From 0cdea959dfed0c71c45db35db314e08dbb4b28fe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= Date: Fri, 19 Oct 2018 16:48:02 +0200 Subject: [PATCH] Code stable, serveur included in binary --- .../superviseur-robot/superviseur/.gitignore | 1 + .../superviseur-robot/superviseur/gdbsudo.sh | 2 + .../superviseur/nbproject/Makefile-Debug.mk | 119 +++++++++++++ .../superviseur/nbproject/Makefile-Release.mk | 119 +++++++++++++ .../superviseur/nbproject/Makefile-impl.mk | 133 +++++++++++++++ .../nbproject/Makefile-variables.mk | 35 ++++ .../superviseur/nbproject/Package-Debug.bash | 76 +++++++++ .../nbproject/Package-Release.bash | 76 +++++++++ .../superviseur/nbproject/configurations.xml | 156 ++++++++++++++++++ .../nbproject/private/Makefile-variables.mk | 7 + .../private/c_standard_headers_indexer.c | 75 +++++++++ .../nbproject/private/configurations.xml | 78 +++++++++ .../private/cpp_standard_headers_indexer.cpp | 135 +++++++++++++++ .../nbproject/private/launcher.properties | 42 +++++ .../superviseur/nbproject/private/private.xml | 13 ++ .../superviseur/nbproject/project.xml | 28 ++++ .../superviseur/src/functions.cpp | 31 ++-- .../superviseur/src/functions.h | 1 + 18 files changed, 1117 insertions(+), 10 deletions(-) create mode 100755 software/raspberry/superviseur-robot/superviseur/gdbsudo.sh create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml create mode 100644 software/raspberry/superviseur-robot/superviseur/nbproject/project.xml diff --git a/software/raspberry/superviseur-robot/superviseur/.gitignore b/software/raspberry/superviseur-robot/superviseur/.gitignore index f7365e8..5ceb27c 100644 --- a/software/raspberry/superviseur-robot/superviseur/.gitignore +++ b/software/raspberry/superviseur-robot/superviseur/.gitignore @@ -1,6 +1,7 @@ bin/ build/ CMakeFiles/ +dist/ .dep.inc Makefile diff --git a/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh b/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh new file mode 100755 index 0000000..726620f --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh @@ -0,0 +1,2 @@ +#!/bin/bash +pkexec /usr/bin/gdb $* diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk new file mode 100644 index 0000000..c6e9fa6 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk @@ -0,0 +1,119 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Debug +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/_ext/a59f760b/image.o \ + ${OBJECTDIR}/_ext/a59f760b/message.o \ + ${OBJECTDIR}/_ext/a59f760b/monitor.o \ + ${OBJECTDIR}/_ext/a59f760b/robot.o \ + ${OBJECTDIR}/_ext/a59f760b/server.o \ + ${OBJECTDIR}/src/functions.o \ + ${OBJECTDIR}/src/main.o + + +# C Compiler Flags +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# CC Compiler Flags +CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS=`pkg-config --libs opencv` + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + +${OBJECTDIR}/_ext/a59f760b/image.o: ../lib/src/image.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/image.o ../lib/src/image.cpp + +${OBJECTDIR}/_ext/a59f760b/message.o: ../lib/src/message.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/message.o ../lib/src/message.cpp + +${OBJECTDIR}/_ext/a59f760b/monitor.o: ../lib/src/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/monitor.o ../lib/src/monitor.cpp + +${OBJECTDIR}/_ext/a59f760b/robot.o: ../lib/src/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/robot.o ../lib/src/robot.cpp + +${OBJECTDIR}/_ext/a59f760b/server.o: ../lib/src/server.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/server.o ../lib/src/server.cpp + +${OBJECTDIR}/src/functions.o: src/functions.cpp + ${MKDIR} -p ${OBJECTDIR}/src + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/functions.o src/functions.cpp + +${OBJECTDIR}/src/main.o: src/main.cpp + ${MKDIR} -p ${OBJECTDIR}/src + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/main.o src/main.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk new file mode 100644 index 0000000..e888d88 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk @@ -0,0 +1,119 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Release +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/_ext/a59f760b/image.o \ + ${OBJECTDIR}/_ext/a59f760b/message.o \ + ${OBJECTDIR}/_ext/a59f760b/monitor.o \ + ${OBJECTDIR}/_ext/a59f760b/robot.o \ + ${OBJECTDIR}/_ext/a59f760b/server.o \ + ${OBJECTDIR}/src/functions.o \ + ${OBJECTDIR}/src/main.o + + +# C Compiler Flags +CFLAGS= + +# CC Compiler Flags +CCFLAGS= +CXXFLAGS= + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS= + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur ${OBJECTFILES} ${LDLIBSOPTIONS} + +${OBJECTDIR}/_ext/a59f760b/image.o: ../lib/src/image.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/image.o ../lib/src/image.cpp + +${OBJECTDIR}/_ext/a59f760b/message.o: ../lib/src/message.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/message.o ../lib/src/message.cpp + +${OBJECTDIR}/_ext/a59f760b/monitor.o: ../lib/src/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/monitor.o ../lib/src/monitor.cpp + +${OBJECTDIR}/_ext/a59f760b/robot.o: ../lib/src/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/robot.o ../lib/src/robot.cpp + +${OBJECTDIR}/_ext/a59f760b/server.o: ../lib/src/server.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/server.o ../lib/src/server.cpp + +${OBJECTDIR}/src/functions.o: src/functions.cpp + ${MKDIR} -p ${OBJECTDIR}/src + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/functions.o src/functions.cpp + +${OBJECTDIR}/src/main.o: src/main.cpp + ${MKDIR} -p ${OBJECTDIR}/src + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/main.o src/main.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk new file mode 100644 index 0000000..237840c --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk @@ -0,0 +1,133 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a pre- and a post- target defined where you can add customization code. +# +# This makefile implements macros and targets common to all configurations. +# +# NOCDDL + + +# Building and Cleaning subprojects are done by default, but can be controlled with the SUB +# macro. If SUB=no, subprojects will not be built or cleaned. The following macro +# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf +# and .clean-reqprojects-conf unless SUB has the value 'no' +SUB_no=NO +SUBPROJECTS=${SUB_${SUB}} +BUILD_SUBPROJECTS_=.build-subprojects +BUILD_SUBPROJECTS_NO= +BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}} +CLEAN_SUBPROJECTS_=.clean-subprojects +CLEAN_SUBPROJECTS_NO= +CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}} + + +# Project Name +PROJECTNAME=superviseur + +# Active Configuration +DEFAULTCONF=Debug +CONF=${DEFAULTCONF} + +# All Configurations +ALLCONFS=Debug Release + + +# build +.build-impl: .build-pre .validate-impl .depcheck-impl + @#echo "=> Running $@... Configuration=$(CONF)" + "${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf + + +# clean +.clean-impl: .clean-pre .validate-impl .depcheck-impl + @#echo "=> Running $@... Configuration=$(CONF)" + "${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf + + +# clobber +.clobber-impl: .clobber-pre .depcheck-impl + @#echo "=> Running $@..." + for CONF in ${ALLCONFS}; \ + do \ + "${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf; \ + done + +# all +.all-impl: .all-pre .depcheck-impl + @#echo "=> Running $@..." + for CONF in ${ALLCONFS}; \ + do \ + "${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf; \ + done + +# build tests +.build-tests-impl: .build-impl .build-tests-pre + @#echo "=> Running $@... Configuration=$(CONF)" + "${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-tests-conf + +# run tests +.test-impl: .build-tests-impl .test-pre + @#echo "=> Running $@... Configuration=$(CONF)" + "${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .test-conf + +# dependency checking support +.depcheck-impl: + @echo "# This code depends on make tool being used" >.dep.inc + @if [ -n "${MAKE_VERSION}" ]; then \ + echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES} \$${TESTOBJECTFILES}))" >>.dep.inc; \ + echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \ + echo "include \$${DEPFILES}" >>.dep.inc; \ + echo "endif" >>.dep.inc; \ + else \ + echo ".KEEP_STATE:" >>.dep.inc; \ + echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \ + fi + +# configuration validation +.validate-impl: + @if [ ! -f nbproject/Makefile-${CONF}.mk ]; \ + then \ + echo ""; \ + echo "Error: can not find the makefile for configuration '${CONF}' in project ${PROJECTNAME}"; \ + echo "See 'make help' for details."; \ + echo "Current directory: " `pwd`; \ + echo ""; \ + fi + @if [ ! -f nbproject/Makefile-${CONF}.mk ]; \ + then \ + exit 1; \ + fi + + +# help +.help-impl: .help-pre + @echo "This makefile supports the following configurations:" + @echo " ${ALLCONFS}" + @echo "" + @echo "and the following targets:" + @echo " build (default target)" + @echo " clean" + @echo " clobber" + @echo " all" + @echo " help" + @echo "" + @echo "Makefile Usage:" + @echo " make [CONF=] [SUB=no] build" + @echo " make [CONF=] [SUB=no] clean" + @echo " make [SUB=no] clobber" + @echo " make [SUB=no] all" + @echo " make help" + @echo "" + @echo "Target 'build' will build a specific configuration and, unless 'SUB=no'," + @echo " also build subprojects." + @echo "Target 'clean' will clean a specific configuration and, unless 'SUB=no'," + @echo " also clean subprojects." + @echo "Target 'clobber' will remove all built files from all configurations and," + @echo " unless 'SUB=no', also from subprojects." + @echo "Target 'all' will will build all configurations and, unless 'SUB=no'," + @echo " also build subprojects." + @echo "Target 'help' prints this message." + @echo "" + diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk new file mode 100644 index 0000000..5abb299 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk @@ -0,0 +1,35 @@ +# +# Generated - do not edit! +# +# NOCDDL +# +CND_BASEDIR=`pwd` +CND_BUILDDIR=build +CND_DISTDIR=dist +# Debug configuration +CND_PLATFORM_Debug=GNU-Linux +CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux +CND_ARTIFACT_NAME_Debug=superviseur +CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/superviseur +CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package +CND_PACKAGE_NAME_Debug=superviseur.tar +CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/superviseur.tar +# Release configuration +CND_PLATFORM_Release=GNU-Linux +CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux +CND_ARTIFACT_NAME_Release=superviseur +CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/superviseur +CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package +CND_PACKAGE_NAME_Release=superviseur.tar +CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/superviseur.tar +# +# include compiler specific variables +# +# dmake command +ROOT:sh = test -f nbproject/private/Makefile-variables.mk || \ + (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk) +# +# gmake command +.PHONY: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)) +# +include nbproject/private/Makefile-variables.mk diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash b/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash new file mode 100644 index 0000000..7491245 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=Debug +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur +OUTPUT_BASENAME=superviseur +PACKAGE_TOP_DIR=superviseur/ + +# Functions +function checkReturnCode +{ + rc=$? + if [ $rc != 0 ] + then + exit $rc + fi +} +function makeDirectory +# $1 directory path +# $2 permission (optional) +{ + mkdir -p "$1" + checkReturnCode + if [ "$2" != "" ] + then + chmod $2 "$1" + checkReturnCode + fi +} +function copyFileToTmpDir +# $1 from-file path +# $2 to-file path +# $3 permission +{ + cp "$1" "$2" + checkReturnCode + if [ "$3" != "" ] + then + chmod $3 "$2" + checkReturnCode + fi +} + +# Setup +cd "${TOP}" +mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package +rm -rf ${NBTMPDIR} +mkdir -p ${NBTMPDIR} + +# Copy files and create directories and links +cd "${TOP}" +makeDirectory "${NBTMPDIR}/superviseur/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash b/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash new file mode 100644 index 0000000..76f5a7f --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=Release +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur +OUTPUT_BASENAME=superviseur +PACKAGE_TOP_DIR=superviseur/ + +# Functions +function checkReturnCode +{ + rc=$? + if [ $rc != 0 ] + then + exit $rc + fi +} +function makeDirectory +# $1 directory path +# $2 permission (optional) +{ + mkdir -p "$1" + checkReturnCode + if [ "$2" != "" ] + then + chmod $2 "$1" + checkReturnCode + fi +} +function copyFileToTmpDir +# $1 from-file path +# $2 to-file path +# $3 permission +{ + cp "$1" "$2" + checkReturnCode + if [ "$3" != "" ] + then + chmod $3 "$2" + checkReturnCode + fi +} + +# Setup +cd "${TOP}" +mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package +rm -rf ${NBTMPDIR} +mkdir -p ${NBTMPDIR} + +# Copy files and create directories and links +cd "${TOP}" +makeDirectory "${NBTMPDIR}/superviseur/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml b/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml new file mode 100644 index 0000000..2dcc404 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml @@ -0,0 +1,156 @@ + + + + + ./src/functions.h + ../lib/image.h + ../lib/message.h + ../lib/monitor.h + ../lib/robot.h + ../lib/server.h + + + gdbsudo.sh + + + ./src/functions.cpp + ../lib/src/image.cpp + ./src/main.cpp + ../lib/src/message.cpp + ../lib/src/monitor.cpp + ../lib/src/robot.cpp + ../lib/src/server.cpp + + + + + Makefile + + + Makefile + + + + default + true + false + + + + + src + ../lib + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + + + src + ../lib + /usr/xenomai/include + /usr/xenomai/include/mercury + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + _WITH_TRACE_ + + + + + `pkg-config --libs opencv` + + -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + default + true + false + + + + 5 + + + 5 + + + 5 + + + 5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk new file mode 100644 index 0000000..a64183e --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk @@ -0,0 +1,7 @@ +# +# Generated - do not edit! +# +# NOCDDL +# +# Debug configuration +# Release configuration diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c b/software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c new file mode 100644 index 0000000..c2548d2 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c @@ -0,0 +1,75 @@ +/* + * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER. + * + * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved. + * + * Oracle and Java are registered trademarks of Oracle and/or its affiliates. + * Other names may be trademarks of their respective owners. + * + * The contents of this file are subject to the terms of either the GNU + * General Public License Version 2 only ("GPL") or the Common + * Development and Distribution License("CDDL") (collectively, the + * "License"). You may not use this file except in compliance with the + * License. You can obtain a copy of the License at + * http://www.netbeans.org/cddl-gplv2.html + * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the + * specific language governing permissions and limitations under the + * License. When distributing the software, include this License Header + * Notice in each file and include the License file at + * nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this + * particular file as subject to the "Classpath" exception as provided + * by Oracle in the GPL Version 2 section of the License file that + * accompanied this code. If applicable, add the following below the + * License Header, with the fields enclosed by brackets [] replaced by + * your own identifying information: + * "Portions Copyrighted [year] [name of copyright owner]" + * + * If you wish your version of this file to be governed by only the CDDL + * or only the GPL Version 2, indicate your decision by adding + * "[Contributor] elects to include this software in this distribution + * under the [CDDL or GPL Version 2] license." If you do not indicate a + * single choice of license, a recipient has the option to distribute + * your version of this file under either the CDDL, the GPL Version 2 or + * to extend the choice of license to its licensees as provided above. + * However, if you add GPL Version 2 code and therefore, elected the GPL + * Version 2 license, then the option applies only if the new code is + * made subject to such option by the copyright holder. + * + * Contributor(s): + */ + +// List of standard headers was taken in http://en.cppreference.com/w/c/header + +#include // Conditionally compiled macro that compares its argument to zero +#include // Functions to determine the type contained in character data +#include // Macros reporting error conditions +#include // Limits of float types +#include // Sizes of basic types +#include // Localization utilities +#include // Common mathematics functions +#include // Nonlocal jumps +#include // Signal handling +#include // Variable arguments +#include // Common macro definitions +#include // Input/output +#include // String handling +#include // General utilities: memory management, program utilities, string conversions, random numbers +#include // Time/date utilities +#include // (since C95) Alternative operator spellings +#include // (since C95) Extended multibyte and wide character utilities +#include // (since C95) Wide character classification and mapping utilities +#ifdef _STDC_C99 +#include // (since C99) Complex number arithmetic +#include // (since C99) Floating-point environment +#include // (since C99) Format conversion of integer types +#include // (since C99) Boolean type +#include // (since C99) Fixed-width integer types +#include // (since C99) Type-generic math (macros wrapping math.h and complex.h) +#endif +#ifdef _STDC_C11 +#include // (since C11) alignas and alignof convenience macros +#include // (since C11) Atomic types +#include // (since C11) noreturn convenience macros +#include // (since C11) Thread library +#include // (since C11) UTF-16 and UTF-32 character utilities +#endif diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml new file mode 100644 index 0000000..95d455f --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml @@ -0,0 +1,78 @@ + + + Makefile + + + + localhost + 2 + + + + + + + + + + + + + + + + + gdb + + + + sudo "${OUTPUT_PATH}" + sudo -E "${OUTPUT_PATH}" + pkexec "${OUTPUT_PATH}" + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 1 + 0 + 0 + + + + + + + localhost + 2 + + + + + + + + + + + + + + + gdb + + + + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 0 + 0 + + + + + + diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp b/software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp new file mode 100644 index 0000000..04f6fa6 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp @@ -0,0 +1,135 @@ +/* + * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER. + * + * Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved. + * + * Oracle and Java are registered trademarks of Oracle and/or its affiliates. + * Other names may be trademarks of their respective owners. + * + * The contents of this file are subject to the terms of either the GNU + * General Public License Version 2 only ("GPL") or the Common + * Development and Distribution License("CDDL") (collectively, the + * "License"). You may not use this file except in compliance with the + * License. You can obtain a copy of the License at + * http://www.netbeans.org/cddl-gplv2.html + * or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the + * specific language governing permissions and limitations under the + * License. When distributing the software, include this License Header + * Notice in each file and include the License file at + * nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this + * particular file as subject to the "Classpath" exception as provided + * by Oracle in the GPL Version 2 section of the License file that + * accompanied this code. If applicable, add the following below the + * License Header, with the fields enclosed by brackets [] replaced by + * your own identifying information: + * "Portions Copyrighted [year] [name of copyright owner]" + * + * If you wish your version of this file to be governed by only the CDDL + * or only the GPL Version 2, indicate your decision by adding + * "[Contributor] elects to include this software in this distribution + * under the [CDDL or GPL Version 2] license." If you do not indicate a + * single choice of license, a recipient has the option to distribute + * your version of this file under either the CDDL, the GPL Version 2 or + * to extend the choice of license to its licensees as provided above. + * However, if you add GPL Version 2 code and therefore, elected the GPL + * Version 2 license, then the option applies only if the new code is + * made subject to such option by the copyright holder. + * + * Contributor(s): + */ + +// List of standard headers was taken in http://en.cppreference.com/w/cpp/header + +#include // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search +#include // Functions and macro constants for signal management +#include // Macro (and function) that saves (and jumps) to an execution context +#include // Handling of variable length argument lists +#include // Runtime type information utilities +#include // std::bitset class template +#include // Function objects, designed for use with the standard algorithms +#include // Various utility components +#include // C-style time/date utilites +#include // typedefs for types such as size_t, NULL and others +#include // Low-level memory management utilities +#include // Higher level memory management utilities +#include // limits of integral types +#include // limits of float types +#include // standardized way to query properties of arithmetic types +#include // Exception handling utilities +#include // Standard exception objects +#include // Conditionally compiled macro that compares its argument to zero +#include // Macro containing the last error number +#include // functions to determine the type contained in character data +#include // functions for determining the type of wide character data +#include // various narrow character string handling functions +#include // various wide and multibyte string handling functions +#include // std::basic_string class template +#include // std::vector container +#include // std::deque container +#include // std::list container +#include // std::set and std::multiset associative containers +#include // std::map and std::multimap associative containers +#include // std::stack container adaptor +#include // std::queue and std::priority_queue container adaptors +#include // Algorithms that operate on containers +#include // Container iterators +#include // Common mathematics functions +#include // Complex number type +#include // Class for representing and manipulating arrays of values +#include // Numeric operations on values in containers +#include // forward declarations of all classes in the input/output library +#include // std::ios_base class, std::basic_ios class template and several typedefs +#include // std::basic_istream class template and several typedefs +#include // std::basic_ostream, std::basic_iostream class templates and several typedefs +#include // several standard stream objects +#include // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs +#include // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs +#include // std::strstream, std::istrstream, std::ostrstream(deprecated) +#include // Helper functions to control the format or input and output +#include // std::basic_streambuf class template +#include // C-style input-output functions +#include // Localization utilities +#include // C localization utilities +#include // empty header. The macros that appear in iso646.h in C are keywords in C++ +#if __cplusplus >= 201103L +#include // (since C++11) std::type_index +#include // (since C++11) Compile-time type information +#include // (since C++11) C++ time utilites +#include // (since C++11) std::initializer_list class template +#include // (since C++11) std::tuple class template +#include // (since C++11) Nested allocator class +#include // (since C++11) fixed-size types and limits of other types +#include // (since C++11) formatting macros , intmax_t and uintmax_t math and conversions +#include // (since C++11) defines std::error_code, a platform-dependent error code +#include // (since C++11) C-style Unicode character conversion functions +#include // (since C++11) std::array container +#include // (since C++11) std::forward_list container +#include // (since C++11) std::unordered_set and std::unordered_multiset unordered associative containers +#include // (since C++11) std::unordered_map and std::unordered_multimap unordered associative containers +#include // (since C++11) Random number generators and distributions +#include // (since C++11) Compile-time rational arithmetic +#include // (since C++11) Floating-point environment access functions +#include // (since C++11) Unicode conversion facilities +#include // (since C++11) Classes, algorithms and iterators to support regular expression processing +#include // (since C++11) Atomic operations library +#include // (since C++11)(deprecated in C++17) simply includes the header +#include // (since C++11)(deprecated in C++17) simply includes the headers (until C++17) (since C++17) and : the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers +#include // (since C++11)(deprecated in C++17) defines one compatibility macro constant +#include // (since C++11)(deprecated in C++17) defines one compatibility macro constant +#include // (since C++11) std::thread class and supporting functions +#include // (since C++11) mutual exclusion primitives +#include // (since C++11) primitives for asynchronous computations +#include // (since C++11) thread waiting conditions +#endif +#if __cplusplus >= 201300L +#include // (since C++14) shared mutual exclusion primitives +#endif +#if __cplusplus >= 201500L +#include // (since C++17) std::any class template +#include // (since C++17) std::optional class template +#include // (since C++17) std::variant class template +#include // (since C++17) Polymorphic allocators and memory resources +#include // (since C++17) std::basic_string_view class template +#include // (since C++17) Predefined execution policies for parallel versions of the algorithms +#include // (since C++17) std::path class and supporting functions +#endif diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties b/software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties new file mode 100644 index 0000000..3edc2d8 --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties @@ -0,0 +1,42 @@ +# Launchers File syntax: +# +# [Must-have property line] +# launcher1.runCommand= +# [Optional extra properties] +# launcher1.displayName= +# launcher1.hide= +# launcher1.buildCommand= +# launcher1.runDir= +# launcher1.runInOwnTab= +# launcher1.symbolFiles= +# launcher1.env.= +# (If this value is quoted with ` it is handled as a native command which execution result will become the value) +# [Common launcher properties] +# common.runDir= +# (This value is overwritten by a launcher specific runDir value if the latter exists) +# common.env.= +# (Environment variables from common launcher are merged with launcher specific variables) +# common.symbolFiles= +# (This value is overwritten by a launcher specific symbolFiles value if the latter exists) +# +# In runDir, symbolFiles and env fields you can use these macroses: +# ${PROJECT_DIR} - project directory absolute path +# ${OUTPUT_PATH} - linker output path (relative to project directory path) +# ${OUTPUT_BASENAME}- linker output filename +# ${TESTDIR} - test files directory (relative to project directory path) +# ${OBJECTDIR} - object files directory (relative to project directory path) +# ${CND_DISTDIR} - distribution directory (relative to project directory path) +# ${CND_BUILDDIR} - build directory (relative to project directory path) +# ${CND_PLATFORM} - platform name +# ${CND_CONF} - configuration name +# ${CND_DLIB_EXT} - dynamic library extension +# +# All the project launchers must be listed in the file! +# +# launcher1.runCommand=... +# launcher2.runCommand=... +# ... +# common.runDir=... +# common.env.KEY=VALUE + +# launcher1.runCommand= \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml b/software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml new file mode 100644 index 0000000..68261fb --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml @@ -0,0 +1,13 @@ + + + + 1 + 0 + + + + + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp + + + diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/project.xml b/software/raspberry/superviseur-robot/superviseur/nbproject/project.xml new file mode 100644 index 0000000..320515d --- /dev/null +++ b/software/raspberry/superviseur-robot/superviseur/nbproject/project.xml @@ -0,0 +1,28 @@ + + + org.netbeans.modules.cnd.makeproject + + + superviseur + + cpp + h + UTF-8 + + + + + Debug + 1 + + + Release + 1 + + + + false + + + + diff --git a/software/raspberry/superviseur-robot/superviseur/src/functions.cpp b/software/raspberry/superviseur-robot/superviseur/src/functions.cpp index 59551d0..bf12d08 100644 --- a/software/raspberry/superviseur-robot/superviseur/src/functions.cpp +++ b/software/raspberry/superviseur-robot/superviseur/src/functions.cpp @@ -12,16 +12,27 @@ void f_server(void *arg) { printf("Init %s\n", info.name); rt_sem_p(&sem_barrier, TM_INFINITE); - err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js"); + err=openServer(DEFAULT_SERVER_PORT); if (err < 0) { - printf("Failed to start nodejs: %s\n", strerror(-err)); + printf("Failed to start server: %s\n", strerror(-err)); exit(EXIT_FAILURE); } else { #ifdef _WITH_TRACE_ - printf("%s: nodejs started\n", info.name); + printf("%s: server started\n", info.name); #endif - open_server(); + //Waiting for a client to connect + err=acceptClient(); + + if (err<0) { + printf("Client accept failed: %s\n", strerror(-err)); + exit(EXIT_FAILURE); + } + +#ifdef _WITH_TRACE_ + printf ("client connected: %d\n", err); + printf ("Rock'n'roll baby !\n"); +#endif rt_sem_broadcast(&sem_serverOk); } } @@ -105,7 +116,7 @@ void f_receiveFromMon(void *arg) { robotMove = msg.data[0]; rt_mutex_release(&mutex_move); #ifdef _WITH_TRACE_ - printf("%s: message update movement with %c\n", info.name, move); + printf("%s: message update movement with %c\n", info.name, robotMove); #endif } @@ -191,18 +202,18 @@ void f_move(void *arg) { rt_sem_p(&sem_barrier, TM_INFINITE); /* PERIODIC START */ -#ifdef _WITH_TRACE_ +#ifdef _WITH_PERIODIC_TRACE_ printf("%s: start period\n", info.name); #endif rt_task_set_periodic(NULL, TM_NOW, 100000000); while (1) { -#ifdef _WITH_TRACE_ +#ifdef _WITH_PERIODIC_TRACE_ printf("%s: Wait period \n", info.name); #endif rt_task_wait_period(NULL); -#ifdef _WITH_TRACE_ +#ifdef _WITH_PERIODIC_TRACE_ printf("%s: Periodic activation\n", info.name); - printf("%s: move equals %c\n", info.name, move); + printf("%s: move equals %c\n", info.name, robotMove); #endif rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); if (robotStarted) { @@ -210,7 +221,7 @@ void f_move(void *arg) { send_command_to_robot(robotMove); rt_mutex_release(&mutex_move); #ifdef _WITH_TRACE_ - printf("%s: the movement %c was sent\n", info.name, move); + printf("%s: the movement %c was sent\n", info.name, robotMove); #endif } rt_mutex_release(&mutex_robotStarted); diff --git a/software/raspberry/superviseur-robot/superviseur/src/functions.h b/software/raspberry/superviseur-robot/superviseur/src/functions.h index 1953ac2..2028892 100644 --- a/software/raspberry/superviseur-robot/superviseur/src/functions.h +++ b/software/raspberry/superviseur-robot/superviseur/src/functions.h @@ -29,6 +29,7 @@ #include "robot.h" #include "image.h" #include "message.h" +#include "server.h" extern RT_TASK th_server; extern RT_TASK th_sendToMon;