From f7a46fbb4baba337384d0f5b457678d4cd883859 Mon Sep 17 00:00:00 2001 From: PE Hladik Date: Mon, 14 Jan 2019 18:17:45 +0100 Subject: [PATCH] Ajout du guide pour les etudiants --- .../figures-pdf/edition1.pdf | Bin 0 -> 18424 bytes .../figures-pdf/edition2.pdf | Bin 0 -> 20475 bytes .../figures-pdf/edition2b.pdf | Bin 0 -> 20293 bytes .../guide_compilation/figures/figures.graffle | Bin 0 -> 6609 bytes doc/sujets/tex/guide_compilation/guide.tex | 404 ++++++++++++++++++ 5 files changed, 404 insertions(+) create mode 100644 doc/sujets/tex/guide_compilation/figures-pdf/edition1.pdf create mode 100644 doc/sujets/tex/guide_compilation/figures-pdf/edition2.pdf create mode 100644 doc/sujets/tex/guide_compilation/figures-pdf/edition2b.pdf create mode 100644 doc/sujets/tex/guide_compilation/figures/figures.graffle create mode 100644 doc/sujets/tex/guide_compilation/guide.tex diff --git a/doc/sujets/tex/guide_compilation/figures-pdf/edition1.pdf 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+%%%%%%%%%%%%%%%%%%%% + +Cette deuxième solution applique le même schéma que précédemment (édition locale du code et compilation distante) mais en utilisant Netbeans comme IDE (figure~\ref{fig:edition2b}). + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.5]{./figures-pdf/edition2b} +\caption{Edition locale et compilation distante avec Netbeans} +\label{fig:edition2b} +\end{center} +\end{figure} + +Cette solution peut sembler longue, mais une fois la configuration réalisée il en restera plus qu'à lancer les éléments automatiquement. + +Les principales étapes sont : +\begin{enumerate} +\item éditer le code sur Netbeans, +\item lancer la compilation distante depuis Netbeans qui se chargera de copier les fichiers distants et de les compiler, +\item lancer un terminal depuis Netbeans, +\item exécuter le programme. +\end{enumerate} + +\subsubsection{Récupérer le code} + +Copiez localement (sur le PC) le dépôt git (voir section~\ref{sec:git}). + +\todo[inline]{Mettre à jour en fonction du dépot} + +\framebox[\textwidth]{ +\begin{minipage}{0.9\textwidth} +Le projet initial est livré avec un projet Netbeans déjà configuré. Vous pouvez simplement l'ouvrir depuis... Il vous faudra ensuite simplement reconfigurer la cible en suivant les étapes présentées dans la section~\ref{sec:cible}. +\end{minipage} +} + + +\subsubsection{Créer un projet Netbeans} + +\begin{enumerate} +\item Lancez Netbeans, +\item Allez dans {\tt File->new project}, +\item Choisir {\tt C/C++} pour {\tt categories}, puis {\tt C/C++ Application}, +\item Cliquez Next +\item Donner un nom au projet (ce sera par défaut le nom de votre exécutable), +\item Décocher {\tt Create main file}, +\item cliquez sur {\tt Finish}, +\end{enumerate} + +\subsubsection{Importer le code dans le projet} + +\begin{enumerate} +\item Cliquez droit sur votre projet et choisissez {\tt Add existing items from Folders...}, +\item puis {\tt Add Folder... } et allez chercher les répertoires que vous avez importé depuis github : +\begin{itemize} +\item {\tt superviseur\_robot/destijl\_init}, +\item {\tt superviseur\_robot/src}, +\end{itemize} +\item Cliquez {\tt Add}. +\end{enumerate} + +Vous pouvez supprimer tous les autres répertoires du projet (clique droit sur les répertoires). + +\subsubsection{Configurer une compilation distante} +\label{sec:cible} + +\begin{enumerate} +\item Cliquez droit sur le projet et choisir {\tt Properties}, +\item Allez dans l'onglet {\tt Build}, +\item Choisir {\tt ...} pour {\tt Build Host}, +\item Cliquez sur {\tt Add}, +\item Remplir {\tt Hostname} avec {\tt 10.105.1.x} l'adresse de la \raspi, +\item Cliquez {\tt Next}, +\item Saisir {\tt pi} pour le {\tt login}, +\item Cliquez {\tt Next}, +\item Attendre l'ouverture de la communication, +\item Saisir {\tt insa} comme mot de passe, +\item Sélectionner {\tt SFTP} pour {\tt Access project files via}, +\item Cliquez {\tt Finish}, +\item Cliquez {\tt OK}, +\item Cliquez {\tt Apply}, +\item Cliquez {\tt OK}. +\end{enumerate} + +\subsubsection{Configurer la compilation} + +\begin{enumerate} +\item Cliquez droit sur le projet et choisir {\tt Properties}, +\item Allez dans l'onglet {\tt Build->C++ Compiler}, +\item Choisir {\tt ...} pour {\tt Additional Options}, +\item Copier dans le champ {\tt -D\_GNU\_SOURCE -D\_REENTRANT -fasynchronous-unwind-tables -D\_\_MERCURY\_\_ -I/usr/xenomai/include/alchemy -g -D\_WITH\_TRACE\_ + +-I/usr/xenomai/include/ -I/usr/xenomai/include/mercury -MMD -MP} +\item Cliquez {\tt OK}, +\item Allez dans l'onglet {\tt Build->Linker}, +\item Choisir {\tt ...} pour {\tt Additional Options}, +\item Copier dans le champ {\tt -D\_GNU\_SOURCE -D\_REENTRANT -fasynchronous-unwind-tables -D\_\_MERCURY\_\_ -I/usr/xenomai/include/alchemy -L/usr/xenomai/lib -lalchemy + +-lcopperplate -lmercury -L/opt/vc/lib -I/usr/local/include -lopencv\_highgui -lopencv\_core -lopencv\_imgproc -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 -Wl,-rpath /usr/xenomai/lib -lopencv\_highgui -lopencv\_core + +-lopencv\_imgcodecs -lraspicam\_cv -lopencv\_imgproc -lpthread} +\item Cliquez {\tt OK}, +\item Cliquez {\tt Apply}, +\item Cliquez {\tt OK}. +\end{enumerate} + +\subsubsection{Tester la compilation} + +\begin{enumerate} +\item Cliquez sur l'icone \og Marteau \fg ou allez dans {\tt Run->Build Project}. +\end{enumerate} + +\subsubsection{Configurer l'exécution} + +\begin{enumerate} +\item Cliquez droit sur le projet et choisir {\tt Properties}, +\item Allez dans l'onglet {\tt Run}, +\item Remplir le champ {\tt Run Command} avec {\tt sudo "\$\{OUTPUT\_PATH\}"}, +\item Remplir le champ {\tt Console Type} avec {\tt Standard Output}. +\end{enumerate} + +\subsubsection{Exécuter l'application (directement depuis Netbeans)} +\begin{enumerate} +\item Cliquez sur l'icone \og Play \fg ou allez dans {\tt Run->Build Project}. +\end{enumerate} + +\subsubsection{Exécuter l'application (avec un terminal)} +\begin{enumerate} +\item Cliquez sur l'icone \og Terminal \fg dans la fenêtre de le console (ou lancer un terminal), +\item Connectez via ssh à la \raspi, +\item allez dans {\tt .netbeans/.../dist/...} avec la commande {\tt cd} pour trouver le résultat de la compilation, +\item lancez l'exécution via {\tt sudo ./app} avec {\tt app} le nom de votre application. +\end{enumerate} + +\subsubsection{Ajouter les header dans le projet Netbeans} + +\begin{enumerate} +\item Téléchargez les entêtes des services Xenomai depuis \href{https://moodle.insa-toulouse.fr/mod/resource/view.php?id=37439}{moodle}, +\item Décompresser l'archive, +\item Cliquez droit sur le projet et choisir {\tt Properties}, +\item Allez dans l'onglet {\tt Build->C++ Compiler}, +\item Choisir {\tt ...} pour {\tt Include Headers}, +\item Cliquez sur {\tt Add}, +\item Sélectionner tous les fichiers {\tt .h} de l'archive chargée ({\tt ./include\_xenomai/include}), +\item Cliquez {\tt OK}, +\item Cliquez {\tt Apply}, +\item Cliquez {\tt OK}. +\end{enumerate} + +Le service {\tt rt\_task\_create} n'est pas reconnu suite à cette manipulation car il est déclaré à travers une macro qui masque à Netbeans son existence. Le service restera donc souligné en rouge. + +%%%%%%%%%%%%%%%%%%%% +\subsection{Développement d'une application distante : édition et compilation distantes} +%%%%%%%%%%%%%%%%%%%% + +Cette dernière solution est à éviter. Elle consiste à éditer le code directement sur la \raspi et d'y lancer la compilation via un terminal (figure~\ref{fig:edition1}). + +\begin{figure}[htbp] +\begin{center} +\includegraphics[scale=0.45]{./figures-pdf/edition1} +\caption{Edition et compilation distante} +\label{fig:edition1} +\end{center} +\end{figure} + +Les étapes à suivre sont alors : +\begin{enumerate} +\item se connecter de manière distante à la \raspi via ssh (voir section~\ref{sec:ssh}), + \item éditer à distance (par ex. avec {\tt nano}) le code, + \item compiler avec la commande {\tt make} à l'aide du {\tt Makefile} du répertoire {\tt /destijl\_init}, + \item lancer l'exécutable par la commande {\tt sudo ./superviseur} (voir section ~\ref{sec:utilisation})\\ +\end{enumerate} + +Vous pouvez ensuite lancer le moniteur (voir section~\ref{sec:utilisation}) pour interragir avec l'application. + +\end{document} \ No newline at end of file