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qrobosdk: コミット


コミットメタ情報

リビジョン1937 (tree)
日時2010-10-25 10:12:49
作者satofumi

ログメッセージ

fixed package

変更サマリ

差分

--- branches/tsukuba_2010/libs/system/delay.cpp (revision 1936)
+++ branches/tsukuba_2010/libs/system/delay.cpp (revision 1937)
@@ -8,6 +8,10 @@
88 */
99
1010 #include "delay.h"
11+#include <SDL.h>
1112
1213
13-// !!!
14+void qrk::delay(long msec)
15+{
16+ SDL_Delay(msec);
17+}
--- branches/tsukuba_2010/libs/system/detect_os.h (revision 1936)
+++ branches/tsukuba_2010/libs/system/detect_os.h (revision 1937)
@@ -11,22 +11,22 @@
1111 */
1212
1313 #if defined _MSC_VER || defined __CYGWIN__ || defined __MINGW32__
14-#define WINDOWS_OS
14+#define QRK_WINDOWS_OS
1515
1616 #if defined _MSC_VER
17-#define MSC
17+#define QRK_MSC
1818 #elif defined __CYGWIN__
19-#define CYGWIN
19+#define QRK_CYGWIN
2020 #elif defined __MINGW32__
21-#define MINGW
21+#define QRK_MINGW
2222 #endif
2323
2424 #elif defined __linux__
25-#define LINUX_OS
25+#define QRK_LINUX_OS
2626
2727 #else
2828 // 検出できないときを、Mac 扱いにしてしまう
29-#define MAC_OS
29+#define QRK_MAC_OS
3030 #endif
3131
3232 #endif /* !QRK_DETECT_OS_H */
--- branches/tsukuba_2010/libs/system/delay.h (revision 1936)
+++ branches/tsukuba_2010/libs/system/delay.h (revision 1937)
@@ -11,6 +11,9 @@
1111 */
1212
1313
14-extern void delay(void);
14+namespace qrk
15+{
16+ extern void delay(long msec);
17+}
1518
1619 #endif /* !QRK_DELAY_H */
--- branches/tsukuba_2010/libs/system/Makefile (revision 1936)
+++ branches/tsukuba_2010/libs/system/Makefile (revision 1937)
@@ -21,8 +21,10 @@
2121 $(SYSTEM_LIB) : \
2222 $(SYSTEM_LIB)(Sdl_initialize.o) \
2323 $(SYSTEM_LIB)(delay.o) \
24+ $(SYSTEM_LIB)(ticks.o) \
2425
2526 # DO NOT DELETE
2627
2728 Sdl_initialize.o: Sdl_initialize.h
2829 delay.o: delay.h
30+ticks.o: ticks.h detect_os.h
--- branches/tsukuba_2010/libs/lidar/samples/sync_time_stamp.cpp (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/samples/sync_time_stamp.cpp (revision 1937)
@@ -1,7 +1,66 @@
1+/*!
2+ \example sync_time_stamp.cpp センサから得られるタイムスタンプを PC と同期する
3+
4+ \author Satofumi KAMIMURA
5+
6+ $Id$
7+*/
8+
9+#include "Urg_driver.h"
10+#include "Connection_information.h"
11+#include "ticks.h"
12+#include <iostream>
13+
14+using namespace qrk;
15+using namespace std;
16+
17+
18+namespace
19+{
20+ void print_timestamp(Urg_driver& urg)
21+ {
22+ enum { Print_times = 3 };
23+
24+ urg.start_measurement(Urg_driver::Distance, Print_times);
25+ for (int i = 0; i < Print_times; ++i) {
26+ long time_stamp;
27+ vector<long> data;
28+ urg.get_distance(data, &time_stamp);
29+
30+ cout << ticks() << ", " << time_stamp << endl;
31+ }
32+ }
33+}
34+
35+
136 int main(int argc, char *argv[])
237 {
3- (void)argc;
4- (void)argv;
5- // !!!
38+ Connection_information information(argc, argv);
39+
40+ // 接続
41+ Urg_driver urg;
42+ if (!urg.open(information.device_or_ip_name(),
43+ information.baudrate_or_port_number(),
44+ information.connection_type())) {
45+ cout << "Urg_driver::open(): "
46+ << information.device_or_ip_name() << ": " << urg.what() << endl;
47+ return 1;
48+ }
49+
50+ int min_step = urg.min_step();
51+ urg.set_scanning_parameter(min_step, min_step);
52+
53+ // 比較用に PC とセンサのタイムスタンプを表示する
54+ print_timestamp(urg);
55+ cout << endl;
56+
57+ // センサに PC のタイムスタンプを設定し、
58+ // 距離データを取得したときに得られるタイムスタンプが、
59+ // PC から得られるタイムスタンプと同じになるようにする
60+ urg.set_sensor_time_stamp(ticks());
61+
62+ // 設定後に PC とセンサのタイムスタンプを表示する
63+ print_timestamp(urg);
64+
665 return 0;
766 }
--- branches/tsukuba_2010/libs/lidar/samples/Connection_information.cpp (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/samples/Connection_information.cpp (revision 1937)
@@ -8,7 +8,7 @@
88 */
99
1010 #include "Connection_information.h"
11-#include "urg_detect_os.h"
11+#include "detect_os.h"
1212 #include <string>
1313 #include <cstring>
1414
@@ -26,9 +26,9 @@
2626 void set_serial_connection(void)
2727 {
2828 connection_type_ = Urg_driver::Serial;
29-#if defined(URG_WINDOWS_OS)
29+#if defined(QRK_WINDOWS_OS)
3030 device_or_ip_name_ = "COM3";
31-#elif defined(URG_LINUX_OS)
31+#elif defined(QRK_LINUX_OS)
3232 device_or_ip_name_ = "/dev/ttyACM0";
3333 #else
3434 #endif
--- branches/tsukuba_2010/libs/lidar/samples/sensor_parameter.cpp (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/samples/sensor_parameter.cpp (revision 1937)
@@ -29,7 +29,8 @@
2929 }
3030
3131 // パラメータ情報の表示
32- printf("Sensor firmware version: %s\n", urg.version());
32+ printf("Sensor product type: %s\n", urg.product_type());
33+ printf("Sensor firmware version: %s\n", urg.firmware_version());
3334 printf("Sensor serial ID: %s\n", urg.serial_id());
3435 printf("Sensor status: %s\n", urg.status());
3536
--- branches/tsukuba_2010/libs/lidar/samples/Makefile (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/samples/Makefile (revision 1937)
@@ -4,7 +4,7 @@
44 CXXFLAGS = -g -O0 -Wall -Werror $(INCLUDES) `urg_c-config --cflags`
55 INCLUDES = -I.. -I../../math -I../../system
66 LDFLAGS =
7-LDLIBS = `urg_c-config --libs`
7+LDLIBS = `urg_c-config --libs` `sdl-config --libs` -lrt
88
99
1010 TARGET = \
@@ -26,7 +26,7 @@
2626
2727 .PHONY : all clean depend
2828 ######################################################################
29-REQUIRE_LIBS = ../liblidar.a
29+REQUIRE_LIBS = ../liblidar.a ../../system/libsystem.a
3030 $(REQUIRE_LIBS) :
3131 cd $(@D)/ && $(MAKE) $(@F)
3232
@@ -41,3 +41,4 @@
4141 get_multiecho.o: Connection_information.h
4242 get_multiecho_intensity.o: Connection_information.h
4343 sensor_parameter.o: Connection_information.h
44+sync_time_stamp.o: Connection_information.h
--- branches/tsukuba_2010/libs/lidar/Urg_driver.cpp (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/Urg_driver.cpp (revision 1937)
@@ -8,6 +8,7 @@
88 */
99
1010 #include "Urg_driver.h"
11+#include "ticks.h"
1112 extern "C" {
1213 #include "urg_sensor.h"
1314 #include "urg_utils.h"
@@ -14,6 +15,8 @@
1415 #include "urg_errno.h"
1516 }
1617
18+#include <stdio.h>
19+
1720 using namespace qrk;
1821 using namespace std;
1922
@@ -23,11 +26,21 @@
2326 urg_t urg_;
2427 bool is_opened_;
2528 measurement_type_t last_measure_type_;
29+ long time_stamp_offset_;
2630
2731
28- pImpl(void) : is_opened_(false), last_measure_type_(Distance)
32+ pImpl(void)
33+ : is_opened_(false), last_measure_type_(Distance), time_stamp_offset_(0)
2934 {
3035 }
36+
37+
38+ void adjust_time_stamp(long *time_stamp)
39+ {
40+ if (time_stamp) {
41+ *time_stamp += time_stamp_offset_;
42+ }
43+ }
3144 };
3245
3346
@@ -123,6 +136,7 @@
123136 int ret = urg_get_distance(&pimpl->urg_, &data[0], time_stamp);
124137 if (ret > 0) {
125138 data.resize(ret);
139+ pimpl->adjust_time_stamp(time_stamp);
126140 }
127141
128142 return (ret < 0) ? false : true;
@@ -147,6 +161,7 @@
147161 if (ret > 0) {
148162 data.resize(ret);
149163 intensity.resize(ret);
164+ pimpl->adjust_time_stamp(time_stamp);
150165 }
151166
152167 return (ret < 0) ? false : true;
@@ -168,6 +183,7 @@
168183 int ret = urg_get_multiecho(&pimpl->urg_, &data_multiecho[0], time_stamp);
169184 if (ret > 0) {
170185 data_multiecho.resize(ret * echo_size);
186+ pimpl->adjust_time_stamp(time_stamp);
171187 }
172188
173189 return (ret < 0) ? false : true;
@@ -196,6 +212,7 @@
196212 if (ret > 0) {
197213 data_multiecho.resize(ret * echo_size);
198214 intensity_multiecho.resize(ret * echo_size);
215+ pimpl->adjust_time_stamp(time_stamp);
199216 }
200217
201218 return (ret < 0) ? false : true;
@@ -219,10 +236,39 @@
219236
220237 bool Urg_driver::set_sensor_time_stamp(long time_stamp)
221238 {
222- (void)time_stamp;
223- // !!!
239+ // この時点での PC のタイムスタンプを取得
240+ long function_first_ticks = ticks();
224241
225- return false;
242+ // PC とセンサのタイムスタンプの差を計算から推定し、
243+ // 最後に指定された time_stamp になるような補正値を足し込む
244+ enum {
245+ Average_times = 10,
246+ };
247+
248+ long sum_of_pc_and_sensor_diff = 0;
249+ int ret = urg_start_time_stamp_mode(&pimpl->urg_);
250+ if (ret != 0) {
251+ return false;
252+ }
253+ for (int i = 0; i < Average_times; ++i) {
254+ long before_ticks = ticks();
255+ long sensor_ticks = urg_time_stamp(&pimpl->urg_);
256+ long after_ticks = ticks();
257+ long estimated_communication_msec = (after_ticks - before_ticks) / 2;
258+ long pc_ticks = before_ticks + estimated_communication_msec;
259+ long pc_and_sensor_diff = pc_ticks - sensor_ticks;
260+ sum_of_pc_and_sensor_diff += pc_and_sensor_diff;
261+ }
262+ ret = urg_stop_time_stamp_mode(&pimpl->urg_);
263+ if (ret != 0) {
264+ return false;
265+ }
266+
267+ pimpl->time_stamp_offset_ =
268+ (sum_of_pc_and_sensor_diff / Average_times) +
269+ (time_stamp - function_first_ticks);
270+
271+ return true;
226272 }
227273
228274
@@ -342,12 +388,18 @@
342388 }
343389
344390
345-const char* Urg_driver::version(void) const
391+const char* Urg_driver::product_type(void) const
346392 {
347- return urg_sensor_version(&pimpl->urg_);
393+ return urg_sensor_product_type(&pimpl->urg_);
348394 }
349395
350396
397+const char* Urg_driver::firmware_version(void) const
398+{
399+ return urg_sensor_firmware_version(&pimpl->urg_);
400+}
401+
402+
351403 const char* Urg_driver::serial_id(void) const
352404 {
353405 return urg_sensor_serial_id(&pimpl->urg_);
--- branches/tsukuba_2010/libs/lidar/Makefile (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/Makefile (revision 1937)
@@ -3,7 +3,7 @@
33 CC = $(CXX)
44 CXXFLAGS = -g -O0 -Wall -Werror -W $(INCLUDES) `urg_c-config --cflags`
55 CFLAGS = $(CXXFLAGS)
6-INCLUDES =
6+INCLUDES = -I../system
77
88 LIDAR_LIB = liblidar.a
99 TARGET = $(LIDAR_LIB)
--- branches/tsukuba_2010/libs/lidar/Urg_driver.h (revision 1936)
+++ branches/tsukuba_2010/libs/lidar/Urg_driver.h (revision 1937)
@@ -74,7 +74,7 @@
7474
7575
7676 bool set_scanning_parameter(int first_step, int last_step,
77- int skip_step);
77+ int skip_step = 0);
7878
7979
8080 // !!! データ取得の中断
@@ -103,7 +103,8 @@
103103 int max_data_size(void) const;
104104 int max_echo_size(void) const;
105105
106- const char* version(void) const;
106+ const char* product_type(void) const;
107+ const char* firmware_version(void) const;
107108 const char* serial_id(void) const;
108109 const char* status(void) const;
109110
--- branches/tsukuba_2010/Makefile (revision 1936)
+++ branches/tsukuba_2010/Makefile (revision 1937)
@@ -10,6 +10,7 @@
1010 $(RM) -rf $(GENERATED_HTML)
1111 cd libs/ && $(MAKE) clean
1212 cd programs/ && $(MAKE) clean
13+ cd packages/ && $(MAKE) clean
1314
1415 samples :
1516 cd libs/controller/samples/ && $(MAKE)
@@ -24,5 +25,5 @@
2425 upload : html
2526 rsync -avz -e ssh --delete generated_html/* hyakuren-soft@hyakuren-soft.sakura.ne.jp:/home/hyakuren-soft/www/robot_soft/
2627
27-$(GENERATED_HTML)/index.html : $(wildcard dox/* libs/run_target/*.[ch] libs/run_target/samples/*.[ch] libs/run_target/dox/* libs/run/*.h libs/run/*.cpp libs/run/dox/* programs/run_path_recorder/* programs/run_path_recorder/dox/* programs/run_path_follower/* programs/run_path_follower/dox/* programs/run_wired_controller) Doxyfile
28+$(GENERATED_HTML)/index.html : $(wildcard dox/* libs/run_target/*.[ch] libs/run_target/samples/*.[ch] libs/run_target/dox/* libs/run/*.h libs/run/*.cpp libs/run/dox/* libs/lidar/*.h libs/lidar/*.cpp programs/run_path_recorder/* programs/run_path_recorder/dox/* programs/run_path_follower/* programs/run_path_follower/dox/* programs/run_wired_controller) Doxyfile
2829 doxygen
--- branches/tsukuba_2010/packages/urg_cpp_library/Makefile.in (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/Makefile.in (nonexistent)
@@ -1,665 +0,0 @@
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3-
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473-
474-# Tell versions [3.59,3.63) of GNU make to not export all variables.
475-# Otherwise a system limit (for SysV at least) may be exceeded.
476-.NOEXPORT:
--- branches/tsukuba_2010/packages/urg_cpp_library/sample/Makefile.am (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/sample/Makefile.am (revision 1937)
@@ -1,11 +1,13 @@
11 ## Makefile.am -- Process this file with automake to produce Makefile.in
22
3-noinst_PROGRAMS = get_distance get_distance_intensity get_multiecho get_multiecho_intensity
3+noinst_PROGRAMS = get_distance get_distance_intensity get_multiecho get_multiecho_intensity sensor_parameter sync_time_stamp
44
5-get_distance_SOURCES = get_distance.cpp Connection_information.cpp
6-get_distance_intensity_SOURCES = get_distance_intensity.cpp Connection_information.cpp
7-get_multiecho_SOURCES = get_multiecho.cpp Connection_information.cpp
8-get_multiecho_intensity_SOURCES = get_multiecho_intensity.cpp Connection_information.cpp
5+get_distance_SOURCES = get_distance.cpp Connection_information.cpp Connection_information.h
6+get_distance_intensity_SOURCES = get_distance_intensity.cpp Connection_information.cpp Connection_information.h
7+get_multiecho_SOURCES = get_multiecho.cpp Connection_information.cpp Connection_information.h
8+get_multiecho_intensity_SOURCES = get_multiecho_intensity.cpp Connection_information.cpp Connection_information.h
9+sensor_parameter_SOURCES = sensor_parameter.cpp Connection_information.cpp Connection_information.h
10+sync_time_stamp_SOURCES = sync_time_stamp.cpp Connection_information.cpp Connection_information.h
911
1012 INCLUDES = -I$(top_srcdir)/src
11-LIBS = -L$(top_srcdir)/src $(INSTALL_LIBS)
13+LDADD = -L$(top_srcdir)/src $(INSTALL_LIBS)
--- branches/tsukuba_2010/packages/urg_cpp_library/configure (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/configure (revision 1937)
@@ -15356,6 +15356,36 @@
1535615356 echo "${ECHO_T}no, using $LN_S" >&6; }
1535715357 fi
1535815358
15359+{ echo "$as_me:$LINENO: checking whether ${MAKE-make} sets \$(MAKE)" >&5
15360+echo $ECHO_N "checking whether ${MAKE-make} sets \$(MAKE)... $ECHO_C" >&6; }
15361+set x ${MAKE-make}; ac_make=`echo "$2" | sed 's/+/p/g; s/[^a-zA-Z0-9_]/_/g'`
15362+if { as_var=ac_cv_prog_make_${ac_make}_set; eval "test \"\${$as_var+set}\" = set"; }; then
15363+ echo $ECHO_N "(cached) $ECHO_C" >&6
15364+else
15365+ cat >conftest.make <<\_ACEOF
15366+SHELL = /bin/sh
15367+all:
15368+ @echo '@@@%%%=$(MAKE)=@@@%%%'
15369+_ACEOF
15370+# GNU make sometimes prints "make[1]: Entering...", which would confuse us.
15371+case `${MAKE-make} -f conftest.make 2>/dev/null` in
15372+ *@@@%%%=?*=@@@%%%*)
15373+ eval ac_cv_prog_make_${ac_make}_set=yes;;
15374+ *)
15375+ eval ac_cv_prog_make_${ac_make}_set=no;;
15376+esac
15377+rm -f conftest.make
15378+fi
15379+if eval test \$ac_cv_prog_make_${ac_make}_set = yes; then
15380+ { echo "$as_me:$LINENO: result: yes" >&5
15381+echo "${ECHO_T}yes" >&6; }
15382+ SET_MAKE=
15383+else
15384+ { echo "$as_me:$LINENO: result: no" >&5
15385+echo "${ECHO_T}no" >&6; }
15386+ SET_MAKE="MAKE=${MAKE-make}"
15387+fi
15388+
1535915389 if test -n "$ac_tool_prefix"; then
1536015390 # Extract the first word of "${ac_tool_prefix}ranlib", so it can be a program name with args.
1536115391 set dummy ${ac_tool_prefix}ranlib; ac_word=$2
@@ -15454,12 +15484,14 @@
1545415484
1545515485
1545615486 # Checks for libraries.
15487+LIBS="$LIBS -lurg_cpp"
15488+#AC_CHECK_LIB(rt, clock_gettime, [LIBS="$LIBS -lrt"], AC_MSG_NOTICE([*** rt library not found! ***]))
1545715489 #AC_CHECK_LIB(urg_c, urg_open, [HAVE_LIBURG_C="yes"], AC_MSG_ERROR([*** urg_c not found! ***]))
1545815490 # !!! todo added urg_c-config check
1545915491 CXXFLAGS="$CXXFLAGS `urg_c-config --cflags`"
15460-LIBS="$LIBS `urg_c-config --libs`"
15492+LIBS="$LIBS `urg_c-config --libs` -lrt"
1546115493
15462-INSTALL_LIBS="-lurg_cpp"
15494+INSTALL_LIBS="$LIBS"
1546315495
1546415496
1546515497 # Checks for header files.
@@ -15823,6 +15855,101 @@
1582315855
1582415856 # Checks for library functions.
1582515857
15858+
15859+for ac_func in atexit clock_gettime
15860+do
15861+as_ac_var=`echo "ac_cv_func_$ac_func" | $as_tr_sh`
15862+{ echo "$as_me:$LINENO: checking for $ac_func" >&5
15863+echo $ECHO_N "checking for $ac_func... $ECHO_C" >&6; }
15864+if { as_var=$as_ac_var; eval "test \"\${$as_var+set}\" = set"; }; then
15865+ echo $ECHO_N "(cached) $ECHO_C" >&6
15866+else
15867+ cat >conftest.$ac_ext <<_ACEOF
15868+/* confdefs.h. */
15869+_ACEOF
15870+cat confdefs.h >>conftest.$ac_ext
15871+cat >>conftest.$ac_ext <<_ACEOF
15872+/* end confdefs.h. */
15873+/* Define $ac_func to an innocuous variant, in case <limits.h> declares $ac_func.
15874+ For example, HP-UX 11i <limits.h> declares gettimeofday. */
15875+#define $ac_func innocuous_$ac_func
15876+
15877+/* System header to define __stub macros and hopefully few prototypes,
15878+ which can conflict with char $ac_func (); below.
15879+ Prefer <limits.h> to <assert.h> if __STDC__ is defined, since
15880+ <limits.h> exists even on freestanding compilers. */
15881+
15882+#ifdef __STDC__
15883+# include <limits.h>
15884+#else
15885+# include <assert.h>
15886+#endif
15887+
15888+#undef $ac_func
15889+
15890+/* Override any GCC internal prototype to avoid an error.
15891+ Use char because int might match the return type of a GCC
15892+ builtin and then its argument prototype would still apply. */
15893+#ifdef __cplusplus
15894+extern "C"
15895+#endif
15896+char $ac_func ();
15897+/* The GNU C library defines this for functions which it implements
15898+ to always fail with ENOSYS. Some functions are actually named
15899+ something starting with __ and the normal name is an alias. */
15900+#if defined __stub_$ac_func || defined __stub___$ac_func
15901+choke me
15902+#endif
15903+
15904+int
15905+main ()
15906+{
15907+return $ac_func ();
15908+ ;
15909+ return 0;
15910+}
15911+_ACEOF
15912+rm -f conftest.$ac_objext conftest$ac_exeext
15913+if { (ac_try="$ac_link"
15914+case "(($ac_try" in
15915+ *\"* | *\`* | *\\*) ac_try_echo=\$ac_try;;
15916+ *) ac_try_echo=$ac_try;;
15917+esac
15918+eval "echo \"\$as_me:$LINENO: $ac_try_echo\"") >&5
15919+ (eval "$ac_link") 2>conftest.er1
15920+ ac_status=$?
15921+ grep -v '^ *+' conftest.er1 >conftest.err
15922+ rm -f conftest.er1
15923+ cat conftest.err >&5
15924+ echo "$as_me:$LINENO: \$? = $ac_status" >&5
15925+ (exit $ac_status); } && {
15926+ test -z "$ac_c_werror_flag" ||
15927+ test ! -s conftest.err
15928+ } && test -s conftest$ac_exeext &&
15929+ $as_test_x conftest$ac_exeext; then
15930+ eval "$as_ac_var=yes"
15931+else
15932+ echo "$as_me: failed program was:" >&5
15933+sed 's/^/| /' conftest.$ac_ext >&5
15934+
15935+ eval "$as_ac_var=no"
15936+fi
15937+
15938+rm -f core conftest.err conftest.$ac_objext conftest_ipa8_conftest.oo \
15939+ conftest$ac_exeext conftest.$ac_ext
15940+fi
15941+ac_res=`eval echo '${'$as_ac_var'}'`
15942+ { echo "$as_me:$LINENO: result: $ac_res" >&5
15943+echo "${ECHO_T}$ac_res" >&6; }
15944+if test `eval echo '${'$as_ac_var'}'` = yes; then
15945+ cat >>confdefs.h <<_ACEOF
15946+#define `echo "HAVE_$ac_func" | $as_tr_cpp` 1
15947+_ACEOF
15948+
15949+fi
15950+done
15951+
15952+
1582615953 ac_config_files="$ac_config_files Makefile src/Makefile sample/Makefile urg_cpp-config"
1582715954
1582815955 ac_config_commands="$ac_config_commands default"
--- branches/tsukuba_2010/packages/urg_cpp_library/configure.in (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/configure.in (revision 1937)
@@ -25,15 +25,18 @@
2525 AC_PROG_CPP
2626 AC_PROG_INSTALL
2727 AC_PROG_LN_S
28+AC_PROG_MAKE_SET
2829 AC_PROG_RANLIB
2930
3031 # Checks for libraries.
32+LIBS="$LIBS -lurg_cpp"
33+#AC_CHECK_LIB(rt, clock_gettime, [LIBS="$LIBS -lrt"], AC_MSG_NOTICE([*** rt library not found! ***]))
3134 #AC_CHECK_LIB(urg_c, urg_open, [HAVE_LIBURG_C="yes"], AC_MSG_ERROR([*** urg_c not found! ***]))
3235 # !!! todo added urg_c-config check
3336 CXXFLAGS="$CXXFLAGS `urg_c-config --cflags`"
34-LIBS="$LIBS `urg_c-config --libs`"
37+LIBS="$LIBS `urg_c-config --libs` -lrt"
3538
36-INSTALL_LIBS="-lurg_cpp"
39+INSTALL_LIBS="$LIBS"
3740 AC_SUBST(INSTALL_LIBS)
3841
3942 # Checks for header files.
@@ -44,6 +47,7 @@
4447 AC_TYPE_SIZE_T
4548
4649 # Checks for library functions.
50+AC_CHECK_FUNCS([atexit clock_gettime])
4751
4852 AC_CONFIG_FILES([Makefile
4953 src/Makefile
--- branches/tsukuba_2010/packages/urg_cpp_library/src/Makefile.in (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/src/Makefile.in (nonexistent)
@@ -1,497 +0,0 @@
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380- else \
381- test -f $(distdir)/$$file \
382- || cp -p $$d/$$file $(distdir)/$$file \
383- || exit 1; \
384- fi; \
385- done
386-check-am: all-am
387-check: check-am
388-all-am: Makefile $(LTLIBRARIES) $(HEADERS)
389-installdirs:
390- for dir in "$(DESTDIR)$(libdir)" "$(DESTDIR)$(liburg_cpp_includedir)"; do \
391- test -z "$$dir" || $(MKDIR_P) "$$dir"; \
392- done
393-install: install-am
394-install-exec: install-exec-am
395-install-data: install-data-am
396-uninstall: uninstall-am
397-
398-install-am: all-am
399- @$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
400-
401-installcheck: installcheck-am
402-install-strip:
403- $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
404- install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
405- `test -z '$(STRIP)' || \
406- echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
407-mostlyclean-generic:
408-
409-clean-generic:
410-
411-distclean-generic:
412- -test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
413-
414-maintainer-clean-generic:
415- @echo "This command is intended for maintainers to use"
416- @echo "it deletes files that may require special tools to rebuild."
417-clean: clean-am
418-
419-clean-am: clean-generic clean-libLTLIBRARIES clean-libtool \
420- mostlyclean-am
421-
422-distclean: distclean-am
423- -rm -rf ./$(DEPDIR)
424- -rm -f Makefile
425-distclean-am: clean-am distclean-compile distclean-generic \
426- distclean-tags
427-
428-dvi: dvi-am
429-
430-dvi-am:
431-
432-html: html-am
433-
434-info: info-am
435-
436-info-am:
437-
438-install-data-am: install-liburg_cpp_includeHEADERS
439-
440-install-dvi: install-dvi-am
441-
442-install-exec-am: install-libLTLIBRARIES
443-
444-install-html: install-html-am
445-
446-install-info: install-info-am
447-
448-install-man:
449-
450-install-pdf: install-pdf-am
451-
452-install-ps: install-ps-am
453-
454-installcheck-am:
455-
456-maintainer-clean: maintainer-clean-am
457- -rm -rf ./$(DEPDIR)
458- -rm -f Makefile
459-maintainer-clean-am: distclean-am maintainer-clean-generic
460-
461-mostlyclean: mostlyclean-am
462-
463-mostlyclean-am: mostlyclean-compile mostlyclean-generic \
464- mostlyclean-libtool
465-
466-pdf: pdf-am
467-
468-pdf-am:
469-
470-ps: ps-am
471-
472-ps-am:
473-
474-uninstall-am: uninstall-libLTLIBRARIES \
475- uninstall-liburg_cpp_includeHEADERS
476-
477-.MAKE: install-am install-strip
478-
479-.PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \
480- clean-libLTLIBRARIES clean-libtool ctags distclean \
481- distclean-compile distclean-generic distclean-libtool \
482- distclean-tags distdir dvi dvi-am html html-am info info-am \
483- install install-am install-data install-data-am install-dvi \
484- install-dvi-am install-exec install-exec-am install-html \
485- install-html-am install-info install-info-am \
486- install-libLTLIBRARIES install-liburg_cpp_includeHEADERS \
487- install-man install-pdf install-pdf-am install-ps \
488- install-ps-am install-strip installcheck installcheck-am \
489- installdirs maintainer-clean maintainer-clean-generic \
490- mostlyclean mostlyclean-compile mostlyclean-generic \
491- mostlyclean-libtool pdf pdf-am ps ps-am tags uninstall \
492- uninstall-am uninstall-libLTLIBRARIES \
493- uninstall-liburg_cpp_includeHEADERS
494-
495-# Tell versions [3.59,3.63) of GNU make to not export all variables.
496-# Otherwise a system limit (for SysV at least) may be exceeded.
497-.NOEXPORT:
--- branches/tsukuba_2010/packages/urg_cpp_library/src/ticks.h (nonexistent)
+++ branches/tsukuba_2010/packages/urg_cpp_library/src/ticks.h (revision 1937)
@@ -0,0 +1 @@
1+link ../../../libs/system/ticks.h
\ No newline at end of file
Added: svn:special
## -0,0 +1 ##
+*
\ No newline at end of property
--- branches/tsukuba_2010/packages/urg_cpp_library/src/Makefile.am (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/src/Makefile.am (revision 1937)
@@ -2,5 +2,5 @@
22
33 lib_LTLIBRARIES = liburg_cpp.la
44 liburg_cpp_includedir = $(includedir)/urg_cpp
5-liburg_cpp_include_HEADERS = Urg_driver.h math_utilities.h detect_os.h
6-liburg_cpp_la_SOURCES = Urg_driver.cpp
5+liburg_cpp_include_HEADERS = Urg_driver.h math_utilities.h detect_os.h ticks.h
6+liburg_cpp_la_SOURCES = Urg_driver.cpp ticks.cpp
--- branches/tsukuba_2010/packages/urg_cpp_library/src/ticks.cpp (nonexistent)
+++ branches/tsukuba_2010/packages/urg_cpp_library/src/ticks.cpp (revision 1937)
@@ -0,0 +1 @@
1+link ../../../libs/system/ticks.cpp
\ No newline at end of file
Added: svn:special
## -0,0 +1 ##
+*
\ No newline at end of property
--- branches/tsukuba_2010/packages/urg_cpp_library/config.h.in (revision 1936)
+++ branches/tsukuba_2010/packages/urg_cpp_library/config.h.in (revision 1937)
@@ -1,5 +1,11 @@
11 /* config.h.in. Generated from configure.in by autoheader. */
22
3+/* Define to 1 if you have the `atexit' function. */
4+#undef HAVE_ATEXIT
5+
6+/* Define to 1 if you have the `clock_gettime' function. */
7+#undef HAVE_CLOCK_GETTIME
8+
39 /* Define to 1 if you have the <dlfcn.h> header file. */
410 #undef HAVE_DLFCN_H
511
--- branches/tsukuba_2010/packages/Makefile (nonexistent)
+++ branches/tsukuba_2010/packages/Makefile (revision 1937)
@@ -0,0 +1,13 @@
1+# packages
2+
3+# Target
4+PACKAGES_DIR = urg_cpp_library
5+
6+all :
7+
8+clean :
9+ for i in $(PACKAGES_DIR) ; \
10+ do \
11+ cd $(PWD); \
12+ cd $$i && if test -f Makefile; then ($(MAKE) clean && $(RM) config.log autoscan.log && cd autom4te.cache/ && $(RM) output.* traces.* requests); fi \
13+ done
Added: svn:keywords
## -0,0 +1 ##
+Id
\ No newline at end of property
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