From 3ee01ccb51288fbf0b9184972119d841eb8f3233 Mon Sep 17 00:00:00 2001
From: Minh Nguyen <minhnh.91@gmail.com>
Date: Sat, 4 Jul 2020 00:25:16 +0200
Subject: [PATCH] create executable targets, update README

* create executable targets for all cpp file under executables directory
* move control_kinova to executables dir
* explain where ABAG implementation comes from
---
 CMakeLists.txt                                | 23 +++++++++++++++----
 README.md                                     |  5 +++-
 .../control_kinova_pos.cpp                    |  0
 3 files changed, 22 insertions(+), 6 deletions(-)
 rename src/control_kinova.cpp => executables/control_kinova_pos.cpp (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 60420f3..faee34c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,11 @@ include_directories(
     ${PROJECT_SOURCE_DIR}/include
     ${PROJECT_SOURCE_DIR}/generated
 )
+
+list(APPEND control_kinova_SOURCES
+    ${PROJECT_SOURCE_DIR}/generated/abag.c
+    ${PROJECT_SOURCE_DIR}/src/kinova_util.cpp
+)
 set_source_files_properties(generated/abag.c PROPERTIES LANGUAGE CXX)
 
 link_libraries(
@@ -58,8 +63,16 @@ link_libraries(
     pthread
 )
 
-add_executable(control_kinova
-    src/control_kinova.cpp
-    src/kinova_util.cpp
-    generated/abag.c
-)
+# find all CPP files in the ./executables directory and create a executable target
+# for each of them
+file(GLOB EXE_LIST RELATIVE ${PROJECT_SOURCE_DIR} "executables/*.cpp")
+foreach ( SRC_FILE ${EXE_LIST} )
+    MESSAGE(${SRC_FILE})
+    string(REPLACE ".cpp" "" TARGET_EXE_NAME ${SRC_FILE})
+    string(REPLACE "executables/" "" TARGET_EXE_NAME ${TARGET_EXE_NAME})
+
+    MESSAGE("creating TARGET_EXE_NAME: '${TARGET_EXE_NAME}'")
+
+    add_executable(${TARGET_EXE_NAME} ${SRC_FILE} ${control_kinova_SOURCES})
+
+endforeach()
diff --git a/README.md b/README.md
index 02349bf..71af406 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,10 @@
 # kinova_control_experiments
 
 Simple impedance controller for Kinova Gen 3 arm which was tested on a real robot. This requries ROS to work because of
-`kdl_parser` for URDF files.
+`kdl_parser` for URDF files. The ABAG implementation is generated using Domain-Specific languages realized in
+[Jetbrains MPS](https://www.jetbrains.com/mps/), which can be found at the
+[`rosym-project/controller-dsl`](https://github.com/rosym-project/controller-dsl) and
+[`rosym-project/algorithm-dsl`](https://github.com/rosym-project/algorithm-dsl) repositories.
 
 ## Contents
 
diff --git a/src/control_kinova.cpp b/executables/control_kinova_pos.cpp
similarity index 100%
rename from src/control_kinova.cpp
rename to executables/control_kinova_pos.cpp