It seem it was the typical problem of including multiple times the same
include file.
I was assuming that the toolchain was using gcc and not g++.
I've changed the way my files use includes and, an it is solved.
What is curious is that the previous files, where working when compiling for
real time.
Now the module with the forward dynamics of the hexaglide works too :)
Javier
On Thu, Apr 14, 2011 at 3:09 PM, Javier Ros <[email protected]> wrote:
> Dear developers,
>
> I've developed a RT component, starting from hal_motenc.
> This module represents now our hexaglide hexapod, it performs a realtime
> simulation
> of the real system, limit switches and encoders including index-enable
> functionality.
>
> As the module does no longer depends on hardware I've placed it under
> src/hal/components.
>
> Everything is working fine in RT. So I decided today to give a try to
> --enable-simulator.
>
> I'm obtaining compilation errors.
>
> Can you have a look at them. I' pasting the whole bunch, but as you'll see
> it seems
> it is the same error here and there, so I suppose it can't be too difficult
> to debug.
>
> Compiling realtime
> hal/components/motenc_hexaglide_dyns_virtual/hal_motenc_hexaglide_dyns_virtual.c
> Compiling realtime
> hal/components/motenc_hexaglide_dyns_virtual/parameters_def.c
> Compiling realtime
> hal/components/motenc_hexaglide_dyns_virtual/parameters_ini.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/vect_init.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Phi.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Phi_q.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Phi_z.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Phi_d.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Phi_t.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/M.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/Q.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/dPhi_q.c
> Compiling realtime hal/components/motenc_hexaglide_dyns_virtual/dPhi.c
> Linking ../rtlib/hal_motenc_hexaglide_dyns_virtual.so
> objects/rthal/components/motenc_hexaglide_dyns_virtual/parameters_def.o:(.rtapi_export+0x0):
> multiple definition of `rtapi_exported_rtapi_app_main'
> objects/rthal/components/motenc_hexaglide_dyns_virtual/hal_motenc_hexaglide_dyns_virtual.o:(.rtapi_export+0x0):
> first defined here
> objects/rthal/components/motenc_hexaglide_dyns_virtual/parameters_def.o:(.rtapi_export+0x10):
> multiple definition of `rtapi_exported_rtapi_app_exit'
> objects/rthal/components/motenc_hexaglide_dyns_virtual/hal_motenc_hexaglide_dyns_virtual.o:(.rtapi_export+0x10):
> first defined here
> objects/rthal/components/motenc_hexaglide_dyns_virtual/vect_init.o:(.rtapi_export+0x0):
> multiple definition of `rtapi_exported_rtapi_app_main'
> objects/rthal/components/motenc_hexaglide_dyns_virtual/hal_motenc_hexaglide_dyns_virtual.o:(.rtapi_export+0x0):
> first defined here
> objects/rthal/components/motenc_hexaglide_dyns_virtual/vect_init.o:(.rtapi_export+0x10):
> multiple definition of `rtapi_exported_rtapi_app_exit'
> objects/rthal/components/motenc_hexaglide_dyns_virtual/hal_motenc_hexaglide_dyns_virtual.o:(.rtapi_export+0x10):
> first defined here
>
>
> Best regards,
>
> Javier
>
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