[ARDrone] Fix compilation
Use /usr/include/libiw.h and wireless.h to cross-compile for ARM. Update variable names from libowlps and owlps.h (prefix owl_). Move #includes from .h to .c. Update path of library in Makefile.
This commit is contained in:
Florian Taillard
parent
290fcfa49b
commit
207e815192
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@ -11,24 +11,23 @@ ifeq ($(COLORGCC), 0)
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CC = colorgcc
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endif
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# Cross_compil
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#CC = /arm/bin/arm-none-linux-gnueabi-gcc
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# Commandes d'installation et de désinstallation
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RM=rm -fv
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CP=cp -v
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# Cible
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TARGET=owlps-client
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TARGET=owlps-drone
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HEADER=
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# Flags
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CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -O -I.
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LIBOWLPS_DIR = ../libowlps
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LIBOWLPSCLIENT_DIR = ../libowlps-client
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CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
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-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR)
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DEPFLAGS = -MMD
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XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
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PICFLAG = -fPIC
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LIBS = -L../../libowlps -lowlps -L../libowlps-client -lowlps-client
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SEMISTATIC_LIBS = $(LOWLPSA) $(LIBS)
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LIBS = -L$(LIBOWLPS_DIR) -lowlps -L$(LIBOWLPSCLIENT_DIR) -lowlps-client
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STATIC_LIBS = -liw -lm -lrt
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@ -38,7 +37,6 @@ STATIC_LIBS = -liw -lm -lrt
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dynamic : $(TARGET)
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static : $(TARGET).static
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semistatic: $(TARGET).semistatic
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all : dynamic static
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% : %.o
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@ -49,9 +47,6 @@ all : dynamic static
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# Compilation du programme
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$(TARGET) : $(TARGET).o $(HEADER)
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$(TARGET).semistatic: $(TARGET).c $(HEADER)
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
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$(TARGET).static : $(TARGET).c $(HEADER)
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$(CC) $(LDFLAGS) -static $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LIBS) $(STATIC_LIBS)
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@ -1,105 +0,0 @@
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# Emplacement de la suite de cross-compilation
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TOOLCHAIN_PREFIX = $$HOME/openwrt/atheros/8.09
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TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc4.1.2/bin
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TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/staging_dir/mips/usr
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TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/build_dir/mips/OpenWrt-SDK-atheros-for-Linux-i686/staging_dir/toolchain-mips_gcc4.1.2
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# Répertoire d'installation
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PREFIX=/usr/local
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INSTALL_DIR= $(PREFIX)/bin
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INSTALL_LIB= $(PREFIX)/lib
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INSTALL_INC= $(PREFIX)/include
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INSTALL_MAN= $(PREFIX)/share/man
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# Compilateur
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CC = $(TOOLCHAIN_BIN)/mips-linux-gcc
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# Commandes d'installation et de désinstallation
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RM=rm -fv
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CP=cp -v
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# Cible
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TARGET=owlps-client
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HEADER=
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# Flags
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CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -I.
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DEPFLAGS = -MMD
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XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
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PICFLAG = -fPIC
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LOWLPS = -L../../libowlps -lowlps
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LOWLPSA = ../../libowlps/libowlps.a
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LOWLPSCLIENTA = ../libowlps-client/libowlps-client.a
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LIBS = $(LOWLPSCLIENTA) -liw -lm
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DYNAMIC_LIBS = $(LOWLPS) $(LIBS)
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SEMISTATIC_LIBS = $(LOWLPSA) $(LIBS)
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STATIC_LIBS = $(LOWLPSA) $(LIBS)
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LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
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IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
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LDFLAGS = $(IATHEROS) $(LATHEROS)
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## Cibles de compilation standard ##
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.PHONY: all dynamic semistatic static install uninstall clean purge help
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dynamic: $(TARGET)
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semistatic: $(TARGET).semistatic
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static: $(TARGET).static
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all: dynamic semistatic static
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# Cancel implicit make rule
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%: %.c
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%: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
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%.semistatic: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
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%.static: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(STATIC_LIBS) \
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-static
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%.o: %.c $(HEADER)
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$(CC) $(XCFLAGS) $(IATHEROS) $(OWLPSFLAGS) -c $<
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## Installation / désinstallation ##
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install : $(TARGET)
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@$(CP) $(TARGET) $(INSTALL_DIR)
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@cd $(INSTALL_DIR) ; chown root:root $(TARGET) ; chmod 755 $(TARGET)
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uninstall :
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@$(RM) $(INSTALL_DIR)/$(TARGET)
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## Nettoyage ##
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clean :
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@$(RM) -fv *~ *.o *.d
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purge : clean
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@$(RM) -fv $(TARGET) $(TARGET).static $(TARGET).semistatic
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## Aide ##
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help :
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@echo -e "Bibliothèques nécessaires à la compilation :\n\
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libowlps1.0 (fournie)\n\
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\n\
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Cibles possibles :\n\
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$(TARGET) (cible par défaut) : Compile le programme $(TARGET).\n\
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$(TARGET).static : Compile le programme $(TARGET).static \
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(version sans lien dynamique).\n\
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$(TARGET).semistatic : Compile le programme $(TARGET).semistatic \
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(version sans lien dynamique vers libowlps).\n\
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install : Installe le programme $(TARGET).\n\
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uninstall : Désinstalle le programme $(TARGET).\n\
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clean : Supprime les fichiers temporaires.\n\
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purge : Supprime le résultat de la compilation.\n\
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\n\
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Note : l'installation se fait dans l'arborescence $(PREFIX). \
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Modifiez la variable PREFIX du Makefile pour changer ce comportement."
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@ -1,105 +0,0 @@
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# Emplacement de la suite de cross-compilation
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TOOLCHAIN_PREFIX = $$HOME/openwrt/atheros/10.03
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TOOLCHAIN_BIN = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc-4.3.3+cs_uClibc-0.9.30.1/usr/bin
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TOOLCHAIN_USR = $(TOOLCHAIN_PREFIX)/staging_dir/toolchain-mips_gcc-4.3.3+cs_uClibc-0.9.30.1/usr
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TOOLCHAIN_USR_2 = $(TOOLCHAIN_PREFIX)/staging_dir/target-mips_uClibc-0.9.30.1/usr
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# Répertoire d'installation
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PREFIX=/usr/local
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INSTALL_DIR= $(PREFIX)/bin
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INSTALL_LIB= $(PREFIX)/lib
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INSTALL_INC= $(PREFIX)/include
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INSTALL_MAN= $(PREFIX)/share/man
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# Compilateur
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CC = $(TOOLCHAIN_BIN)/mips-openwrt-linux-gcc
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# Commandes d'installation et de désinstallation
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RM=rm -fv
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CP=cp -v
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# Cible
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TARGET=owlps-client
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HEADER=
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# Flags
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CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes -I.
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DEPFLAGS = -MMD
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XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
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PICFLAG = -fPIC
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LOWLPS = -L../../libowlps -lowlps
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LOWLPSA = ../../libowlps/libowlps.a
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LOWLPSCLIENTA = ../libowlps-client/libowlps-client.a
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LIBS = $(LOWLPSCLIENTA) -liw -lm
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DYNAMIC_LIBS = $(LOWLPS) $(LIBS)
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SEMISTATIC_LIBS = $(LOWLPSA) $(LIBS)
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STATIC_LIBS = $(LOWLPSA) $(LIBS)
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LATHEROS = -L$(TOOLCHAIN_USR)/lib -L$(TOOLCHAIN_USR_2)/lib
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IATHEROS = -I$(TOOLCHAIN_USR)/include -I$(TOOLCHAIN_USR_2)/include
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LDFLAGS = $(IATHEROS) $(LATHEROS)
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## Cibles de compilation standard ##
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.PHONY: all dynamic semistatic static install uninstall clean purge help
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dynamic: $(TARGET)
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semistatic: $(TARGET).semistatic
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static: $(TARGET).static
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all: dynamic semistatic static
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# Cancel implicit make rule
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%: %.c
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%: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
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%.semistatic: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
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%.static: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(STATIC_LIBS) \
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-static
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%.o: %.c $(HEADER)
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$(CC) $(XCFLAGS) $(IATHEROS) $(OWLPSFLAGS) -c $<
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## Installation / désinstallation ##
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install : $(TARGET)
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@$(CP) $(TARGET) $(INSTALL_DIR)
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@cd $(INSTALL_DIR) ; chown root:root $(TARGET) ; chmod 755 $(TARGET)
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uninstall :
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@$(RM) $(INSTALL_DIR)/$(TARGET)
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## Nettoyage ##
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clean :
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@$(RM) -fv *~ *.o *.d
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purge : clean
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@$(RM) -fv $(TARGET) $(TARGET).static $(TARGET).semistatic
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## Aide ##
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help :
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@echo -e "Bibliothèques nécessaires à la compilation :\n\
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libowlps1.0 (fournie)\n\
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\n\
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Cibles possibles :\n\
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$(TARGET) (cible par défaut) : Compile le programme $(TARGET).\n\
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$(TARGET).static : Compile le programme $(TARGET).static \
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(version sans lien dynamique).\n\
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$(TARGET).semistatic : Compile le programme $(TARGET).semistatic \
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(version sans lien dynamique vers libowlps).\n\
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install : Installe le programme $(TARGET).\n\
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uninstall : Désinstalle le programme $(TARGET).\n\
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clean : Supprime les fichiers temporaires.\n\
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purge : Supprime le résultat de la compilation.\n\
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\n\
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Note : l'installation se fait dans l'arborescence $(PREFIX). \
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Modifiez la variable PREFIX du Makefile pour changer ce comportement."
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@ -45,17 +45,17 @@ LDFLAGS = $(IATHEROS) $(LATHEROS)
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.PHONY: all semistatic static install uninstall clean purge help
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semistatic: $(TARGET)-drone
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semistatic: $(TARGET)
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static: $(TARGET).static
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all: semistatic static
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# Cancel implicit make rule
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%: %.c
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%: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
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#%: %.o
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# $(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(DYNAMIC_LIBS)
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%-drone: %.o
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%: %.o
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$(CC) $(STRIPFLAGS) $(XCFLAGS) -o $@ $^ $(LDFLAGS) $(SEMISTATIC_LIBS)
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%.static: %.o
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@ -3,8 +3,19 @@
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*/
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#include "../libowlps-client/owlps-client.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <inttypes.h>
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#include <string.h>
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#include <net/if.h>
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#include <time.h>
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#include <pthread.h>
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#define DEBUG
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/* Error codes */
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@ -43,14 +54,14 @@ void* thread_send(void*) ;
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/* Options */
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struct timespec timestamp ;
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struct {
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char dest_ip[16] ; // Destination IP of the packets
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char dest_ip[INET_ADDRSTRLEN] ; // Destination IP of the packets
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uint_fast16_t dest_port ;
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char iface[IFNAMSIZ + 1] ; // Source network interface
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int_fast32_t delay ; // Time between two packet transmissions
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uint_fast16_t nb_pkt ; // Number of packets to send
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uint_fast16_t listening_port ;
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// Calibration data:
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DIRECTION direction ;
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owl_direction direction ;
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float x ;
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float y ;
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float z ;
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@ -68,7 +79,7 @@ char *program_name = NULL ;
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// TRUE if the packet is a calibration request, FALSE if it is a simple
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// positioning request:
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BOOL is_calibration_request = FALSE ;
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owl_bool is_calibration_request = FALSE ;
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int socksendfd ; // Sending socket descriptor (send positioning packets)
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int sockreceivefd ; // Receiving socket descriptor (Receive position)
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@ -131,7 +142,7 @@ void parse_main_options(int argc, char **argv)
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switch (opt)
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{
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case 'd' :
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strncpy(options.dest_ip, optarg, 16) ;
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strncpy(options.dest_ip, optarg, INET_ADDRSTRLEN) ;
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break ;
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case 'h' :
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print_usage() ;
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@ -242,6 +253,16 @@ void check_configuration()
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else
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options.nb_pkt = DEFAULT_NBPKT_NORMAL ;
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}
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// Calibration request but bad direction
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if (is_calibration_request)
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if (options.direction < OWL_DIRECTION_MIN ||
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options.direction > OWL_DIRECTION_MAX)
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{
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fprintf(stderr, "Error! « %"PRIu8" » is not a valid"
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" direction.\n", options.direction) ;
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exit(ERR_BAD_USAGE) ;
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}
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// Check port numbers
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if (options.dest_port < 1 || options.dest_port > 65535)
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@ -327,8 +348,8 @@ void create_socket()
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void make_packet()
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{
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uint_fast16_t offset ; // Index used to create the packet
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TIMESTAMP request_time ;
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char request_time_str[TIMESTAMP_STR_LEN] ;
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owl_timestamp request_time ;
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char request_time_str[OWL_TIMESTAMP_STR_LEN] ;
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// Get the current time and copy it as a string before to switch it to
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// network endianess:
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@ -342,10 +363,10 @@ void make_packet()
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offset = 0 ;
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packet_size =
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sizeof(uint8_t) * 2 + sizeof(TIMESTAMP) + sizeof(float) * 3 ;
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sizeof(uint8_t) * 2 + sizeof(owl_timestamp) + sizeof(float) * 3 ;
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packet = malloc(packet_size) ;
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memset(&packet[offset], PACKET_TYPE_CALIBRATION, 1) ; // Packet type
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memset(&packet[offset], OWL_REQUEST_CALIBRATION, 1) ; // Packet type
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++offset ;
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memcpy(&packet[offset], &request_time, sizeof(request_time)) ;
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offset += sizeof(request_time) ;
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@ -364,9 +385,9 @@ void make_packet()
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else // Standard packet
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{
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printf("Preparing request packet…\n") ;
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packet_size = sizeof(uint8_t) + sizeof(TIMESTAMP) ;
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packet_size = sizeof(uint8_t) + sizeof(owl_timestamp) ;
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packet = malloc(packet_size) ;
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memset(&packet[0], PACKET_TYPE_NORMAL, 1) ; // Packet type
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memset(&packet[0], OWL_REQUEST_NORMAL, 1) ; // Packet type
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memcpy(&packet[1], &request_time, sizeof(request_time)) ;
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}
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