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robotran
mbsysc
Commits
d5e76735
Commit
d5e76735
authored
Sep 11, 2015
by
Nicolas Van der Noot
Browse files
separate build working
parent
cf62b606
Changes
14
Hide whitespace changes
Inline
Side-by-side
MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_events.c
View file @
d5e76735
...
...
@@ -10,7 +10,7 @@
#include
"realtime.h"
#include
"events_sdl.h"
#include
"
plot_sdl
.h"
#include
"
user_realtime
.h"
/*! \brief handle inputs comming from the keyboard
*
...
...
MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_plot.c
View file @
d5e76735
...
...
@@ -8,8 +8,7 @@
#ifdef SDL
#include
"plot_sdl.h"
#include
"set_plot.h"
#include
"user_realtime.h"
/*! \brief assign values for the SDL functions
*
...
...
MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_visu.c
View file @
d5e76735
...
...
@@ -13,7 +13,7 @@
#ifdef JAVA
#include
"
java_functions
.h"
#include
"
user_realtime
.h"
/*! \brief Java visualization user configuration
*
...
...
MBprojects/PendulumSpringC/workR/CMakeLists.txt
View file @
d5e76735
...
...
@@ -135,19 +135,7 @@ set (Executable exe_${PROJECT_NAME})
# generate the executable
add_executable
(
${
Executable
}
${
SOURCE_FILES
}
)
if
(
FLAG_SEPARATE_BUILD
)
# find MBSysC dynamic libraries
find_package
(
LibRobotranC REQUIRED
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_MODULES
}
"
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_LOAD
}
"
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_UTILITIES
}
"
)
else
(
)
add_subdirectory
(
"
${
ROBOTRAN_SOURCE_DIR
}
/mbs_common"
"
${
CMAKE_CURRENT_BINARY_DIR
}
/mbs_common"
)
target_link_libraries
(
${
Executable
}
MBsysC_loadXML
)
target_link_libraries
(
${
Executable
}
MBsysC_module
)
if
(
NOT FLAG_SHARED_LIB
)
target_link_libraries
(
${
Executable
}
MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime
)
endif
(
NOT FLAG_SHARED_LIB
)
endif
(
)
if
(
FLAG_VISU
)
include_directories
(
${
JNI_INCLUDE_PATH
}
)
...
...
@@ -170,3 +158,17 @@ endif ( )
if
(
FLAG_VISU
)
target_link_libraries
(
${
Executable
}
${
JNI_LIBRARIES
}
)
endif
(
)
if
(
FLAG_SEPARATE_BUILD
)
# find MBSysC dynamic libraries
find_package
(
LibRobotranC REQUIRED
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_MODULES
}
"
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_LOAD
}
"
)
target_link_libraries
(
${
Executable
}
"
${
LIB_MBSYSC_UTILITIES
}
"
)
else
(
)
add_subdirectory
(
"
${
ROBOTRAN_SOURCE_DIR
}
/mbs_common"
"
${
CMAKE_CURRENT_BINARY_DIR
}
/mbs_common"
)
target_link_libraries
(
${
Executable
}
MBsysC_loadXML
)
target_link_libraries
(
${
Executable
}
MBsysC_module
)
if
(
NOT FLAG_SHARED_LIB
)
target_link_libraries
(
${
Executable
}
MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime
)
endif
(
NOT FLAG_SHARED_LIB
)
endif
(
)
MBprojects/PendulumSpringC/workR/src/main.c
View file @
d5e76735
...
...
@@ -69,6 +69,8 @@ int main(int argc, char const *argv[])
mbs_dirdyn
->
options
->
save2file
=
1
;
mbs_dirdyn
->
options
->
respath
=
PROJECT_SOURCE_DIR
"/../resultsR"
;
mbs_dirdyn
->
options
->
realtime
=
1
;
mbs_run_dirdyn
(
mbs_dirdyn
,
mbs_data
);
mbs_delete_dirdyn
(
mbs_dirdyn
,
mbs_data
);
...
...
MBsysC/mbs_common/mbs_load_xml/CMakeLists.txt
View file @
d5e76735
...
...
@@ -20,6 +20,7 @@ set(INCLUDE_DIR ${INCLUDE_DIR} "./" PARENT_SCOPE)
if
(
FLAG_SHARED_LIB
)
add_library
(
MBsysC_loadXML SHARED
${
SOURCE_FILES
}
${
INCLUDE_DIR
}
)
target_link_libraries
(
MBsysC_loadXML
${
LIBXML2_LIBRARIES
}
)
else
(
FLAG_SHARED_LIB
)
add_library
(
MBsysC_loadXML STATIC
${
SOURCE_FILES
}
${
INCLUDE_DIR
}
)
endif
(
FLAG_SHARED_LIB
)
...
...
MBsysC/mbs_common/mbs_module/CMakeLists.txt
View file @
d5e76735
...
...
@@ -10,6 +10,10 @@ project(MBsysC_module)
xml_lib
(
mbs_module
)
set
(
LIBXML2_LIBRARIES
${
LIBXML2_LIBRARIES
}
PARENT_SCOPE
)
# GSL
gsl_lib
(
mbs_module
)
set
(
GSL_LIBRARIES
${
GSL_LIBRARIES
}
PARENT_SCOPE
)
# list source files to compile
init_src
()
increment_src
(
./
)
...
...
@@ -23,7 +27,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-result")
if
(
FLAG_SHARED_LIB
)
add_library
(
MBsysC_module SHARED
${
SOURCE_FILES
}
${
INCLUDE_DIR
}
)
target_link_libraries
(
MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime
)
target_link_libraries
(
MBsysC_module MBsysC_struct MBsysC_numerics MBsysC_utilities MBsysC_realtime
${
LIBXML2_LIBRARIES
}
${
GSL_LIBRARIES
}
)
else
(
)
add_library
(
MBsysC_module STATIC
${
SOURCE_FILES
}
${
INCLUDE_DIR
}
)
endif
(
)
...
...
MBsysC/mbs_common/mbs_numerics/CMakeLists.txt
View file @
d5e76735
...
...
@@ -6,8 +6,6 @@ cmake_minimum_required(VERSION 2.8.7)
project
(
MBsysC_numerics
)
# list source files to compile
init_src
()
increment_src
(
./
)
...
...
MBsysC/mbs_common/mbs_numerics/dopri5.h
View file @
d5e76735
...
...
@@ -176,9 +176,9 @@ nfcnRead Number of function calls.
#include
<stdio.h>
#include
<limits.h>
// modif: add mbs_data and mbs_
aux
headers
// modif: add mbs_data and mbs_
dirdyn_struct
headers
#include
"mbs_data.h"
#include
"mbs_dirdyn.h"
#include
"mbs_dirdyn
_struct
.h"
// modif: long nr, MbsData *s, MbsDirdyn *dd added
typedef
void
(
*
FcnEqDiff
)(
unsigned
n
,
long
nr
,
double
x
,
double
*
y
,
double
*
f
,
MbsData
*
s
,
MbsDirdyn
*
dd
);
...
...
MBsysC/mbs_common/mbs_realtime/CMakeLists.txt
View file @
d5e76735
...
...
@@ -58,6 +58,17 @@ set(INCLUDE_DIR ${INCLUDE_DIR} "./realtime" PARENT_SCOPE)
add_library
(
MBsysC_realtime
${
SOURCE_FILES
}
${
INCLUDE_DIR
}
)
# SDL external library: linkage
if
(
FLAG_PLOT
)
target_link_libraries
(
MBsysC_realtime
${
SDL2_LIBRARIES
}
${
SDL2TTF_LIBRARIES
}
)
endif
(
)
# Java external library: linkage
if
(
FLAG_VISU
)
target_link_libraries
(
MBsysC_realtime
${
JNI_LIBRARIES
}
)
endif
(
)
include_directories
(
"./"
)
include_directories
(
"../mbs_struct"
)
include_directories
(
"../mbs_utilities"
)
...
...
MBsysC/mbs_common/mbs_realtime/java/java_functions.h
View file @
d5e76735
...
...
@@ -29,13 +29,6 @@ typedef struct JNI_struct
}
JNI_struct
;
// functions prototypes
#ifdef __cplusplus
extern
"C"
{
#endif
void
user_realtime_visu
(
MbsData
*
mbs_data
,
int
nb_q
,
double
*
q_vec
);
#ifdef __cplusplus
}
#endif
JNIEnv
*
create_vm
(
void
);
JNI_struct
*
init_jni
(
int
nb_q
,
double
*
q_vec
,
char
*
mbs_file
,
int
start_viewpoint
);
...
...
MBsysC/mbs_common/mbs_realtime/sdl/auto_plot/set_plot.h
View file @
d5e76735
...
...
@@ -7,14 +7,7 @@
#ifndef _SET_PLOT_H_
#define _SET_PLOT_H_
// funcions prototype
#ifdef __cplusplus // in case the function is called from a C++ file
extern
"C"
{
void
set_plot
(
double
value
,
const
char
*
label
);
}
#else
void
set_plot
(
double
value
,
char
*
label
);
#endif
#include
"user_realtime.h"
#ifdef SDL
#include
"plot_sdl.h"
...
...
MBsysC/mbs_common/mbs_realtime/sdl/plot_sdl.h
View file @
d5e76735
...
...
@@ -23,6 +23,7 @@
#endif
#include
"mbs_data.h"
#include
"user_realtime.h"
// y axis: main parts
#define SCREEN_UP_HEIGHT_LOSS 40
...
...
@@ -250,18 +251,6 @@ typedef struct Screen_sdl
// -- Functions prototypes -- //
#ifdef __cplusplus
extern
"C"
{
#endif
void
user_realtime_plot
(
MbsData
*
mbs_data
);
void
user_keyboard
(
MbsData
*
mbs_data
,
Simu_realtime
*
realtime
,
int
cur_t_usec
,
const
Uint8
*
keystates
);
void
user_joystick_axes
(
MbsData
*
mbs_data
,
Simu_realtime
*
realtime
,
int
nb_joysticks
);
void
user_joystick_buttons
(
MbsData
*
mbs_data
,
int
buttonID
);
void
wait_key
(
Simu_realtime
*
realtime
,
int
cur_t_usec
,
double
tsim
);
#ifdef __cplusplus
}
#endif
void
wait_key_generic
(
Simu_realtime
*
realtime
,
int
cur_t_usec
,
double
tsim
);
Screen_sdl
*
init_screen_sdl
(
Realtime_option
*
options
);
...
...
MBsysC/mbs_common/mbs_realtime/sdl/user_realtime.h
0 → 100644
View file @
d5e76735
#ifdef REAL_TIME
#ifndef _USER_REALTIME_H_
#define _USER_REALTIME_H_
#include
"mbs_data.h"
#include
"realtime.h"
#include
<stdint.h>
typedef
uint8_t
Uint8
;
#ifdef __cplusplus
extern
"C"
{
#endif
void
user_realtime_visu
(
MbsData
*
mbs_data
,
int
nb_q
,
double
*
q_vec
);
void
user_realtime_plot
(
MbsData
*
mbs_data
);
void
user_keyboard
(
MbsData
*
mbs_data
,
Simu_realtime
*
realtime
,
int
cur_t_usec
,
const
Uint8
*
keystates
);
void
user_joystick_axes
(
MbsData
*
mbs_data
,
Simu_realtime
*
realtime
,
int
nb_joysticks
);
void
user_joystick_buttons
(
MbsData
*
mbs_data
,
int
buttonID
);
void
wait_key
(
Simu_realtime
*
realtime
,
int
cur_t_usec
,
double
tsim
);
#ifdef __cplusplus
}
#endif
#ifdef __cplusplus
extern
"C"
{
void
set_plot
(
double
value
,
const
char
*
label
);
}
#else
void
set_plot
(
double
value
,
char
*
label
);
#endif
#endif
#endif
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