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add robot simulator

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This commit is contained in:
pehladik 2020-03-14 02:49:03 +01:00
parent a3fc2d8815
commit a7eaa150df
32 changed files with 1202 additions and 268 deletions
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4
.gitignore vendored
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@ -64,4 +64,6 @@ GUI
/software/raspberry/superviseur-robot/superviseur/dist/
/software/raspberry/testeur/testeur/build/
/software/raspberry/testeur/testeur/dist/
/software/raspberry/testeur/testeur/dist/
/software/simulateur/build/
/software/simulateur/dist/

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software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur vendored
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software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot vendored
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software/raspberry/superviseur-robot/dist/Debug__Pthread_/GNU-Linux/superviseur-robot vendored
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software/raspberry/superviseur-robot/dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot vendored
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46
software/raspberry/superviseur-robot/lib/comrobot.cpp
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@ -26,6 +26,14 @@
#include <string>
#include <stdexcept>
#ifdef __SIMULATION__
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
int sock = 0;
#define PORT 6699
#endif
#ifdef __FOR_PC__
#define USART_FILENAME "/dev/ttyUSB0"
#else
@ -71,6 +79,33 @@ int ComRobot::Open() {
int ComRobot::Open(string usart) {
struct termios options;
#ifdef __SIMULATION__
struct sockaddr_in serv_addr;
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
printf("\n Socket creation error \n");
return -1;
}
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(PORT);
// Convert IPv4 and IPv6 addresses from text to binary form
if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) {
printf("\nInvalid address/ Address not supported \n");
return -1;
}
if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
return -1;
}
/*send(sock , hello , strlen(hello) , 0 );
printf("Hello message sent\n");
valread = read( sock , buffer, 1024);
printf("%s\n",buffer ); */
return 1;
#else
fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
if (fd == -1) {
cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
@ -88,6 +123,7 @@ int ComRobot::Open(string usart) {
}
return fd;
#endif
}
/**
@ -115,6 +151,15 @@ Message *ComRobot::Write(Message* msg) {
Write_Pre();
s = MessageToString(msg);
#ifdef __SIMULATION__
char buffer[1024] = {0};
cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
send(sock, s.c_str(), s.length(), 0);
int valread = read(sock, buffer, 1024);
msgAnswer = new Message(MESSAGE_ANSWER_ACK);
printf("%s\n", buffer);
#else
AddChecksum(s);
//cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
@ -143,6 +188,7 @@ Message *ComRobot::Write(Message* msg) {
}
}
}
#endif
} else {
cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
throw std::runtime_error{"Com port not open"};

18
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk
View file

@ -67,47 +67,47 @@ LDLIBSOPTIONS=`pkg-config --libs opencv`
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -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
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -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
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks.o: tasks.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__SIMULATION__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
# Subprojects
.build-subprojects:

125
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk
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@ -1,125 +0,0 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Debug__RPI_
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include ./Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/lib/base64/base64.o \
${OBJECTDIR}/lib/camera.o \
${OBJECTDIR}/lib/commonitor.o \
${OBJECTDIR}/lib/comrobot.o \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o
# C Compiler Flags
CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
# CC Compiler Flags
CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -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
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks.o: tasks.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

2
software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk
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@ -31,7 +31,7 @@ DEFAULTCONF=Debug__PC_
CONF=${DEFAULTCONF}
# All Configurations
ALLCONFS=Debug__PC_ Debug__RPI_
ALLCONFS=Debug__PC_
# build

8
software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk
View file

@ -14,14 +14,6 @@ CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot
CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package
CND_PACKAGE_NAME_Debug__PC_=superviseur-robot.tar
CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot.tar
# Debug__RPI_ configuration
CND_PLATFORM_Debug__RPI_=GNU-Linux
CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux
CND_ARTIFACT_NAME_Debug__RPI_=superviseur-robot
CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot
CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package
CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar
CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar
#
# include compiler specific variables
#

74
software/raspberry/superviseur-robot/nbproject/configurations.xml
View file

@ -71,6 +71,7 @@
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__FOR_PC__</Elem>
<Elem>__SIMULATION__</Elem>
<Elem>__WITH_ARUCO__</Elem>
</preprocessorList>
</ccTool>
@ -78,78 +79,7 @@
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
</linkerLibItems>
<commandLine>-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</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/camera.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/img.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/img.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/messages.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<compilerSet>GNU|GNU</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
</cTool>
<ccTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__WITH_ARUCO__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
<linkerLibLibItem>raspicam_cv</linkerLibLibItem>
<linkerLibLibItem>raspicam</linkerLibLibItem>
</linkerLibItems>
<commandLine>-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</commandLine>
<commandLine>-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</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">

1
software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk
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@ -4,4 +4,3 @@
# NOCDDL
#
# Debug__PC_ configuration
# Debug__RPI_ configuration

33
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
View file

@ -39,38 +39,5 @@
</environment>
</runprofile>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.08:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
</confs>
</configurationDescriptor>

13
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -2,17 +2,16 @@
<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
<activeConfTypeElem>1</activeConfTypeElem>
<activeConfIndexElem>1</activeConfIndexElem>
<activeConfIndexElem>0</activeConfIndexElem>
</data>
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home/etud/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
<file>file:/home/etud/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
</group>
</open-files>
</project-private>

4
software/raspberry/superviseur-robot/nbproject/project.xml
View file

@ -17,10 +17,6 @@
<name>Debug__PC_</name>
<type>1</type>
</confElem>
<confElem>
<name>Debug__RPI_</name>
<type>1</type>
</confElem>
</confList>
<formatting>
<project-formatting-style>false</project-formatting-style>

5
software/simulateur/.dep.inc Normal file
View file

@ -0,0 +1,5 @@
# This code depends on make tool being used
DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
ifneq (${DEPFILES},)
include ${DEPFILES}
endif

128
software/simulateur/Makefile Normal file
View file

@ -0,0 +1,128 @@
#
# There exist several targets which are by default empty and which can be
# used for execution of your targets. These targets are usually executed
# before and after some main targets. They are:
#
# .build-pre: called before 'build' target
# .build-post: called after 'build' target
# .clean-pre: called before 'clean' target
# .clean-post: called after 'clean' target
# .clobber-pre: called before 'clobber' target
# .clobber-post: called after 'clobber' target
# .all-pre: called before 'all' target
# .all-post: called after 'all' target
# .help-pre: called before 'help' target
# .help-post: called after 'help' target
#
# Targets beginning with '.' are not intended to be called on their own.
#
# Main targets can be executed directly, and they are:
#
# build build a specific configuration
# clean remove built files from a configuration
# clobber remove all built files
# all build all configurations
# help print help mesage
#
# Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
# .help-impl are implemented in nbproject/makefile-impl.mk.
#
# Available make variables:
#
# CND_BASEDIR base directory for relative paths
# CND_DISTDIR default top distribution directory (build artifacts)
# CND_BUILDDIR default top build directory (object files, ...)
# CONF name of current configuration
# CND_PLATFORM_${CONF} platform name (current configuration)
# CND_ARTIFACT_DIR_${CONF} directory of build artifact (current configuration)
# CND_ARTIFACT_NAME_${CONF} name of build artifact (current configuration)
# CND_ARTIFACT_PATH_${CONF} path to build artifact (current configuration)
# CND_PACKAGE_DIR_${CONF} directory of package (current configuration)
# CND_PACKAGE_NAME_${CONF} name of package (current configuration)
# CND_PACKAGE_PATH_${CONF} path to package (current configuration)
#
# NOCDDL
# Environment
MKDIR=mkdir
CP=cp
CCADMIN=CCadmin
# build
build: .build-post
.build-pre:
# Add your pre 'build' code here...
.build-post: .build-impl
# Add your post 'build' code here...
# clean
clean: .clean-post
.clean-pre:
# Add your pre 'clean' code here...
.clean-post: .clean-impl
# Add your post 'clean' code here...
# clobber
clobber: .clobber-post
.clobber-pre:
# Add your pre 'clobber' code here...
.clobber-post: .clobber-impl
# Add your post 'clobber' code here...
# all
all: .all-post
.all-pre:
# Add your pre 'all' code here...
.all-post: .all-impl
# Add your post 'all' code here...
# build tests
build-tests: .build-tests-post
.build-tests-pre:
# Add your pre 'build-tests' code here...
.build-tests-post: .build-tests-impl
# Add your post 'build-tests' code here...
# run tests
test: .test-post
.test-pre: build-tests
# Add your pre 'test' code here...
.test-post: .test-impl
# Add your post 'test' code here...
# help
help: .help-post
.help-pre:
# Add your pre 'help' code here...
.help-post: .help-impl
# Add your post 'help' code here...
# include project implementation makefile
include nbproject/Makefile-impl.mk
# include project make variables
include nbproject/Makefile-variables.mk

147
software/simulateur/main.cpp Normal file
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@ -0,0 +1,147 @@
#include <unistd.h>
#include <stdio.h>
#include <sys/socket.h>
#include <stdlib.h>
#include <netinet/in.h>
#include <string.h>
#include <iostream>
using namespace std;
const char LABEL_ROBOT_PING = 'p';
const char LABEL_ROBOT_RESET = 'r';
const char LABEL_ROBOT_START_WITH_WD = 'W';
const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
const char LABEL_ROBOT_RELOAD_WD = 'w';
const char LABEL_ROBOT_MOVE = 'M';
const char LABEL_ROBOT_TURN = 'T';
const char LABEL_ROBOT_GET_BATTERY = 'v';
const char LABEL_ROBOT_GET_STATE = 'b';
const char LABEL_ROBOT_POWEROFF = 'z';
const char LABEL_ROBOT_OK = 'O';
const char LABEL_ROBOT_ERROR = 'E';
const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
const char LABEL_ROBOT_ENDING_CHAR = 0x0D;
#define PORT 6699
int main(int argc, char const *argv[]) {
int server_fd, new_socket, valread;
struct sockaddr_in address;
int opt = 1;
int addrlen = sizeof (address);
char buffer[1024] = {0};
// Creating socket file descriptor
if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
perror("socket failed");
exit(EXIT_FAILURE);
}
// Forcefully attaching socket to the port 8080
if (setsockopt(server_fd, SOL_SOCKET, SO_REUSEADDR | SO_REUSEPORT,
&opt, sizeof (opt))) {
perror("setsockopt");
exit(EXIT_FAILURE);
}
address.sin_family = AF_INET;
address.sin_addr.s_addr = INADDR_ANY;
address.sin_port = htons(PORT);
cout << "<<< simulator >>>" << endl;
// Forcefully attaching socket to the port 8080
if (bind(server_fd, (struct sockaddr *) &address,
sizeof (address)) < 0) {
perror("bind failed");
exit(EXIT_FAILURE);
}
cout << ">>> waiting the opening" << endl;
if (listen(server_fd, 3) < 0) {
perror("listen");
exit(EXIT_FAILURE);
}
if ((new_socket = accept(server_fd, (struct sockaddr *) &address,
(socklen_t*) & addrlen)) < 0) {
perror("accept");
exit(EXIT_FAILURE);
}
cout << ">>> The robot is ready to receive something" << endl;
unsigned long starttime = (unsigned long) time(NULL);
while (1) {
valread = read(new_socket, buffer, 1024);
if (valread <= 0)
break;
printf(">>> I received : %s\n", buffer);
cout << (unsigned long) time(NULL) << ": ";
string s = "";
s += LABEL_ROBOT_OK;
switch (buffer[0]) {
case LABEL_ROBOT_START_WITHOUT_WD:
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_START_WITH_WD:
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_MOVE:
switch (buffer[2]) {
case '0':
cout << "oo I stop oo" << endl;
break;
case '-':
cout << "\\/ I move backward \\/" << endl;
break;
default:
cout << "/\\ I move forward /\\" << endl;
break;
}
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_TURN:
switch (buffer[2]) {
case '-':
cout << "<< I turn to the left <<" << endl;
break;
default:
cout << ">> I turn to the right >>" << endl;
break;
}
s += LABEL_ROBOT_OK;
break;
case LABEL_ROBOT_GET_BATTERY:
if ((unsigned long) time(NULL) - starttime > 20) {
s += '0';
} else {
if ((unsigned long) time(NULL) - starttime > 10) {
s += '1';
} else {
s += '2';
}
}
break;
case '0':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
break;
case '1':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
break;
case '2':
//msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
break;
default:
//msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << buffer << ")" << endl << flush;
}
send(new_socket, s.c_str(), s.length(), 0);
//printf("%s sent\n", s);
}
cout << "The robot is dead. End of story " << endl;
cout << " /\\_/\\" << endl << "( o.o )" << endl << " > ^ <" << endl;
return 0;
}

83
software/simulateur/nbproject/Makefile-Debug.mk Normal file
View file

@ -0,0 +1,83 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Debug
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/main.o
# C Compiler Flags
CFLAGS=
# CC Compiler Flags
CCFLAGS=
CXXFLAGS=
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur ${OBJECTFILES} ${LDLIBSOPTIONS}
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

83
software/simulateur/nbproject/Makefile-Release.mk Normal file
View file

@ -0,0 +1,83 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Release
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/main.o
# C Compiler Flags
CFLAGS=
# CC Compiler Flags
CCFLAGS=
CXXFLAGS=
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur ${OBJECTFILES} ${LDLIBSOPTIONS}
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

133
software/simulateur/nbproject/Makefile-impl.mk Normal file
View file

@ -0,0 +1,133 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a pre- and a post- target defined where you can add customization code.
#
# This makefile implements macros and targets common to all configurations.
#
# NOCDDL
# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
# and .clean-reqprojects-conf unless SUB has the value 'no'
SUB_no=NO
SUBPROJECTS=${SUB_${SUB}}
BUILD_SUBPROJECTS_=.build-subprojects
BUILD_SUBPROJECTS_NO=
BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
CLEAN_SUBPROJECTS_=.clean-subprojects
CLEAN_SUBPROJECTS_NO=
CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
# Project Name
PROJECTNAME=simulateur
# Active Configuration
DEFAULTCONF=Debug
CONF=${DEFAULTCONF}
# All Configurations
ALLCONFS=Debug Release
# build
.build-impl: .build-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf
# clean
.clean-impl: .clean-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf
# clobber
.clobber-impl: .clobber-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf; \
done
# all
.all-impl: .all-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf; \
done
# build tests
.build-tests-impl: .build-impl .build-tests-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-tests-conf
# run tests
.test-impl: .build-tests-impl .test-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .test-conf
# dependency checking support
.depcheck-impl:
@echo "# This code depends on make tool being used" >.dep.inc
@if [ -n "${MAKE_VERSION}" ]; then \
echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES} \$${TESTOBJECTFILES}))" >>.dep.inc; \
echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
echo "include \$${DEPFILES}" >>.dep.inc; \
echo "endif" >>.dep.inc; \
else \
echo ".KEEP_STATE:" >>.dep.inc; \
echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
fi
# configuration validation
.validate-impl:
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
echo ""; \
echo "Error: can not find the makefile for configuration '${CONF}' in project ${PROJECTNAME}"; \
echo "See 'make help' for details."; \
echo "Current directory: " `pwd`; \
echo ""; \
fi
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
exit 1; \
fi
# help
.help-impl: .help-pre
@echo "This makefile supports the following configurations:"
@echo " ${ALLCONFS}"
@echo ""
@echo "and the following targets:"
@echo " build (default target)"
@echo " clean"
@echo " clobber"
@echo " all"
@echo " help"
@echo ""
@echo "Makefile Usage:"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] build"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] clean"
@echo " make [SUB=no] clobber"
@echo " make [SUB=no] all"
@echo " make help"
@echo ""
@echo "Target 'build' will build a specific configuration and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'clean' will clean a specific configuration and, unless 'SUB=no',"
@echo " also clean subprojects."
@echo "Target 'clobber' will remove all built files from all configurations and,"
@echo " unless 'SUB=no', also from subprojects."
@echo "Target 'all' will will build all configurations and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'help' prints this message."
@echo ""

35
software/simulateur/nbproject/Makefile-variables.mk Normal file
View file

@ -0,0 +1,35 @@
#
# Generated - do not edit!
#
# NOCDDL
#
CND_BASEDIR=`pwd`
CND_BUILDDIR=build
CND_DISTDIR=dist
# Debug configuration
CND_PLATFORM_Debug=GNU-Linux
CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux
CND_ARTIFACT_NAME_Debug=simulateur
CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/simulateur
CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package
CND_PACKAGE_NAME_Debug=simulateur.tar
CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/simulateur.tar
# Release configuration
CND_PLATFORM_Release=GNU-Linux
CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux
CND_ARTIFACT_NAME_Release=simulateur
CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/simulateur
CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package
CND_PACKAGE_NAME_Release=simulateur.tar
CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/simulateur.tar
#
# include compiler specific variables
#
# dmake command
ROOT:sh = test -f nbproject/private/Makefile-variables.mk || \
(mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)
#
# gmake command
.PHONY: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk))
#
include nbproject/private/Makefile-variables.mk

14
software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash → software/simulateur/nbproject/Package-Debug.bash
View file

@ -7,15 +7,15 @@
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Debug__RPI_
CND_CONF=Debug
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
OUTPUT_BASENAME=superviseur-robot
PACKAGE_TOP_DIR=superviseur-robot/
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
OUTPUT_BASENAME=simulateur
PACKAGE_TOP_DIR=simulateur/
# Functions
function checkReturnCode
@ -60,15 +60,15 @@ mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/superviseur-robot/bin"
makeDirectory "${NBTMPDIR}/simulateur/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar *
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar *
checkReturnCode
# Cleanup

76
software/simulateur/nbproject/Package-Release.bash Normal file
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@ -0,0 +1,76 @@
#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Release
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/simulateur
OUTPUT_BASENAME=simulateur
PACKAGE_TOP_DIR=simulateur/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/simulateur/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/simulateur.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

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<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
<logicalFolder name="HeaderFiles"
displayName="Header Files"
projectFiles="true">
</logicalFolder>
<logicalFolder name="ResourceFiles"
displayName="Resource Files"
projectFiles="true">
</logicalFolder>
<logicalFolder name="SourceFiles"
displayName="Source Files"
projectFiles="true">
<itemPath>main.cpp</itemPath>
</logicalFolder>
<logicalFolder name="TestFiles"
displayName="Test Files"
projectFiles="false"
kind="TEST_LOGICAL_FOLDER">
</logicalFolder>
<logicalFolder name="ExternalFiles"
displayName="Important Files"
projectFiles="false"
kind="IMPORTANT_FILES_FOLDER">
<itemPath>Makefile</itemPath>
</logicalFolder>
</logicalFolder>
<projectmakefile>Makefile</projectmakefile>
<confs>
<conf name="Debug" type="1">
<toolsSet>
<compilerSet>default</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
</compileType>
<item path="main.cpp" ex="false" tool="1" flavor2="0">
</item>
</conf>
<conf name="Release" type="1">
<toolsSet>
<compilerSet>default</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<developmentMode>5</developmentMode>
</cTool>
<ccTool>
<developmentMode>5</developmentMode>
</ccTool>
<fortranCompilerTool>
<developmentMode>5</developmentMode>
</fortranCompilerTool>
<asmTool>
<developmentMode>5</developmentMode>
</asmTool>
</compileType>
<item path="main.cpp" ex="false" tool="1" flavor2="0">
</item>
</conf>
</confs>
</configurationDescriptor>

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#
# Generated - do not edit!
#
# NOCDDL
#
# Debug configuration
# Release configuration

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/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/c/header
#include <assert.h> // Conditionally compiled macro that compares its argument to zero
#include <ctype.h> // Functions to determine the type contained in character data
#include <errno.h> // Macros reporting error conditions
#include <float.h> // Limits of float types
#include <limits.h> // Sizes of basic types
#include <locale.h> // Localization utilities
#include <math.h> // Common mathematics functions
#include <setjmp.h> // Nonlocal jumps
#include <signal.h> // Signal handling
#include <stdarg.h> // Variable arguments
#include <stddef.h> // Common macro definitions
#include <stdio.h> // Input/output
#include <string.h> // String handling
#include <stdlib.h> // General utilities: memory management, program utilities, string conversions, random numbers
#include <time.h> // Time/date utilities
#include <iso646.h> // (since C95) Alternative operator spellings
#include <wchar.h> // (since C95) Extended multibyte and wide character utilities
#include <wctype.h> // (since C95) Wide character classification and mapping utilities
#ifdef _STDC_C99
#include <complex.h> // (since C99) Complex number arithmetic
#include <fenv.h> // (since C99) Floating-point environment
#include <inttypes.h> // (since C99) Format conversion of integer types
#include <stdbool.h> // (since C99) Boolean type
#include <stdint.h> // (since C99) Fixed-width integer types
#include <tgmath.h> // (since C99) Type-generic math (macros wrapping math.h and complex.h)
#endif
#ifdef _STDC_C11
#include <stdalign.h> // (since C11) alignas and alignof convenience macros
#include <stdatomic.h> // (since C11) Atomic types
#include <stdnoreturn.h> // (since C11) noreturn convenience macros
#include <threads.h> // (since C11) Thread library
#include <uchar.h> // (since C11) UTF-16 and UTF-32 character utilities
#endif

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<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<projectmakefile>Makefile</projectmakefile>
<confs>
<conf name="Debug" type="1">
<toolsSet>
<developmentServer>localhost</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
<conf name="Release" type="1">
<toolsSet>
<developmentServer>localhost</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
</confs>
</configurationDescriptor>

135
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/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/cpp/header
#include <cstdlib> // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search
#include <csignal> // Functions and macro constants for signal management
#include <csetjmp> // Macro (and function) that saves (and jumps) to an execution context
#include <cstdarg> // Handling of variable length argument lists
#include <typeinfo> // Runtime type information utilities
#include <bitset> // std::bitset class template
#include <functional> // Function objects, designed for use with the standard algorithms
#include <utility> // Various utility components
#include <ctime> // C-style time/date utilites
#include <cstddef> // typedefs for types such as size_t, NULL and others
#include <new> // Low-level memory management utilities
#include <memory> // Higher level memory management utilities
#include <climits> // limits of integral types
#include <cfloat> // limits of float types
#include <limits> // standardized way to query properties of arithmetic types
#include <exception> // Exception handling utilities
#include <stdexcept> // Standard exception objects
#include <cassert> // Conditionally compiled macro that compares its argument to zero
#include <cerrno> // Macro containing the last error number
#include <cctype> // functions to determine the type contained in character data
#include <cwctype> // functions for determining the type of wide character data
#include <cstring> // various narrow character string handling functions
#include <cwchar> // various wide and multibyte string handling functions
#include <string> // std::basic_string class template
#include <vector> // std::vector container
#include <deque> // std::deque container
#include <list> // std::list container
#include <set> // std::set and std::multiset associative containers
#include <map> // std::map and std::multimap associative containers
#include <stack> // std::stack container adaptor
#include <queue> // std::queue and std::priority_queue container adaptors
#include <algorithm> // Algorithms that operate on containers
#include <iterator> // Container iterators
#include <cmath> // Common mathematics functions
#include <complex> // Complex number type
#include <valarray> // Class for representing and manipulating arrays of values
#include <numeric> // Numeric operations on values in containers
#include <iosfwd> // forward declarations of all classes in the input/output library
#include <ios> // std::ios_base class, std::basic_ios class template and several typedefs
#include <istream> // std::basic_istream class template and several typedefs
#include <ostream> // std::basic_ostream, std::basic_iostream class templates and several typedefs
#include <iostream> // several standard stream objects
#include <fstream> // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs
#include <sstream> // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs
#include <strstream> // std::strstream, std::istrstream, std::ostrstream(deprecated)
#include <iomanip> // Helper functions to control the format or input and output
#include <streambuf> // std::basic_streambuf class template
#include <cstdio> // C-style input-output functions
#include <locale> // Localization utilities
#include <clocale> // C localization utilities
#include <ciso646> // empty header. The macros that appear in iso646.h in C are keywords in C++
#if __cplusplus >= 201103L
#include <typeindex> // (since C++11) std::type_index
#include <type_traits> // (since C++11) Compile-time type information
#include <chrono> // (since C++11) C++ time utilites
#include <initializer_list> // (since C++11) std::initializer_list class template
#include <tuple> // (since C++11) std::tuple class template
#include <scoped_allocator> // (since C++11) Nested allocator class
#include <cstdint> // (since C++11) fixed-size types and limits of other types
#include <cinttypes> // (since C++11) formatting macros , intmax_t and uintmax_t math and conversions
#include <system_error> // (since C++11) defines std::error_code, a platform-dependent error code
#include <cuchar> // (since C++11) C-style Unicode character conversion functions
#include <array> // (since C++11) std::array container
#include <forward_list> // (since C++11) std::forward_list container
#include <unordered_set> // (since C++11) std::unordered_set and std::unordered_multiset unordered associative containers
#include <unordered_map> // (since C++11) std::unordered_map and std::unordered_multimap unordered associative containers
#include <random> // (since C++11) Random number generators and distributions
#include <ratio> // (since C++11) Compile-time rational arithmetic
#include <cfenv> // (since C++11) Floating-point environment access functions
#include <codecvt> // (since C++11) Unicode conversion facilities
#include <regex> // (since C++11) Classes, algorithms and iterators to support regular expression processing
#include <atomic> // (since C++11) Atomic operations library
#include <ccomplex> // (since C++11)(deprecated in C++17) simply includes the header <complex>
#include <ctgmath> // (since C++11)(deprecated in C++17) simply includes the headers <ccomplex> (until C++17)<complex> (since C++17) and <cmath>: the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers
#include <cstdalign> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <cstdbool> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <thread> // (since C++11) std::thread class and supporting functions
#include <mutex> // (since C++11) mutual exclusion primitives
#include <future> // (since C++11) primitives for asynchronous computations
#include <condition_variable> // (since C++11) thread waiting conditions
#endif
#if __cplusplus >= 201300L
#include <shared_mutex> // (since C++14) shared mutual exclusion primitives
#endif
#if __cplusplus >= 201500L
#include <any> // (since C++17) std::any class template
#include <optional> // (since C++17) std::optional class template
#include <variant> // (since C++17) std::variant class template
#include <memory_resource> // (since C++17) Polymorphic allocators and memory resources
#include <string_view> // (since C++17) std::basic_string_view class template
#include <execution> // (since C++17) Predefined execution policies for parallel versions of the algorithms
#include <filesystem> // (since C++17) std::path class and supporting functions
#endif

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# Launchers File syntax:
#
# [Must-have property line]
# launcher1.runCommand=<Run Command>
# [Optional extra properties]
# launcher1.displayName=<Display Name, runCommand by default>
# launcher1.hide=<true if lancher is not visible in menu, false by default>
# launcher1.buildCommand=<Build Command, Build Command specified in project properties by default>
# launcher1.runDir=<Run Directory, ${PROJECT_DIR} by default>
# launcher1.runInOwnTab=<false if launcher reuse common "Run" output tab, true by default>
# launcher1.symbolFiles=<Symbol Files loaded by debugger, ${OUTPUT_PATH} by default>
# launcher1.env.<Environment variable KEY>=<Environment variable VALUE>
# (If this value is quoted with ` it is handled as a native command which execution result will become the value)
# [Common launcher properties]
# common.runDir=<Run Directory>
# (This value is overwritten by a launcher specific runDir value if the latter exists)
# common.env.<Environment variable KEY>=<Environment variable VALUE>
# (Environment variables from common launcher are merged with launcher specific variables)
# common.symbolFiles=<Symbol Files loaded by debugger>
# (This value is overwritten by a launcher specific symbolFiles value if the latter exists)
#
# In runDir, symbolFiles and env fields you can use these macroses:
# ${PROJECT_DIR} - project directory absolute path
# ${OUTPUT_PATH} - linker output path (relative to project directory path)
# ${OUTPUT_BASENAME}- linker output filename
# ${TESTDIR} - test files directory (relative to project directory path)
# ${OBJECTDIR} - object files directory (relative to project directory path)
# ${CND_DISTDIR} - distribution directory (relative to project directory path)
# ${CND_BUILDDIR} - build directory (relative to project directory path)
# ${CND_PLATFORM} - platform name
# ${CND_CONF} - configuration name
# ${CND_DLIB_EXT} - dynamic library extension
#
# All the project launchers must be listed in the file!
#
# launcher1.runCommand=...
# launcher2.runCommand=...
# ...
# common.runDir=...
# common.env.KEY=VALUE
# launcher1.runCommand=<type your run command here>

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<?xml version="1.0" encoding="UTF-8"?>
<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
<activeConfTypeElem>1</activeConfTypeElem>
<activeConfIndexElem>0</activeConfIndexElem>
</data>
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/etud/dumber/software/simulateur/main.cpp</file>
</group>
</open-files>
</project-private>

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software/simulateur/nbproject/project.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.netbeans.org/ns/project/1">
<type>org.netbeans.modules.cnd.makeproject</type>
<configuration>
<data xmlns="http://www.netbeans.org/ns/make-project/1">
<name>simulateur</name>
<c-extensions/>
<cpp-extensions>cpp</cpp-extensions>
<header-extensions/>
<sourceEncoding>UTF-8</sourceEncoding>
<make-dep-projects/>
<sourceRootList/>
<confList>
<confElem>
<name>Debug</name>
<type>1</type>
</confElem>
<confElem>
<name>Release</name>
<type>1</type>
</confElem>
</confList>
<formatting>
<project-formatting-style>false</project-formatting-style>
</formatting>
</data>
</configuration>
</project>