reorganisation du repertoire superviseur-robot + passage à Cmake
This commit is contained in:
Sébastien DI MERCURIO
parent
d6c8a54215
commit
6bf2742136
40 changed files with 33 additions and 473 deletions
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@ -1,5 +1,2 @@
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/.cproject
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/.project
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/Debug/
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/Release/
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/.settings/
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build/
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src.sav/
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13
software/raspberry/superviseur-robot/CMakeLists.txt
Normal file
13
software/raspberry/superviseur-robot/CMakeLists.txt
Normal file
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@ -0,0 +1,13 @@
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cmake_minimum_required(VERSION 3.9)
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project(ProjDestjil CXX)
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set (ProjDestjil_VERSION_MAJOR 1)
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set (ProjDestjil_VERSION_MINOR 0)
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set (CMAKE_CXX_STANDARD 11)
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
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add_subdirectory("lib")
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add_subdirectory("examples")
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#add_subdirectory("destjil_init")
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@ -1,7 +0,0 @@
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cmake_minimum_required(VERSION 3.9)
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project(stress)
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set(CMAKE_CXX_STANDARD 11)
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set(SOURCE_FILES main.cpp ../src/robot.cpp ../src/robot.h)
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add_executable(stress ${SOURCE_FILES})
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@ -1,91 +0,0 @@
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#include <iostream>
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#include "../src/definitions.h"
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#include "../src/robot.h"
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#include <ctime>
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#define NB_TEST 50
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#define NB_RETRIES_MAX 5
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#define DELAY_BETWEEN_RETRIES 10000 // 10 ms
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#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
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int nb_retries;
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int nb_test;
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int laststatus;
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int nb_success;
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int nb_timeout;
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int nb_unknown_cmd;
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int flipflop;
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int main() {
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if (open_communication_robot() != 0) {
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std::cout << "Unable to open com port" << std::endl;
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return -1;
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}
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std::cout << "Debut du test de stress" << std::endl;
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time_t t_debut, t_fin;
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struct tm *tm_debut, *tm_fin;
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time(&t_debut);
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tm_debut = (struct tm*)malloc (sizeof(struct tm));
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tm_debut = localtime((const time_t*)&t_debut);
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std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
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nb_retries=-1;
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do {
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usleep(DELAY_BETWEEN_RETRIES);
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nb_retries++;
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laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
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} while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
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if(nb_retries == NB_RETRIES_MAX) {
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std::cout << "Unable to start robot" <<std::endl;
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return -1;
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}
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nb_success =0;
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nb_timeout =0;
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nb_unknown_cmd =0;
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flipflop = 0;
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for (nb_test=0; nb_test < NB_TEST; nb_test++) {
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nb_retries=-1;
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do {
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usleep(DELAY_BETWEEN_RETRIES);
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nb_retries++;
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if (flipflop == 0) {
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laststatus = send_command_to_robot(DMB_TURN, "100");
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} else {
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laststatus = send_command_to_robot(DMB_TURN, "-100");
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}
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} while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
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if (flipflop ==0) flipflop=1;
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else flipflop =0;
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if (laststatus == 0) nb_success++;
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else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
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else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
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std::cout << "Test " << nb_test << " [s " << nb_success
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<< ": t " << nb_timeout << ": u " << nb_unknown_cmd
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<< "]"<< "\x1B" <<"[30D"<<std::flush;
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usleep(DELAY_BETWEEN_TEST);
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}
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time(&t_fin);
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tm_fin = (struct tm*)malloc (sizeof(struct tm));
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tm_fin = localtime((const time_t*)&t_fin);
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std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
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return 0;
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}
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@ -1,145 +0,0 @@
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|
||||
<entry excluding="serialTest.cpp|Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="Dumber-Robot-Exemple.com.atollic.pctools.managedbuild.target.gnu.exe.162302072" name="Executable" projectType="com.atollic.pctools.managedbuild.target.gnu.exe"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="Server test">
|
||||
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
|
||||
</configuration>
|
||||
<configuration configurationName="serialTest">
|
||||
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Release">
|
||||
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
</cproject>
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
/Debug/
|
||||
/Server test/
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>Dumber-Robot-Exemple</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<project>
|
||||
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
|
||||
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
|
||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||
</provider>
|
||||
</extension>
|
||||
</configuration>
|
||||
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
|
||||
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
|
||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||
</provider>
|
||||
</extension>
|
||||
</configuration>
|
||||
</project>
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
cmake_minimum_required(VERSION 3.9)
|
||||
project(stress)
|
||||
|
||||
set(CMAKE_CXX_STANDARD 11)
|
||||
|
||||
set(SOURCE_FILES main.cpp ../../src/robot.cpp ../../src/robot.h)
|
||||
add_executable(stress ${SOURCE_FILES})
|
||||
|
|
@ -1 +0,0 @@
|
|||
../src/
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
CPP_SRCS += \
|
||||
../lib/Robot.cpp \
|
||||
../lib/Serial.cpp \
|
||||
../lib/TcpServer.cpp \
|
||||
../lib/message.cpp
|
||||
|
||||
OBJS += \
|
||||
./lib/Robot.o \
|
||||
./lib/Serial.o \
|
||||
./lib/TcpServer.o \
|
||||
./lib/message.o
|
||||
|
||||
CPP_DEPS += \
|
||||
./lib/Robot.d \
|
||||
./lib/Serial.d \
|
||||
./lib/TcpServer.d \
|
||||
./lib/message.d
|
||||
|
||||
|
||||
# Each subdirectory must supply rules for building sources it contributes
|
||||
lib/%.o: ../lib/%.cpp
|
||||
g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
|
||||
|
||||
|
|
@ -1,56 +0,0 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
-include ../makefile.init
|
||||
|
||||
RM := rm -rf
|
||||
|
||||
# All of the sources participating in the build are defined here
|
||||
-include sources.mk
|
||||
-include src/subdir.mk
|
||||
-include lib/subdir.mk
|
||||
-include subdir.mk
|
||||
-include objects.mk
|
||||
|
||||
ifneq ($(MAKECMDGOALS),clean)
|
||||
ifneq ($(strip $(CC_DEPS)),)
|
||||
-include $(CC_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C++_DEPS)),)
|
||||
-include $(C++_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_UPPER_DEPS)),)
|
||||
-include $(C_UPPER_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CXX_DEPS)),)
|
||||
-include $(CXX_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CPP_DEPS)),)
|
||||
-include $(CPP_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_DEPS)),)
|
||||
-include $(C_DEPS)
|
||||
endif
|
||||
endif
|
||||
|
||||
-include ../makefile.defs
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
|
||||
# All Target
|
||||
all: Dumber-Robot-Exemple
|
||||
|
||||
# Tool invocations
|
||||
Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
|
||||
g++ -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
|
||||
|
||||
# Other Targets
|
||||
clean:
|
||||
-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
|
||||
-@echo ' '
|
||||
|
||||
.PHONY: all clean dependents
|
||||
.SECONDARY:
|
||||
|
||||
-include ../makefile.targets
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
USER_OBJS :=
|
||||
|
||||
LIBS :=
|
||||
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
C_UPPER_SRCS :=
|
||||
CXX_SRCS :=
|
||||
C++_SRCS :=
|
||||
OBJ_SRCS :=
|
||||
CC_SRCS :=
|
||||
ASM_SRCS :=
|
||||
CPP_SRCS :=
|
||||
C_SRCS :=
|
||||
O_SRCS :=
|
||||
S_UPPER_SRCS :=
|
||||
CC_DEPS :=
|
||||
C++_DEPS :=
|
||||
EXECUTABLES :=
|
||||
C_UPPER_DEPS :=
|
||||
CXX_DEPS :=
|
||||
OBJS :=
|
||||
CPP_DEPS :=
|
||||
C_DEPS :=
|
||||
|
||||
# Every subdirectory with source files must be described here
|
||||
SUBDIRS := \
|
||||
lib \
|
||||
src \
|
||||
|
||||
|
|
@ -1,22 +0,0 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
CPP_SRCS += \
|
||||
../src/serialTest.cpp \
|
||||
../src/serverTest.cpp
|
||||
|
||||
OBJS += \
|
||||
./src/serialTest.o \
|
||||
./src/serverTest.o
|
||||
|
||||
CPP_DEPS += \
|
||||
./src/serialTest.d \
|
||||
./src/serverTest.d
|
||||
|
||||
|
||||
# Each subdirectory must supply rules for building sources it contributes
|
||||
src/%.o: ../src/%.cpp
|
||||
g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
|
||||
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
LDFLAGS= -L/opt/vc/lib -I/usr/local/include -lopencv_highgui -lopencv_core -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc -lpthread
|
||||
|
||||
all :
|
||||
make serial
|
||||
make video
|
||||
make ui
|
||||
make rt
|
||||
|
||||
serial :
|
||||
g++ serialExample.cpp -o serialExample.elf ../obj/serial.o
|
||||
video :
|
||||
g++ videoExample.cpp -o videoExample.elf ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o $(LDFLAGS)
|
||||
|
||||
ui :
|
||||
g++ uiExample.cpp -o uiExample.elf ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o $(LDFLAGS)
|
||||
|
||||
rt :
|
||||
g++ -o rtvideoExample.elf rtvideoExample.cpp -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__MERCURY__ -I/usr/xenomai/include/alchemy ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o -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,-R/usr/xenomai/lib -L/opt/vc/lib -I/usr/local/include -lopencv_highgui -lopencv_core -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc
|
||||
|
||||
clean :
|
||||
rm *.elf
|
||||
1
software/raspberry/superviseur-robot/examples/.gitignore
vendored
Normal file
1
software/raspberry/superviseur-robot/examples/.gitignore
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
bin/
|
||||
11
software/raspberry/superviseur-robot/examples/CMakeLists.txt
Normal file
11
software/raspberry/superviseur-robot/examples/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../examples/bin)
|
||||
|
||||
set(serialTest_FILES ./src/serialTest.cpp)
|
||||
set(serverTest_FILES ./src/serverTest.cpp)
|
||||
include_directories(./src ../lib)
|
||||
|
||||
add_executable(serialTest ${serialTest_FILES})
|
||||
target_link_libraries(serialTest destjil)
|
||||
|
||||
add_executable(serverTest ${serverTest_FILES})
|
||||
target_link_libraries(serverTest destjil)
|
||||
1
software/raspberry/superviseur-robot/lib/.gitignore
vendored
Normal file
1
software/raspberry/superviseur-robot/lib/.gitignore
vendored
Normal file
|
|
@ -0,0 +1 @@
|
|||
libdestjil.a
|
||||
5
software/raspberry/superviseur-robot/lib/CMakeLists.txt
Normal file
5
software/raspberry/superviseur-robot/lib/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
set(LIB_FILES ./src/Serial.cpp ./src/Robot.cpp ./src/TcpServer.cpp)
|
||||
include_directories("./")
|
||||
|
||||
add_library(destjil STATIC ${LIB_FILES})
|
||||
|
||||
Loading…
Reference in a new issue