diff --git a/software/raspberry/superviseur-robot/lib/camera.h b/software/raspberry/superviseur-robot/lib/camera.h index f59e6b3..0ce250a 100644 --- a/software/raspberry/superviseur-robot/lib/camera.h +++ b/software/raspberry/superviseur-robot/lib/camera.h @@ -20,6 +20,7 @@ #include #include +#include #ifndef __FOR_PC__ #include "raspicam/raspicam_cv.h" diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index a718bd9..feed7a1 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -16,6 +16,7 @@ */ #include "img.h" +#include /** * Tell if arena is empty (not found) or not diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk index 44ef3ed..ba8a0e8 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk @@ -42,7 +42,8 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/img.o \ ${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks.o \ + ${OBJECTDIR}/wrapper.o # C Compiler Flags @@ -109,6 +110,11 @@ ${OBJECTDIR}/tasks.o: tasks.cpp ${RM} "$@.d" $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp +${OBJECTDIR}/wrapper.o: wrapper.c + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.c) -g -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/wrapper.o wrapper.c + # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk index 8fedc40..181e49d 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -42,15 +42,16 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/img.o \ ${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks.o \ + ${OBJECTDIR}/wrapper.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 -Wno-pmf-conversions -std=gnu++11 -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 -Wno-pmf-conversions -std=gnu++11 +CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 +CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 # Fortran Compiler Flags FFLAGS= @@ -59,7 +60,7 @@ FFLAGS= ASFLAGS= # Link Libraries and Options -LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam +LDLIBSOPTIONS=`pkg-config --libs opencv4` # Build Targets .build-conf: ${BUILD_SUBPROJECTS} @@ -67,47 +68,52 @@ LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} - ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${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 + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate -lcobalt /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lpthread -lrt ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks.o: tasks.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/cobalt `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + +${OBJECTDIR}/wrapper.o: wrapper.c + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.c) -g -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv4` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/wrapper.o wrapper.c # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml index 4c9bccd..f35c91c 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -28,6 +28,7 @@ ./main.cpp ./lib/messages.cpp ./tasks.cpp + wrapper.c + + @@ -135,21 +138,20 @@ ./ ./lib /usr/xenomai/include - /usr/xenomai/include/mercury + /usr/xenomai/include/cobalt - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 _WITH_TRACE_ + __FOR_PC__ __WITH_ARUCO__ - `pkg-config --libs opencv` - raspicam_cv - raspicam + `pkg-config --libs opencv4` - -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 + -Wl,--no-as-needed -lalchemy -lcopperplate -lcobalt /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lpthread -lrt @@ -184,6 +186,8 @@ + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 6eedf50..21a5072 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -41,7 +41,7 @@ - pi@10.105.1.08:22 + xenomai@10.105.1.7:22 2 diff --git a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-xenomai-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index 40175b4..ed52a99 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -7,12 +7,10 @@ - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp - file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h + file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 new file mode 100644 index 0000000..80039af --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 @@ -0,0 +1,442 @@ +#Tue Oct 18 16:27:07 CEST 2022 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.pdf=c1547560340000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/robot-icon.resized.png=c1547565562000 +/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor-members.html=c1547565562000 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+++ b/software/raspberry/superviseur-robot/wrapper.c @@ -0,0 +1,31 @@ +/* + * Copyright (C) 2022 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include + +void *__real_malloc(size_t size) +{ + void *lptr = malloc(size); + //printf("Malloc: %lu bytes @%p\n", size, lptr); + return lptr; +} + +/* This function wraps the real free */ +void __real_free(void* ptr) +{ + free(ptr); +}