Revision: 6428
http://playerstage.svn.sourceforge.net/playerstage/?rev=6428&view=rev
Author: gbiggs
Date: 2008-05-11 19:21:34 -0700 (Sun, 11 May 2008)
Log Message:
-----------
Applied patch 1957475: Fixes for the AmtecM5-actarray and PhidgetRFID drivers
Modified Paths:
--------------
code/player/trunk/cmake/internal/DriverUtils.cmake
code/player/trunk/server/CMakeLists.txt
code/player/trunk/server/drivers/actarray/CMakeLists.txt
code/player/trunk/server/drivers/actarray/amtecM5.cc
code/player/trunk/server/drivers/rfid/phidgetRFID.cc
Modified: code/player/trunk/cmake/internal/DriverUtils.cmake
===================================================================
--- code/player/trunk/cmake/internal/DriverUtils.cmake 2008-05-12 01:43:38 UTC
(rev 6427)
+++ code/player/trunk/cmake/internal/DriverUtils.cmake 2008-05-12 02:21:34 UTC
(rev 6428)
@@ -225,6 +225,39 @@
###############################################################################
+# PLAYERDRIVER_REQUIRE_HEADER_CPP (_name _cumulativeVar _header)
+# Check if a required C++ header file is available. (CMake will try to compile
+# a small program using c++ with an include<_header> line)
+#
+# See the CheckIncludeFileCXX.cmake module for extra variables that may modify
+# how this macro runs.
+#
+# _name: Driver name.
+# _cumulativeVar: The option used in the calling CMakeLists.txt to check if
+# the driver has been enabled.
+# _header: Name of the header file to look for.
+INCLUDE (CheckIncludeFileCXX)
+MACRO (PLAYERDRIVER_REQUIRE_HEADER_CPP _name _cumulativeVar _header)
+ STRING (TOUPPER ${_header} headerUpper)
+ STRING (REGEX REPLACE "[./\\]" "_" headerUpper "${headerUpper}")
+ SET (resultVar "HAVE_HDR_${headerUpper}")
+ CHECK_INCLUDE_FILE_CXX("${_header}" ${resultVar})
+ # If not found, disable this driver
+ # Dereference cumulativeVar only once because IF will dereference the
variable name stored inside itself
+ IF (${_cumulativeVar} AND ${resultVar})
+ # Driver will be built and header found - add a #define
+ # Append to a list instead of setting an option so we can
auto-generate driver_config.h
+ APPEND_TO_CACHED_LIST (PLAYERDRIVER_HAVE_DEFINES
${PLAYERDRIVER_HAVE_DEFINES_DESC} "HAVE_HDR_${headerUpper}")
+ ELSEIF (${_cumulativeVar})
+ # Case where cumulativeVar is set but header wasn't found - don't build
+ SET (${_cumulativeVar} FALSE)
+ PLAYERDRIVER_ADD_TO_NOT_BUILT (${_name} "Could not find header
${_header}")
+ PLAYERDRIVER_ADD_DRIVEROPTION (${_name} OFF TRUE)
+ ENDIF (${_cumulativeVar} AND ${resultVar})
+ENDMACRO (PLAYERDRIVER_REQUIRE_HEADER_CPP)
+
+
+###############################################################################
# PLAYERDRIVER_REQUIRE_FUNCTION (_name _cumulativeVar _function)
# Check if a required function is available.
#
@@ -439,4 +472,4 @@
SET (PLAYER_NOT_BUILT_REASONS "" CACHE INTERNAL
${PLAYER_NOT_BUILT_REASONS_DESC} FORCE)
SET (PLAYERDRIVER_DEFINES "" CACHE INTERNAL ${PLAYERDRIVER_DEFINES_DESC}
FORCE)
-ENDMACRO (PLAYERDRIVER_RESET_LISTS)
\ No newline at end of file
+ENDMACRO (PLAYERDRIVER_RESET_LISTS)
Modified: code/player/trunk/server/CMakeLists.txt
===================================================================
--- code/player/trunk/server/CMakeLists.txt 2008-05-12 01:43:38 UTC (rev
6427)
+++ code/player/trunk/server/CMakeLists.txt 2008-05-12 02:21:34 UTC (rev
6428)
@@ -25,9 +25,9 @@
TARGET_LINK_LIBRARIES (player playersd)
ENDIF (HAVE_PLAYERSD)
IF (PLAYER_DRIVERSLIB_LINKFLAGS)
- SET_TARGET_PROPERTIES (player PROPERTIES LINK_FLAGS
${PLAYER_DRIVERSLIB_LINKFLAGS})
+ TARGET_LINK_LIBRARIES (player ${PLAYER_DRIVERSLIB_LINKFLAGS})
ENDIF (PLAYER_DRIVERSLIB_LINKFLAGS)
INSTALL (TARGETS player DESTINATION bin/)
# Clean up stuff from the drivers
-PLAYERDRIVER_RESET_LISTS ()
\ No newline at end of file
+PLAYERDRIVER_RESET_LISTS ()
Modified: code/player/trunk/server/drivers/actarray/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/actarray/CMakeLists.txt 2008-05-12
01:43:38 UTC (rev 6427)
+++ code/player/trunk/server/drivers/actarray/CMakeLists.txt 2008-05-12
02:21:34 UTC (rev 6428)
@@ -1,12 +1,19 @@
PLAYERDRIVER_OPTION (amtecm5 build_amtecm5 ON)
SET (AMTECM5_DIR "" CACHE STRING "Directory containing the Amtec M5 libraries")
MARK_AS_ADVANCED (AMTECM5_DIR)
+
IF (NOT "${AMTECM5_DIR}" STREQUAL "")
SET (amtecExtraIncludeDirs ${AMTECM5_DIR}/include ${AMTECM5_DIR}/Device)
- SET (amtecExtraLibs "${AMTECM5_DIR}/lib/device.a
${AMTECM5_DIR}/lib/ntcan.a ${AMTECM5_DIR}/lib/util.a")
-ELSE (NOT "${AMTECM5_DIR}" STREQUAL "")
- SET (amtecExtraLibs "device.a ntcan.a util.a")
ENDIF (NOT "${AMTECM5_DIR}" STREQUAL "")
-PLAYERDRIVER_REQUIRE_HEADER (amtecm5 build_amtecm5 Device.h
${extraIncludeDirs})
+SET (amtecExtraLibs "-ldevice -lntcan -lutil")
+SET (amtecCFlags "-D__LINUX__ -DUNIX -DLINUX")
+
+SET (CMAKE_REQUIRED_INCLUDES "${amtecExtraIncludeDirs}")
+SET (CMAKE_REQUIRED_DEFINITIONS "${amtecCFlags}")
+PLAYERDRIVER_REQUIRE_HEADER_CPP (amtecm5 build_amtecm5 Device.h)
+SET (CMAKE_REQUIRED_INCLUDES)
+SET (CMAKE_REQUIRED_DEFINITIONS)
+
PLAYERDRIVER_REJECT_OS (amtecm5 build_amtecm5 PLAYER_OS_WIN)
-PLAYERDRIVER_ADD_DRIVER (amtecm5 build_amtecm5 "" "" ${amtecExtraLibs}
"-D__LINUX__ -DUNIX -DLINUX" amtecM5.cc)
+PLAYERDRIVER_ADD_DRIVER (amtecm5 build_amtecm5 "${amtecExtraIncludeDirs}"
"${AMTECM5_DIR}/lib" "${amtecExtraLibs}" "${amtecCFlags}" amtecM5.cc)
+
Modified: code/player/trunk/server/drivers/actarray/amtecM5.cc
===================================================================
--- code/player/trunk/server/drivers/actarray/amtecM5.cc 2008-05-12
01:43:38 UTC (rev 6427)
+++ code/player/trunk/server/drivers/actarray/amtecM5.cc 2008-05-12
02:21:34 UTC (rev 6428)
@@ -28,15 +28,6 @@
* For precise timing, use a recent Linux kernel (2.6.19 should have the
hrtimers code inside)
*/
-// ONLY if you need something that was #define'd as a result of configure
-// (e.g., HAVE_CFMAKERAW), then #include <config.h>, like so:
-/*
-#include <config.h>
-*/
-
-//#include <unistd.h>
-//#include <string.h>
-
#include <libplayercore/playercore.h>
#include <algorithm>
@@ -45,13 +36,9 @@
#include <vector>
#include <set>
-// These flags are needed by Device.h
-// They should probably be moved to -D flags on the compile of this program
-// As they are, they assume a Linux system
-#define __LINUX__
-#define UNIX
-#define LINUX
-
+//Device.h needs some definitions choosing the operating system, it has only
been tested
+// on Linux systems, so the default flags are __LINUX__ , UNIX , and LINUX
+//Currently, they are set explicitely in the CMakeLists.txt file
#include "Device.h"
const float initSpeed=0.2; //Rads/s
@@ -70,6 +57,7 @@
using namespace std;
+const unsigned int PLAYER_ACTARRAY_NUM_ACTUATORS=16;
//This function returns the difference in mS between two timeval structures
@@ -302,7 +290,7 @@
highpriority = cf->ReadInt(section, "highpriority", 0);
actuators = NULL;
- acuatorsGeom = NULL;
+ actuatorsGeom = NULL;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/player/trunk/server/drivers/rfid/phidgetRFID.cc
===================================================================
--- code/player/trunk/server/drivers/rfid/phidgetRFID.cc 2008-05-12
01:43:38 UTC (rev 6427)
+++ code/player/trunk/server/drivers/rfid/phidgetRFID.cc 2008-05-12
02:21:34 UTC (rev 6428)
@@ -470,7 +470,7 @@
// that it can be invoked without object context. In this function, we add
// the driver into the given driver table, indicating which interface the
// driver can support and how to create a driver instance.
-void phidgetrfid_Register(DriverTable* table) {
+void phidgetRFID_Register(DriverTable* table) {
table->AddDriver("phidgetRFID", PhidgetRFID_Init);
}
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