make robolibrary

Author: noonv

draft/test_woof/Makefile

@@ -0,0 +1,34 @@
+#
+# Makefile
+#
+
+CC 		:= gcc
+CCPP 	:= g++
+
+OBJECTSC := $(patsubst %.c, %.o, $(wildcard *.c))
+OBJECTSCPP := $(patsubst %.cpp, %.o, $(wildcard *.cpp))
+
+TARGET	:= $(patsubst %.o, %, $(OBJECTSC)) $(patsubst %.o, %, $(OBJECTSCPP)) 
+
+CFLAGS		:= -I. -DLINUX=1
+LIBRARIES	:= -lpthread -lrt
+
+.PHONY: all clean
+
+all: $(OBJECTSC) $(OBJECTSCPP)
+
+%.o: %.c
+	$(CC) $(CFLAGS) -o $(patsubst %.o, %, $@) $< $(LIBRARIES)
+
+%.o: %.cpp
+	$(CCPP) $(CFLAGS) -o $(patsubst %.o, %, $@) $< $(LIBRARIES)
+
+clean:
+	rm -f *.o $(TARGET)
+
+targets:
+	echo "[i] targets: $(TARGET)"
+
+rebuild:
+	make clean
+	make

draft/test_woof/dog_woof.wav

@@ -0,0 +1,17 @@
+//
+// test
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+
+int main(int argc, char* argv[])
+{
+	printf("[i] Start...\n");
+
+
+
+	printf("[i] End.\n");
+
+	return 0;
+}

draft/test_woof/test.cpp

@@ -0,0 +1,56 @@
+//
+// test
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <sys/types.h>
+#include <sys/wait.h>
+
+int main(int argc, char* argv[])
+{
+    printf("[i] Start...\n");
+
+    int return_value;
+
+#if 0
+    return_value = system("aplay dog_woof.wav");
+
+    printf("[i] return: %d\n", return_value);
+#endif
+
+    int child_status = -1;
+    pid_t child_pid;
+
+    printf("[i] main program process ID is %d\n", (int)getpid());
+
+    child_pid = fork();
+    if(child_pid == 0) {
+        //printf("[i] child process, with id %d\n", (int)getpid());
+
+        return_value = execl("/usr/bin/aplay", "aplay", "dog_woof.wav");
+        //printf("[i] return: %d\n", return_value);
+
+        return 0;
+    }
+    else {
+        printf("[i] parent process, with id %d\n", (int) getpid());
+        printf("[i] childs process ID is %d\n", (int) child_pid);
+    }
+
+    wait( &child_status );
+    printf("[i] status: %d\n", child_status);
+
+    if (WIFEXITED (child_status)) {
+        printf ("the child process exited normally, with exit code %d\n", WEXITSTATUS (child_status));
+    }
+    else {
+        printf ("the child process exited abnormally\n");
+    }
+
+    printf("[i] End.\n");
+
+    return 0;
+}

draft/test_woof/test_aplay.cpp

@@ -0,0 +1,55 @@
+//
+// test
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <sys/types.h>
+#include <sys/wait.h>
+
+int main(int argc, char* argv[])
+{
+    printf("[i] Start...\n");
+
+    int return_value;
+
+    printf("[i] main program process ID is %d\n", (int)getpid());
+
+    int counter=0;
+    while(counter++<10) {
+        printf("[i] counter %d\n", counter);
+
+        int child_status = -1;
+        pid_t child_pid;
+
+        child_pid = fork();
+        if(child_pid == 0) {
+            //printf("[i] child process, with id %d\n", (int)getpid());
+
+            return_value = execl("/usr/bin/aplay", "aplay", "dog_woof.wav");
+            //printf("[i] return: %d\n", return_value);
+
+            return 0;
+        }
+        else {
+            printf("[i] parent process, with id %d\n", (int) getpid());
+            printf("[i] childs process ID is %d\n", (int) child_pid);
+        }
+
+        wait( &child_status );
+        printf("[i] status: %d\n", child_status);
+
+        if (WIFEXITED (child_status)) {
+            printf ("the child process exited normally, with exit code %d\n", WEXITSTATUS (child_status));
+        }
+        else {
+            printf ("the child process exited abnormally\n");
+        }
+    }
+
+    printf("[i] End.\n");
+
+    return 0;
+}

draft/test_woof/test_aplay2.cpp

@@ -0,0 +1,35 @@
+#
+# Makefile for make crossfunctions
+#
+
+CC		:= g++
+TARGET	:= 
+
+OBJECTS := $(patsubst %.cpp, %.o, $(wildcard *.cpp))
+
+LIBPATH := ..
+
+CFLAGS		:= -I. -I$(LIBPATH) -DLINUX=1
+# flags for debug
+CFLAGSD		:= -I. -I$(LIBPATH) -DLINUX=1 -O0 -g
+# flags for release
+CFLAGSR		:= -I. -I$(LIBPATH) -DLINUX=1 -O3
+
+LIBRARIES	:= -lpthread -lrt
+
+
+.PHONY: all clean
+
+all: $(OBJECTS)
+
+%.o: %.cpp
+	$(CC) $(CFLAGS) -c -o $@ $< $(LIBRARIES)
+
+debug:
+	make CFLAGS="$(CFLAGSD)"
+
+release:
+	make CFLAGS="$(CFLAGSR)"
+	
+clean:
+	rm -f *.o $(TARGET)

lib/Makefile

@@ -0,0 +1,44 @@
+//
+//
+// available commands
+//
+// robocraft.ru
+//
+
+#ifndef _COMMANDS_H_
+#define _COMMANDS_H_
+
+#include "types.h"
+
+#define SIG_SIZE 6
+
+typedef struct CmdAcknowledgment {
+    char sig[SIG_SIZE]; // "ackmnt"
+    int32_t code;
+
+} CmdAcknowledgment;
+
+typedef struct CmdDrive2WD {
+    char sig[SIG_SIZE]; // "drive2"
+    int16_t pwm[2];
+
+} CmdDrive2WD;
+
+typedef struct CmdSpeech {
+    char sig[SIG_SIZE]; // "speech"
+    uint32_t code;
+    char name[64];
+
+} CmdSpeech;
+
+typedef struct CmdTelemetry2WD {
+    char sig[SIG_SIZE]; // "tlmtry"
+    uint8_t Bamper;
+    int16_t pwm[2];
+    uint32_t US;
+    uint32_t IR;
+    uint32_t Voltage;
+
+} CmdTelemetry2WD;
+
+#endif //#ifndef _COMMANDS_H_