Robobot compile - Revision history

Jca: /* Executable */

2024-01-01T14:30:22Z

Executable

← Older revision		Revision as of 16:30, 1 January 2024
Line 199:		Line 199:
	-w,--white Calibrate line sensor on white surface		-w,--white Calibrate line sensor on white surface
	-b,--black Calibrate line sensor on black surface		-b,--black Calibrate line sensor on black surface
			-s,--sensor INT Calibrate (sharp) distance sensor [1 or 2], use with '-c'
			-c,--calibrate-distance INT Calibrate (sharp) distance sensor at [13 or 50] cm, use with '-s'
			-g,--gyro Calibrate gyro offset
	-n,--number INT Set robot number to Regbot part [0..150]		-n,--number INT Set robot number to Regbot part [0..150]

	This is primarily helpful for ~~line~~ sensor calibration.		This is primarily helpful for calibration, see [[Robobot sensor calibration]]

	=== Default Ini-file ===		=== Default Ini-file ===

Jca: /* Logfile directory */

2023-12-31T12:03:26Z

Logfile directory

← Older revision		Revision as of 14:03, 31 December 2023
Line 236:		Line 236:
	In this default case, there are log files in the 'log' directory:		In this default case, there are log files in the 'log' directory:

			$ cd ~/svn/robobot/raubase/build
	$ ls -l log		$ ls -l log
	total 168		total 168

Jca: /* Executable */

2023-12-31T12:00:54Z

Executable

← Older revision		Revision as of 14:00, 31 December 2023
Line 201:		Line 201:
	-n,--number INT Set robot number to Regbot part [0..150]		-n,--number INT Set robot number to Regbot part [0..150]

	This is ~~mostly~~ helpful for line sensor calibration.		This is primarily helpful for line sensor calibration.

			=== Default Ini-file ===

			If you run the ''raubase'' with no parameters, it will run the mission.

			The default (if no robot.ini exists) is that no mission plans will run. But be careful and place the robot on the floor.

			$ cd ~/svn/robobot/raubase/build
			$ ./raubase
			# STeensy::setup: took 0.010128 sec to open to Teensy
			# SState::decode: asked for new name (idi -> name)
			# UService::setup - waited 0.060661 sec for initial Teensy setup
			# SpyVision:: disabled in robot.ini
			# UJoyLogitech:: no joystick found (/dev/input/js0)
			# UService::setup - waited 0.082176 sec for full setup
			# UService:: setup of all modules finished OK.
			# --------- terminating -----------
			# UService:: configuration saved to robot.ini

			Some modules will print a status - primarily for debugging.

			The default behaviour is to ''setup'' everything, ask all behaviour plans if they should run, wait for one second at zero velocity, and then terminate, closing all logfiles.

			There is now a configuration file ''robot.ini'' with default values.

			$ ls
			CMakeCache.txt CMakeFiles Makefile cmake_install.cmake log raubase robot.ini

			=== Logfile directory ===

			When ''raubase'' has run, there is generated logfiles (if not all log options are ''false'').

			In this default case, there are log files in the 'log' directory:

			$ ls -l log
			total 168
			-rw-r--r-- 1 local local 3299 Dec 31 12:49 log_acc.txt
			-rw-r--r-- 1 local local 5277 Dec 31 12:49 log_edge.txt
			-rw-r--r-- 1 local local 287 Dec 31 12:49 log_edge_ctrl.txt
			-rw-r--r-- 1 local local 7253 Dec 31 12:49 log_edge_normalized.txt
			-rw-r--r-- 1 local local 6243 Dec 31 12:49 log_edge_raw.txt
			-rw-r--r-- 1 local local 4941 Dec 31 12:49 log_encoder.txt
			-rw-r--r-- 1 local local 143 Dec 31 12:49 log_gpio.txt
			-rw-r--r-- 1 local local 3377 Dec 31 12:49 log_gyro.txt
			-rw-r--r-- 1 local local 475 Dec 31 12:49 log_hbt.txt
			-rw-r--r-- 1 local local 7396 Dec 31 12:49 log_heading.txt
			-rw-r--r-- 1 local local 1103 Dec 31 12:49 log_irdist.txt
			-rw-r--r-- 1 local local 9105 Dec 31 12:49 log_mixer.txt
			-rw-r--r-- 1 local local 7889 Dec 31 12:49 log_motor_0.txt
			-rw-r--r-- 1 local local 7780 Dec 31 12:49 log_motor_1.txt
			-rw-r--r-- 1 local local 101 Dec 31 12:49 log_plan20.txt
			-rw-r--r-- 1 local local 101 Dec 31 12:49 log_plan21.txt
			-rw-r--r-- 1 local local 101 Dec 31 12:49 log_plan40.txt
			-rw-r--r-- 1 local local 11590 Dec 31 12:49 log_pose.txt
			-rw-r--r-- 1 local local 6814 Dec 31 12:49 log_pose_abs.txt
			-rw-r--r-- 1 local local 1277 Dec 31 12:49 log_servo.txt
			-rw-r--r-- 1 local local 96 Dec 31 12:49 log_servo_ctrl.txt
			-rw-r--r-- 1 local local 34379 Dec 31 12:49 log_teensy_io.txt

			Some are filled with sensor data, and others are relatively empty.

Jca: /* Makefile and make */

2023-12-31T11:33:07Z

Makefile and make

← Older revision		Revision as of 13:33, 31 December 2023
Line 179:		Line 179:

	There is a single warning, but I couldn't find a simple way to avoid the warning, and it has no negative consequences other than the warning.		There is a single warning, but I couldn't find a simple way to avoid the warning, and it has no negative consequences other than the warning.

			=== Executable ===

	There is now a '''raubase''' executable:		There is now a '''raubase''' executable:

Jca: /* Makefile */

2023-12-31T11:32:23Z

Makefile

← Older revision		Revision as of 13:32, 31 December 2023
Line 134:		Line 134:
	It detects that it is running on a Raspberry PI version 3.		It detects that it is running on a Raspberry PI version 3.

	=== Makefile ===		=== Makefile and make ===

	There is now a Makefile in the ''build'' directory, but there are other files too:		There is now a Makefile in the ''build'' directory, but there are other files too:

Jca: /* CMake */

2023-12-31T11:31:59Z

CMake

← Older revision		Revision as of 13:31, 31 December 2023
Line 93:		Line 93:
	If this directory is empty, or the ''CMakeLists.txt'' is changed substantially, then CMake is needed to generate or regenerate the Makefile.		If this directory is empty, or the ''CMakeLists.txt'' is changed substantially, then CMake is needed to generate or regenerate the Makefile.

	=== CMake ===		=== Run CMake ===

	$ cd ~/svn/robobot/raubase/build		$ cd ~/svn/robobot/raubase/build

Jca at 11:31, 31 December 2023

2023-12-31T11:31:40Z

← Older revision		Revision as of 13:31, 31 December 2023
Line 92:		Line 92:

	If this directory is empty, or the ''CMakeLists.txt'' is changed substantially, then CMake is needed to generate or regenerate the Makefile.		If this directory is empty, or the ''CMakeLists.txt'' is changed substantially, then CMake is needed to generate or regenerate the Makefile.

			=== CMake ===

	$ cd ~/svn/robobot/raubase/build		$ cd ~/svn/robobot/raubase/build
	$ cmake ..		$ cmake ..

	The ".." means parent directory, and tells ''cmake'' where to find the ''CMakeLists.txt'' file.		The ".." means parent directory and tells ''cmake'' where to find the ''CMakeLists.txt'' file.

	The ''CMake'' list the progress, like this:		The ''CMake'' list the progress like this:

	$ cmake ..		$ cmake ..
Line 131:		Line 133:

	It detects that it is running on a Raspberry PI version 3.		It detects that it is running on a Raspberry PI version 3.

			=== Makefile ===

	There is now a Makefile in the ''build'' directory, but there are other files too:		There is now a Makefile in the ''build'' directory, but there are other files too:

Jca at 11:30, 31 December 2023

2023-12-31T11:30:09Z

← Older revision		Revision as of 13:30, 31 December 2023
Line 1:		Line 1:
	Back to [[Robobot B \| Robobot]]		Back to [[Robobot B \| Robobot]]

			Back to [[Robobot software description]]

	== Compile using CMake ==		== Compile using CMake ==

Jca: Created page with "Back to Robobot == Compile using CMake == To compile, the compiler uses a lot of parameters to specify what to compile, where the system libraries are placed..."

2023-12-31T11:29:25Z

Created page with "Back to Robobot == Compile using CMake == To compile, the compiler uses a lot of parameters to specify what to compile, where the system libraries are placed..."

New page

Back to [[Robobot B | Robobot]]

== Compile using CMake ==

To compile, the compiler uses a lot of parameters to specify what to compile, where the system libraries are placed and other compile options.
A Makefile is often used to specify these options, to check for dependencies and not to compile more than needed.

A Makefile can be complicated too, and a number of apps exist to simplify the generation of the Makefile.
One of the most widely used is CMake

=== CMake ===

CMake has a specification file called ''CMakeLists.txt'', for our project, it looks like this:

cmake_minimum_required(VERSION 3.8)
project('''raubase''')

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package('''OpenCV''' REQUIRED )
find_package(Threads REQUIRED)
#find_package(libgpiodcxx REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS} ${rclcpp_INCLUDE_DIRS} ${dlib_INCLUDE_DIR})
execute_process(COMMAND uname -m RESULT_VARIABLE IS_OK OUTPUT_VARIABLE CPU1)
string(STRIP ${CPU1} CPU)
# works for Raspberry 3 and 4
if (${CPU} MATCHES "armv7l" OR ${CPU} MATCHES "aarch64")
message("# Is a RASPBERRY; CPU=${CPU} (Pi3=armv7l, pi4=aarch64)")
# set(EXTRA_CC_FLAGS " -mfpu=vfp -mfloat-abi=hard -march=armv6zk -mtune=arm1176jzf-s -DRASPBERRY_PI -D${CPU}")
set(EXTRA_CC_FLAGS "-D${CPU} -O2 -g0 -DRASPBERRY_PI -I/home/local/git/CLI11/include")
#set(EXTRA_CC_FLAGS "-D${CPU} -O0 -g2 -DRASPBERRY_PI")
else()
message("# Not a RASPBERRY; CPU=${CPU}")
set(EXTRA_CC_FLAGS "-D${CPU} -O0 -g2")
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic \
-Wno-format-truncation -Wno-return-type \
-std=c++20 ${EXTRA_CC_FLAGS}")
set(CMAKE_C_FLAGS ${CMAKE_C_FLAGS} "-pthread")

add_executable('''raubase'''
src/bplan20.cpp
src/bplan21.cpp
src/bplan40.cpp
src/cedge.cpp
src/cheading.cpp
src/cmixer.cpp
src/cmotor.cpp
src/cservo.cpp
src/main.cpp
src/medge.cpp
src/mpose.cpp
src/sedge.cpp
src/sencoder.cpp
src/sgpiod.cpp
src/simu.cpp
src/sdist.cpp
src/sjoylogitech.cpp
src/spyvision.cpp
src/sstate.cpp
src/steensy.cpp
src/upid.cpp
src/uservice.cpp
src/usocket.cpp
src/utime.cpp
)

if (${CPU} MATCHES "armv7l" OR ${CPU} MATCHES "aarch64")
target_link_libraries('''raubase''' ${CMAKE_THREAD_LIBS_INIT} readline gpiod rt)
else()
target_link_libraries('''raubase''' ${CMAKE_THREAD_LIBS_INIT} readline gpiod)
endif()

This file defines the name of the executable: ''raubase''.

Adaptation to Raspberry Pi is handled in a few ''if'' sections. This allows the software to be compiled and run on other platforms; this has been an advantage, especially during the initial debugging.

What to compile is specified here. If you add new mission plans (or other functions), such files need to be added to this list.

=== Build directory ===

Both CMake and Make generate a lot of files to make the compilation faster. In order not to clutter the base directory, it is recommended to make a build directory as a sub-directory to the base directory.

This build directory is already present in the Raspberry disk for the Robobot:

$ cd ~/svn/robobot/raubase/build

If this directory is empty, or the ''CMakeLists.txt'' is changed substantially, then CMake is needed to generate or regenerate the Makefile.

$ cd ~/svn/robobot/raubase/build
$ cmake ..

The ".." means parent directory, and tells ''cmake'' where to find the ''CMakeLists.txt'' file.

The ''CMake'' list the progress, like this:

$ cmake ..
-- The C compiler identification is GNU 10.2.1
-- The CXX compiler identification is GNU 10.2.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /usr (found version "4.5.1")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in thread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
# Is a RASPBERRY; CPU=armv7l (Pi3=armv7l, pi4=aarch64)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/local/svn/robobot/raubase/build

CMake is also looking for some non-relevant features, like PTHREAD as C-library CMAKE_HAVE_LIBC_PTHREAD, but this is not used here, so that is OK.

It detects that it is running on a Raspberry PI version 3.

There is now a Makefile in the ''build'' directory, but there are other files too:

$ ls
CMakeCache.txt CMakeFiles '''Makefile''' cmake_install.cmake

The Makefile is long and almost unreadable, but we just need it to compile.
It will also check if the ''CMakeLists.txt'' file is changed, and re-run CMake if needed.

So just make the executable using the Makefile, here is added a "-j3" option to allow the compiler to use 3 CPU kernels to the compile task:

$ make -j3
[ 12%] Building CXX object CMakeFiles/raubase.dir/src/bplan21.cpp.o
[ 12%] Building CXX object CMakeFiles/raubase.dir/src/bplan40.cpp.o
[ 12%] Building CXX object CMakeFiles/raubase.dir/src/bplan20.cpp.o
[ 16%] Building CXX object CMakeFiles/raubase.dir/src/cedge.cpp.o
[ 20%] Building CXX object CMakeFiles/raubase.dir/src/cheading.cpp.o
[ 24%] Building CXX object CMakeFiles/raubase.dir/src/cmixer.cpp.o
[ 28%] Building CXX object CMakeFiles/raubase.dir/src/cmotor.cpp.o
[ 32%] Building CXX object CMakeFiles/raubase.dir/src/cservo.cpp.o
[ 36%] Building CXX object CMakeFiles/raubase.dir/src/main.cpp.o
[ 40%] Building CXX object CMakeFiles/raubase.dir/src/medge.cpp.o
[ 44%] Building CXX object CMakeFiles/raubase.dir/src/mpose.cpp.o
[ 48%] Building CXX object CMakeFiles/raubase.dir/src/sedge.cpp.o
[ 52%] Building CXX object CMakeFiles/raubase.dir/src/sencoder.cpp.o
[ 56%] Building CXX object CMakeFiles/raubase.dir/src/sgpiod.cpp.o
[ 60%] Building CXX object CMakeFiles/raubase.dir/src/simu.cpp.o
[ 64%] Building CXX object CMakeFiles/raubase.dir/src/sdist.cpp.o
[ 68%] Building CXX object CMakeFiles/raubase.dir/src/sjoylogitech.cpp.o
[ 72%] Building CXX object CMakeFiles/raubase.dir/src/spyvision.cpp.o
[ 76%] Building CXX object CMakeFiles/raubase.dir/src/sstate.cpp.o
[ 80%] Building CXX object CMakeFiles/raubase.dir/src/steensy.cpp.o
[ 84%] Building CXX object CMakeFiles/raubase.dir/src/upid.cpp.o
[ 88%] Building CXX object CMakeFiles/raubase.dir/src/uservice.cpp.o
[ 92%] Building CXX object CMakeFiles/raubase.dir/src/usocket.cpp.o
/home/local/svn/robobot/raubase/src/steensy.cpp: In member function ‘bool UOutQueue::setMessage(const char*)’:
/home/local/svn/robobot/raubase/src/steensy.cpp:65:12: warning: ‘char* strncpy(char*, const char*, size_t)’ output may be truncated copying 3 bytes from a string of length 3 [-Wstringop-truncation]
65 | strncpy(msg, cc, 3);
| 12:06, 31 December 2023 (CET)~~^12:06, 31 December 2023 (CET)12:06, 31 December 2023 (CET)~
[ 96%] Building CXX object CMakeFiles/raubase.dir/src/utime.cpp.o
[100%] Linking CXX executable raubase
[100%] Built target raubase

There is a single warning, but I couldn't find a simple way to avoid the warning, and it has no negative consequences other than the warning.

There is now a '''raubase''' executable:

$ ls
CMakeCache.txt CMakeFiles Makefile cmake_install.cmake '''raubase'''

If you run the executable with a "--help" option, you get:

$ ./raubase --help
ROBOBOT app
Usage: ./raubase [OPTIONS]
Options:
-h,--help Print this help message and exit
-v,--version Latest SVN version (for uservice.cpp)
-a,--api-list List available modules
-d,--daemon Do not listen to the keyboard (daemon mode)
-w,--white Calibrate line sensor on white surface
-b,--black Calibrate line sensor on black surface
-n,--number INT Set robot number to Regbot part [0..150]

This is mostly helpful for line sensor calibration.