mbs_realtime separate build

MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_options.c

@@ -78,7 +78,7 @@
  */
 void user_realtime_options(Realtime_option *options)
 {
-
+	options->mbs_file = PROJECT_SOURCE_DIR"/../dataR/"MBS_NAME".mbs";
 }
 
 #endif

MBprojects/PendulumSpringC/workR/CMakeLists.txt

@@ -121,7 +121,7 @@ increment_src("${PROJECT_SOURCE_DIR}/../symbolicR")
 #increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_module")
 #increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_numerics")
 #increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_utilities")
-increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_realtime")
+#increment_src("${ROBOTRAN_SOURCE_DIR}/mbs_common/mbs_realtime")
 
 
 # list include directories (to find headers)

MBsysC/conf/cmake_config.h.in

@@ -9,6 +9,6 @@
  */
 #define PROJECT_SOURCE_DIR "@PROJECT_SOURCE_DIR@"
 #define PROJECT_BINARY_DIR "@PROJECT_BINARY_DIR@"
-#define ROBOTRAN_SOURCE_DIR "@ROBOTRAN_SOURCE_DIR@"
-#define J3D_PATH "@J3D_PATH@"
+//#define ROBOTRAN_SOURCE_DIR "@ROBOTRAN_SOURCE_DIR@"
+//#define J3D_PATH "@J3D_PATH@"
 #define MBS_NAME "@MBS_NAME@"

MBsysC/mbs_common/CMakeLists.txt

@@ -33,3 +33,4 @@ add_subdirectory (mbs_struct/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_struct/)
 add_subdirectory (mbs_utilities/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_utilities/)
 add_subdirectory (mbs_load_xml/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_load_xml/)
 add_subdirectory (mbs_module/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_module/)
+add_subdirectory (mbs_realtime/ ${CMAKE_CURRENT_BINARY_DIR}/mbs_realtime/)
\ No newline at end of file

MBsysC/mbs_common/mbs_module/CMakeLists.txt

@@ -19,7 +19,7 @@ set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
 
 add_library(MBsysC_module SHARED ${SOURCE_FILES} ${INCLUDE_DIR})
 
-target_link_libraries(MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities)
+target_link_libraries(MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime)
 
 include_directories(../mbs_struct)
 include_directories(../mbs_numerics)

MBsysC/mbs_common/mbs_realtime/CMakeLists.txt

+# Copyright: (C)
+# Authors: Timothee Habra
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+cmake_minimum_required(VERSION 2.8.9)
+
+project(MBsysC_realtime)
+
+# list source files to compile
+init_src()
+increment_src(./realtime)
+
+# Get SDL lib and add plot functions to src
+if (FLAG_PLOT)
+
+	# Find SDL
+	sdl_lib()
+
+	increment_src(./sdl)
+
+	# configure a header file to pass some of the CMake settings to the source code
+	set(SDL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/sdl/SDL_files)
+
+	configure_file (
+  	"./sdl/conf/cmake_sdl_config.h.in"
+  	"${PROJECT_BINARY_DIR}/conf/cmake_sdl_config.h"
+  	)
+  	include_directories ("${PROJECT_BINARY_DIR}/conf")
+
+endif (FLAG_PLOT)
+
+# Get java lib and add java functions to src
+if (FLAG_VISU)
+	# find java and java 3d
+	java_lib()
+
+	include_directories("./java")
+	increment_src(./java)
+
+	set(JAR_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../mbsyspad/MBsysPad.jar)
+
+	configure_file (
+  	"./java/conf/cmake_java_config.h.in"
+  	"${PROJECT_BINARY_DIR}/conf/cmake_java_config.h"
+  	)
+  	include_directories ("${PROJECT_BINARY_DIR}/conf")
+
+endif (FLAG_VISU)
+
+# list include directories (to find headers)
+init_include()
+set(INCLUDE_DIR ${INCLUDE_DIR} "./realtime" PARENT_SCOPE)
+
+add_library(MBsysC_realtime ${SOURCE_FILES} ${INCLUDE_DIR})
+
+include_directories("./")
+include_directories("../mbs_struct")
+include_directories("../mbs_utilities")
+include_directories("./sdl" "./sdl/auto_plot")
+include_directories("./realtime")
\ No newline at end of file

MBsysC/mbs_common/mbs_realtime/java/conf/cmake_java_config.h.in

+/*
+ * author: Timothee Habra
+ * date: May 18 2015
+ * 
+ * Get absolute paths to java and java 3d.
+ *
+ * A header file called 'cmake_java_config.h' is then automatically generated in the build directory
+ */
+
+#define JAR_PATH "@JAR_PATH@"
+#define J3D_PATH "@J3D_PATH@"

MBsysC/mbs_common/mbs_realtime/java/java_functions.c

@@ -2,7 +2,7 @@
 #ifdef JAVA
 
 #include "java_functions.h"
-#include "cmake_config.h"
+#include "cmake_java_config.h"
 
 #include <stdlib.h>
 
@@ -10,7 +10,7 @@
 #define JNI_VERSION JNI_VERSION_1_6
 
 // path to the jar file containing mbsyspad bynary code
-#define JAR_PATH ROBOTRAN_SOURCE_DIR"/mbsyspad/MBsysPad.jar"
+//#define JAR_PATH ROBOTRAN_SOURCE_DIR"/mbsyspad/MBsysPad.jar"
 
 #define START_VIEWPOINT 0 ///< default initial viewpoint
 

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -3,7 +3,7 @@
 
 #include "realtime.h"
 #include "time_functions.h"
-#include "cmake_config.h"
+//#include "cmake_config.h"
 #include "useful_functions.h"
 
 #include <stdlib.h>
@@ -313,7 +313,7 @@ Realtime_option* init_Realtime_option()
     options->nb_q = 1; ///< number of joints in the .mbs used for visualization
 
     // path and file name fot the .mbs file used for Java visualization
-    options->mbs_file = PROJECT_SOURCE_DIR"/../dataR/"MBS_NAME".mbs";
+    //options->mbs_file = PROJECT_SOURCE_DIR"/../dataR/"MBS_NAME".mbs";
 
     options->start_viewpoint  = 0; ///< initial visu viewpoint ID
     options->nb_viewpoints    = 1; ///< number of viewpoints (defined in .mbs)

MBsysC/mbs_common/mbs_realtime/sdl/conf/cmake_sdl_config.h.in

+/*
+ * author: Timothee Habra
+ * date: May 18 2015
+ * 
+ * Get absolute paths to the SDL image.
+ *
+ * A header file called 'cmake_sdl_config.h' is then automatically generated in the build directory
+ */
+
+#define SDL_FILES_PATH "@SDL_FILES@"

MBsysC/mbs_common/mbs_realtime/sdl/events_sdl.c

@@ -2,7 +2,6 @@
 #ifdef SDL
 
 #include "plot_sdl.h"
-#include "visu_past.h"
 #include "realtime.h"
 #include "events_sdl.h"
 #include "mbs_data.h"

MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.c

@@ -8,17 +8,17 @@
 
 #include "useful_functions.h"
 #include "plot_sdl.h"
-#include "cmake_config.h"
+#include "cmake_sdl_config.h"
 #include "time_functions.h"
 #include "events_sdl.h"
 #include "set_plot.h"
-#include "java_functions.h"
+//#include "java_functions.h"
 #include "realtime_functions.h"
 
 #define TIME_NO_INTERACTION_BREAK 3e6 ///< time eith no interaction to go on break mode [us]
 #define TIME_SDL_DELAY 25             ///< time delay for SDL
 
-#define SDL_FILES_PATH ROBOTRAN_SOURCE_DIR"/mbs_common/mbs_realtime/sdl/SDL_files"
+//#define SDL_FILES_PATH ROBOTRAN_SOURCE_DIR"/mbs_common/mbs_realtime/sdl/SDL_files"
 
 /*! \brief initialize the Screen_sdl structure
  *