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Projet netbeans converti vers cobalt. Raspicam non necessaire desormais

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vezde 2022-10-18 16:31:54 +02:00
parent 5cf34b3e9d
commit b687bc01ef
11 changed files with 517 additions and 28 deletions
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1
software/raspberry/superviseur-robot/lib/camera.h
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@ -20,6 +20,7 @@
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/videoio/legacy/constants_c.h>
#ifndef __FOR_PC__
#include "raspicam/raspicam_cv.h"

1
software/raspberry/superviseur-robot/lib/img.cpp
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@ -16,6 +16,7 @@
*/
#include "img.h"
#include <opencv2/imgproc/types_c.h>
/**
* Tell if arena is empty (not found) or not

8
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk
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@ -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:

32
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk
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@ -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:

16
software/raspberry/superviseur-robot/nbproject/configurations.xml
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@ -28,6 +28,7 @@
<itemPath>./main.cpp</itemPath>
<itemPath>./lib/messages.cpp</itemPath>
<itemPath>./tasks.cpp</itemPath>
<itemPath>wrapper.c</itemPath>
</logicalFolder>
<logicalFolder name="TestFiles"
displayName="Test Files"
@ -113,6 +114,8 @@
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="wrapper.c" ex="false" tool="0" flavor2="0">
</item>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
@ -135,21 +138,20 @@
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
<pElem>/usr/xenomai/include/cobalt</pElem>
</incDir>
<commandLine>-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</commandLine>
<commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__FOR_PC__</Elem>
<Elem>__WITH_ARUCO__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
<linkerLibLibItem>raspicam_cv</linkerLibLibItem>
<linkerLibLibItem>raspicam</linkerLibLibItem>
<linkerOptionItem>`pkg-config --libs opencv4`</linkerOptionItem>
</linkerLibItems>
<commandLine>-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</commandLine>
<commandLine>-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</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
@ -184,6 +186,8 @@
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="wrapper.c" ex="false" tool="0" flavor2="0">
</item>
</conf>
</confs>
</configurationDescriptor>

2
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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@ -41,7 +41,7 @@
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.08:22</developmentServer>
<developmentServer>xenomai@10.105.1.7:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">

0
software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-xenomai-22 Normal file
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10
software/raspberry/superviseur-robot/nbproject/private/private.xml
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@ -7,12 +7,10 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
</group>
</open-files>
</project-private>

442
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-xenomai-22 Normal file
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@ -0,0 +1,442 @@
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2
software/raspberry/superviseur-robot/nbproject/project.xml
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@ -4,7 +4,7 @@
<configuration>
<data xmlns="http://www.netbeans.org/ns/make-project/1">
<name>superviseur</name>
<c-extensions/>
<c-extensions>c</c-extensions>
<cpp-extensions>cpp</cpp-extensions>
<header-extensions>h</header-extensions>
<sourceEncoding>UTF-8</sourceEncoding>

31
software/raspberry/superviseur-robot/wrapper.c Normal file
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@ -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 <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
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);
}