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Tammo Jan Dijkema
dt_ctrl
Commits
4b8f214d
Commit
4b8f214d
authored
Aug 21, 2014
by
Jeroen Vreeken
Browse files
move controller to new build
parent
56d8add4
Changes
119
Hide whitespace changes
Inline
Side-by-side
controller/block/block_switch.c
View file @
4b8f214d
...
...
@@ -21,9 +21,7 @@
#include <stdlib.h>
#include <string.h>
#include "controller_block.h"
#include "block_switch.h"
#include <controller/controller_block.h>
/*
inputs outputs
...
...
controller/block/block_trajectplayer.c
View file @
4b8f214d
...
...
@@ -21,10 +21,10 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
"
controller_sample.h
"
#include
"
block_trajectplayer.h
"
#include
"
log.h
"
#include
<controller/
controller_block.h
>
#include
<controller/
controller_sample.h
>
#include
<block/
block_trajectplayer.h
>
#include
<log/
log.h
>
/*
inputs outputs
...
...
controller/block/block_trajectplayer.h
View file @
4b8f214d
...
...
@@ -19,7 +19,7 @@
#ifndef _INCLUDE_BLOCK_TRAJECTPLAYER_
#define _INCLUDE_BLOCK_TRAJECTPLAYER_
#include
"
controller_block.h
"
#include
<controller/
controller_block.h
>
struct
controller_block
*
block_trajectplayer_create
(
char
*
name
);
...
...
controller/block/block_trigger.c
View file @
4b8f214d
...
...
@@ -20,7 +20,7 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
<controller/
controller_block.h
>
/*
inputs outputs
...
...
controller/block/block_value.c
View file @
4b8f214d
...
...
@@ -21,7 +21,7 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
<controller/
controller_block.h
>
/*
outputs
...
...
controller/block/block_value_bool.c
View file @
4b8f214d
...
...
@@ -21,7 +21,7 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
<controller/
controller_block.h
>
/*
outputs
...
...
controller/block/block_value_uint32.c
View file @
4b8f214d
...
...
@@ -21,7 +21,7 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
<controller/
controller_block.h
>
/*
outputs
...
...
controller/block/build.mk
0 → 100644
View file @
4b8f214d
BLOCK_TARGETS
+=
$(LIBDIR)
/libblock.la
$(eval
$(call
SUBDIR,il2c))
BLOCK_SRCS
=
\
$(DIR)
/block_add.c
\
$(DIR)
/block_and2.il
\
$(DIR)
/block_bridge_pwm.c
\
$(DIR)
/block_counter.c
\
$(DIR)
/block_debug.c
\
$(DIR)
/block_decoder_uint32_bool.c
\
$(DIR)
/block_filter_iir.c
\
$(DIR)
/block_filter_lp.c
\
$(DIR)
/block_friction.c
\
$(DIR)
/block_gain.c
\
$(DIR)
/block_gain_var.c
\
$(DIR)
/block_limit.c
\
$(DIR)
/block_limit_dyn.c
\
$(DIR)
/block_limit_2nd.c
\
$(DIR)
/block_limit_var.c
\
$(DIR)
/block_matrix_2x2.c
\
$(DIR)
/block_multiplexer.c
\
$(DIR)
/block_not.il
\
$(DIR)
/block_or2.il
\
$(DIR)
/block_or3.il
\
$(DIR)
/block_or4.il
\
$(DIR)
/block_pid.c
\
$(DIR)
/block_pid_aw.c
\
$(DIR)
/block_quadrature_decoder.c
\
$(DIR)
/block_quantize.c
\
$(DIR)
/block_random.c
\
$(DIR)
/block_rangecheck.c
\
$(DIR)
/block_register.il
\
$(DIR)
/block_setpoint_generator.c
\
$(DIR)
/block_setreset.il
\
$(DIR)
/block_servo_state.c
\
$(DIR)
/block_sine.c
\
$(DIR)
/block_subtract.c
\
$(DIR)
/block_switch.c
\
$(DIR)
/block_trajectplayer.c
\
$(DIR)
/block_trigger.c
\
$(DIR)
/block_value.c
\
$(DIR)
/block_value_bool.c
\
$(DIR)
/block_value_uint32.c
OS
=
$(
shell
uname
-s
)
ifneq
($(OS), FreeBSD)
BLOCK_SRCS
+=
\
$(DIR)
/block_joystick.c
endif
BLOCK_OBJSC
:=
$(BLOCK_SRCS:.c=.lo)
BLOCK_OBJS
:=
$(BLOCK_OBJSC:.il=.il2c.lo)
$(LIBDIR)/libblock.la
:
LDFLAGS += -lm
$(LIBDIR)/libblock.la
:
CFLAGS += -O3 -Wall
$(LIBDIR)/libblock.la
:
$(BLOCK_OBJS)
$(LIB_LINK)
TARGETS
+=
$(BLOCK_TARGETS)
CLEAN
+=
$(BLOCK_TARGETS)
$(BLOCK_OBJS)
SRCS
+=
$(BLOCK_SRCS)
controller/block/il2c/Makefile
deleted
100644 → 0
View file @
56d8add4
CFLAGS
+=
-O3
-Wall
all
:
il2c test
il2c
:
il.tab.o il.yy.o il2c.o
il2c.o
:
il.tab.h
test
:
il2c
@
echo
" SUBDIR:
$@
"
@
$(MAKE)
-C
test
SRCS
=
il2c.c
clean
:
rm
-f
il2c
*
.o
*
.tab.c
*
.tab.h
*
.yy.c
*
.d
*
.lo
@
$(MAKE)
-C
test
clean
include
../../build.mk
controller/block/il2c/build.mk
0 → 100644
View file @
4b8f214d
IL2C
:=
$(DIR)
/il2c
$(eval
$(call
SUBDIR,test))
IL2C_TARGETS
+=
$(DIR)
/il2c
#$(eval $(call SUBDIR,test))
IL2C_SRCS
=
\
$(DIR)
/il.tab.c
\
$(DIR)
/il.yy.c
\
$(DIR)
/il2c.c
$(DIR)/il2c.c
:
$(DIR)/il.tab.h
IL2C_OBJS
:=
$(IL2C_SRCS:.c=.o)
$(DIR)/il2c
:
CFLAGS += -O3 -Wall
$(DIR)/il2c
:
$(IL2C_OBJS)
TARGETS
+=
$(IL2C_TARGETS)
CLEAN
+=
$(IL2C_TARGETS)
$(IL2C_OBJS)
SRCS
+=
$(IL2C_SRCS)
controller/block/il2c/test/Makefile
deleted
100644 → 0
View file @
56d8add4
IL2C
=
../il2c
CFLAGS
=
-I
../../../
all
:
blocks
blocks
:
noil.o test.o oneshot.o
clean
:
rm
-rf
*
.o
*
.lo
*
.d
*
.h
include
../../../build.mk
controller/block/il2c/test/build.mk
0 → 100644
View file @
4b8f214d
TEST_TARGETS
:=
$(DIR)
/blocks
BLOCKS_SRCS
=
\
$(DIR)
/noil.c
\
$(DIR)
/test.il
\
$(DIR)
/oneshot.il
BLOCKS_OBJSC
:=
$(BLOCKS_SRCS:.c=.o)
BLOCKS_OBJS
:=
$(BLOCKS_OBJSC:.il=.il2c.o)
$(DIR)/blocks
:
CFLAGS += -g -O0
$(DIR)/blocks
:
$(BLOCKS_OBJS)
TARGETS
+=
$(TEST_TARGETS)
CLEAN
+=
$(TEST_TARGETS)
$(BLOCKS_OBJS)
SRCS
+=
$(BLOCKS_SRCS)
controller/build.mk
View file @
4b8f214d
# Some make rules to make output pretty....
# default ARFLAGS also has 'v', but we don't want it to be verbose.
ARFLAGS
=
-r
# make sure libs from /usr/local/lib are found
VPATH
=
/lib64 /usr/lib64 /usr/local/lib64 /lib /usr/lib /usr/local/lib
LIBTOOL
=
libtool
OS
=
$(
shell
uname
-s
)
ifneq
($(OS), FreeBSD)
FLEX
=
flex
else
FLEX
=
/usr/local/bin/flex
endif
%.o
:
%.c
@
echo
"LT CC
$<
"
@
${LIBTOOL}
--quiet
--mode
=
compile
--tag
=
CC
$(CC)
-MMD
$(CFLAGS)
-c
$<
%.o
:
%.il2c.c
@
echo
"LT CCil
$<
"
@
${LIBTOOL}
--quiet
--mode
=
compile
--tag
=
CC
$(CC)
-MMD
$(CFLAGS)
-c
$<
@
sed
-e
"s:
\.
il2c.c:
\.
il:"
-i
-i
$*
.il2c.d
# @echo " CC $<"
# @$(CC) -MMD $(CFLAGS) -c $<
%
:
%.o
@
echo
" LD
$@
"
@
${LIBTOOL}
--quiet
--mode
=
link
--tag
=
CC
$(LINK.o)
$(
filter
%.o,
$^
)
$(LOADLIBS)
$(LDLIBS)
$
(
$@
_LDFLAGS
)
-o
$@
%.lo
:
%.c
@
echo
"LT CC
$<
"
@
${LIBTOOL}
--quiet
--mode
=
compile
--tag
=
CC
$(CC)
-MMD
$(CFLAGS)
-c
$<
# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
# while on FreeBSD, '-i' takes a non-optional extension argument. With
# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
# as intermediate file for in-place editing.
@sed -e "s
:
\.
libs/::" -e "s:
\.
o:
\.
lo:" -i -i .libs/$*.d
%.lo
:
%.il2c.c
@
echo
"LT CCil
$<
"
@
${LIBTOOL}
--quiet
--mode
=
compile
--tag
=
CC
$(CC)
-MMD
$(CFLAGS)
-c
$<
# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
# while on FreeBSD, '-i' takes a non-optional extension argument. With
# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
# as intermediate file for in-place editing.
@sed -e "s
:
\.
libs/::" -e "s:
\.
o:
\.
lo:" -e "s:
\.
il2c.c:
\.
il:" -i -i .libs/$*.il2c.d
%.la
:
@
echo
"LIBTOOL
$@
"
@
${LIBTOOL}
--quiet
--mode
=
link
gcc
$^
-o
$@
$(LDFLAGS)
$
(
$@
_LDFLAGS
)
-static-libtool-libs
(%)
:
%
@
echo
" AR
$^
in
$@
"
@
$(AR)
$(ARFLAGS)
$@
$^
%.tab.c %.tab.h
:
%.y
@
echo
" BISON
$<
"
@
bison
-d
$<
%.yy.c %.yy.h
:
%.l %.tab.h
@
echo
" FLEX
$<
"
@
echo
$(FLEX)
--header-file
=
$*
.yy.h
-o
$*
.yy.c
$<
@
$(FLEX)
--header-file
=
$*
.yy.h
-o
$*
.yy.c
$<
# il2c: instruction list 2 c 'compiler'
%.il2c.c
:
%.il
@
echo
" IL2C
$<
"
@
$(IL2C)
$<
# dot -> pdf
%.pdf
:
%.dot
@
echo
" DOT
$<
"
@
dot
$<
-o
$@
-Tpdf
SRCS_TMP
=
$(SRCS:.il=.il.d)
-include
$(SRCS_TMP:.c=.d) $(patsubst %.c,.libs/%.d,$(SRCS_TMP))
LIBDIR
:=
$(DIR)
/lib
$(eval
$(call
SUBDIR,controller))
$(eval
$(call
SUBDIR,shell))
$(eval
$(call
SUBDIR,block))
$(eval
$(call
SUBDIR,ec))
$(eval
$(call
SUBDIR,dt_azimuth))
$(eval
$(call
SUBDIR,dt_elevation))
$(eval
$(call
SUBDIR,test))
DT_CTRL_TARGETS
+=
$(DIR)
/dt_ctrl
DT_CTRL_SRCS
:=
$(DIR)
/dt_ctrl.c
DT_CTRL_OBJS
:=
$(DT_CTRL_SRCS:.c=.o)
BLOCKS
:=
`
$(DIR)
/controller/block_list.sh
$(DIR)
/lib/
*
.a
`
$(DIR)/dt_ctrl
:
\
libcontroller.la
\
libblock.la
\
libethercat.la
\
liblog.la
\
libshell.la
\
libdt_azimuth.la
\
libdt_elevation.la
$(DIR)/dt_ctrl
:
CFLAGS += -Wall -O3
$(DIR)/dt_ctrl
:
LDFLAGS +=
\
-Wl
,
-E
\
-lcontroller
\
-lblock
\
-lethercat
\
-llog
\
-lshell
\
-ldt_azimuth
\
-ldt_elevation
\
$(BLOCKS)
$(DIR)/dt_ctrl
:
$(DT_CTRL_OBJS)
SRCS
+=
$(DT_CTRL_SRCS)
TARGETS
+=
$(DT_CTRL_TARGETS)
CLEAN
+=
$(DT_CTRL_TARGETS)
$(DT_CTRL_OBJS)
controller/controller/Makefile
deleted
100644 → 0
View file @
56d8add4
CFLAGS
=
-O3
-Wall
-I
../../common/log/
-I
../shell/
-I
..
-I
../../common/
-I
../../common/include
CONTROLLERSRCS
=
\
controller_block.c
\
controller_block_param.c
\
controller_block_trace.c
\
controller_command.c
\
controller_trace.c
\
controller_sample.c
\
controller_dumpdot.c
\
controller_load.c
\
controller_load_variable.c
\
controller_load_parser.tab.c
\
controller_load_parser.yy.c
SRCS
=
$(CONTROLLERSRCS)
CONTROLLER
=
$(CONTROLLERSRCS:.c=.lo)
all
:
libcontroller.la_install
controller_load_parser.tab.lo
:
controller_load_parser.yy.c
controller_load.lo
:
controller_load_parser.tab.h controller_load_parser.yy.h
libcontroller.la_LDFLAGS
=
-rpath
${CURDIR}
/../lib
-lshell
-ldl
-lpthread
-lrt
-lcommand
-ltrace
-L
../../common/lib
libcontroller.la
:
$(CONTROLLER)
libcontroller.la_install
:
libcontroller.la
@
echo
"CP
$^
to libdir"
@
${LIBTOOL}
--quiet
--mode
=
install install
libcontroller.la
${CURDIR}
/../lib
clean
:
rm
-rf
*
.o
*
.a
*
.yy.
*
*
.tab.
*
*
.d
*
.lo
*
.la .libs
include
../build.mk
controller/controller/build.mk
0 → 100644
View file @
4b8f214d
CONTROLLER_TARGETS
+=
$(LIBDIR)
/libcontroller.la
CONTROLLER_SRCS
=
\
$(DIR)
/controller_block.c
\
$(DIR)
/controller_block_param.c
\
$(DIR)
/controller_block_trace.c
\
$(DIR)
/controller_command.c
\
$(DIR)
/controller_trace.c
\
$(DIR)
/controller_sample.c
\
$(DIR)
/controller_dumpdot.c
\
$(DIR)
/controller_load.c
\
$(DIR)
/controller_load_variable.c
\
$(DIR)
/controller_load_parser.tab.c
\
$(DIR)
/controller_load_parser.yy.c
CONTROLLER_OBJS
:=
$(CONTROLLER_SRCS:.c=.lo)
$(LIBDIR)/libcontroller.la
:
libshell.la libcommand.la libtrace.la
$(LIBDIR)/libcontroller.la
:
LDFLAGS += -lshell -ldl -lpthread -lrt -lcommand -ltrace
$(LIBDIR)/libcontroller.la
:
CFLAGS += -O3 -Wall
$(LIBDIR)/libcontroller.la
:
$(CONTROLLER_OBJS)
$(LIB_LINK)
$(DIR)/controller_load_parser.tab.lo
:
$(DIR)/controller_load_parser.yy.c
$(DIR)/controller_load.lo
:
$(DIR)/controller_load_parser.tab.h
$(DIR)/controller_load.lo
:
$(DIR)/controller_load_parser.yy.h
TARGETS
+=
$(CONTROLLER_TARGETS)
CLEAN
+=
$(CONTROLLER_TARGETS)
$(CONTROLLER_OBJS)
SRCS
+=
$(CONTROLLER_SRCS)
controller/controller/controller_block.c
View file @
4b8f214d
...
...
@@ -24,9 +24,9 @@
#include <pthread.h>
#include <dlfcn.h>
#include
"
controller_block.h
"
#include
"
controller_sample.h
"
#include
"
log.h
"
#include
<controller/
controller_block.h
>
#include
<controller/
controller_sample.h
>
#include
<log/
log.h
>
int
nr_blocks
=
0
;
static
struct
controller_block
**
blocks
=
NULL
;
...
...
controller/controller/controller_block_param.c
View file @
4b8f214d
...
...
@@ -27,9 +27,9 @@
#include <string.h>
#include <stdlib.h>
#include
"
controller_block.h
"
#include
"
controller_sample.h
"
#include
"
log.h
"
#include
<controller/
controller_block.h
>
#include
<controller/
controller_sample.h
>
#include
<log/
log.h
>
static
pthread_mutex_t
param_lock
;
static
sem_t
param_sync_sem
;
...
...
controller/controller/controller_block_trace.c
View file @
4b8f214d
...
...
@@ -25,8 +25,8 @@
#include <stdlib.h>
#include <string.h>
#include
"
controller_block.h
"
#include
"
log.h
"
#include
<controller/
controller_block.h
>
#include
<log/
log.h
>
static
int
nr_traces
=
0
;
static
struct
controller_trace
**
traces
;
...
...
controller/controller/controller_command.c
View file @
4b8f214d
...
...
@@ -31,8 +31,8 @@
#include <errno.h>
#include <limits.h>
#include
"
log.h
"
#include
"
dt_port_numbers.h
"
#include
<log/
log.h
>
#include
<
dt_port_numbers.h
>
#include <controller/controller_command.h>
#include <controller/controller_sample.h>
...
...
controller/controller/controller_load.c
View file @
4b8f214d
...
...
@@ -21,15 +21,15 @@
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include
"
controller_load_parser.tab.h
"
#include
"
controller_load_parser.yy.h
"
#include
"
controller_load.h
"
#include
"
controller_load_int.h
"
#include
"
controller_sample.h
"
#include
"
controller_block.h
"
#include
"../../common/include/
dynarg.h
"
#include
<controller/
controller_load_parser.tab.h
>
#include
<controller/
controller_load_parser.yy.h
>
#include
<controller/
controller_load.h
>
#include
<controller/
controller_load_int.h
>
#include
<controller/
controller_sample.h
>
#include
<controller/
controller_block.h
>
#include
<
dynarg.h
>
#include <shell/shell.h>
#include
"
log.h
"
#include
<log/
log.h
>
struct
controller_load_array
{
void
*
array
;
...
...
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