHandCPPSDK_LIB_DIR}")
+endif()
+
+# 设置变量供外部使用
+set(LinkerHandCPPSDK_FOUND TRUE)
+set(LinkerHandCPPSDK_VERSION @PROJECT_VERSION@)
+
+# 创建导入目标
+if(NOT TARGET LinkerHandCPPSDK::LinkerHandCPPSDK)
+    add_library(LinkerHandCPPSDK::LinkerHandCPPSDK SHARED IMPORTED)
+    set_target_properties(LinkerHandCPPSDK::LinkerHandCPPSDK PROPERTIES
+        IMPORTED_LOCATION "${LinkerHandCPPSDK_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${LinkerHandCPPSDK_INCLUDE_DIR}"
+    )
+endif()
+
+check_required_components(LinkerHandCPPSDK)

examples/toolset_example.cpp

@@ -72,8 +72,8 @@ void exit()
     running = false;
     std::string can_channel;
 
-    if (channel == COMM_TYPE::COMM_CAN_0) can_channel = "can0";
-    if (channel == COMM_TYPE::COMM_CAN_1) can_channel = "can1";
+    if (channel == COMM_CAN_0) can_channel = "can0";
+    if (channel == COMM_CAN_1) can_channel = "can1";
 
     // system(std::string("sudo /usr/sbin/ip link set " + can_channel + " down").c_str());
     exit(0);
@@ -525,13 +525,13 @@ int main()
         switch (choice)
         {
         case 1:
-            channel = COMM_TYPE::COMM_CAN_0;
+            channel = COMM_CAN_0;
             break;
         case 2:
-            channel = COMM_TYPE::COMM_CAN_1;
+            channel = COMM_CAN_1;
             break;
         case 3:
-            channel = COMM_TYPE::COMM_ETHERCAT;
+            channel = COMM_ETHERCAT;
             break;
         case 0:
             exit();

include/CanBus.h

@@ -1,6 +1,6 @@
 #ifdef __linux__
-#ifndef CAN_BUS_H
-#define CAN_BUS_H
+#ifndef LINKERHAND_CAN_BUS_H
+#define LINKERHAND_CAN_BUS_H
 
 #include <iostream>
 #include <iomanip>
@@ -25,9 +25,13 @@
 
 #include "ICanBus.h"
 
-namespace Communication //Communicator
-{
-    class CanBus : public ICanBus
+namespace linkerhand {
+namespace communication {
+
+/**
+ * @brief Linux CAN 总线实现
+ */
+class CanBus : public linkerhand::communication::ICanBus
     {
     public:
         CanBus(const std::string& interface, int bitrate, const LINKER_HAND linkerhand);
@@ -62,7 +66,12 @@ namespace Communication //Communicator
 
         LINKER_HAND linker_hand;
     };
-}
+} // namespace communication
+} // namespace linkerhand
+
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
 #endif
-#endif // CAN_BUS_H
+#endif // LINKERHAND_CAN_BUS_H
 

include/CanBusFactory.h

@@ -1,5 +1,5 @@
-#ifndef CAN_BUS_FACTORY_H
-#define CAN_BUS_FACTORY_H
+#ifndef LINKERHAND_CAN_BUS_FACTORY_H
+#define LINKERHAND_CAN_BUS_FACTORY_H
 
 #include "ICanBus.h"
 #include "CanBus.h"
@@ -10,8 +10,8 @@
 
 #include <stdexcept>
 
-namespace Communication
-{
+namespace linkerhand {
+namespace communication {
     class CanBusFactory
     {
     public:
@@ -31,17 +31,17 @@ namespace Communication
                 if (interfaceOrChannel == "can1") {
                     channel = PCAN_USBBUS2;
                 }
-                return std::make_unique<PCANBus>(channel, baudrate, linkerHand);
+                return std::make_unique<linkerhand::communication::PCANBus>(channel, baudrate, linkerHand);
 
             #else
                 // Linux/Unix 平台
                 if (interfaceOrChannel == "can0" || interfaceOrChannel == "can1") {
-                    return std::make_unique<CanBus>(interfaceOrChannel, bitrate, linkerHand);
+                    return std::make_unique<linkerhand::communication::CanBus>(interfaceOrChannel, bitrate, linkerHand);
                 } 
 
                 #if USE_ETHERCAT
                 else if (interfaceOrChannel == "ethercat") {
-                    return std::make_unique<EtherCAT>(handId);
+                    return std::make_unique<linkerhand::communication::EtherCAT>(handId);
                 }
                 #endif
 
@@ -53,6 +53,10 @@ namespace Communication
             #endif
         }
     };
-}
+} // namespace communication
+} // namespace linkerhand
 
-#endif // CAN_BUS_FACTORY_H
+// 向后兼容：在全局命名空间中提供别名
+namespace Communication = linkerhand::communication;
+
+#endif // LINKERHAND_CAN_BUS_FACTORY_H