Initial Fedora import
This commit is contained in:
Tim Niemueller
parent
07b8e19cf0
commit
0f92bb6c66
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@ -0,0 +1 @@
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KNI_3.9.2.tar.gz
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@ -0,0 +1 @@
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libkni3-3_9_2-12_fc11:HEAD:libkni3-3.9.2-12.fc11.src.rpm:1252967051
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@ -0,0 +1,437 @@
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diff -urN KNI_3.9.2/include/KNI/cdlCOM.h KNI_3.9.2.ctor/include/KNI/cdlCOM.h
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--- KNI_3.9.2/include/KNI/cdlCOM.h 2007-04-12 14:52:06.000000000 +0200
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+++ KNI_3.9.2.ctor/include/KNI/cdlCOM.h 2009-06-12 16:44:42.000000000 +0200
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@@ -107,7 +107,7 @@
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* describes the desired serial port. An attempt to open a connection
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* to the desired device will be tried.
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*/
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- CCdlCOM(TCdlCOMDesc ccd);
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+ CCdlCOM(TCdlCOMDesc ccd, const char *dev_name = 0);
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/*! \brief Destructs the class
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*/ virtual ~CCdlCOM();
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diff -urN KNI_3.9.2/src/Base/cdlCOM.cpp KNI_3.9.2.ctor/src/Base/cdlCOM.cpp
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--- KNI_3.9.2/src/Base/cdlCOM.cpp 2009-06-12 16:44:03.000000000 +0200
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+++ KNI_3.9.2.ctor/src/Base/cdlCOM.cpp 2009-06-12 16:45:02.000000000 +0200
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@@ -23,8 +23,9 @@
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#include "common/Timer.h"
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#include <cstring>
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+#include <cstdio>
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-
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+#include <cstdlib>
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#ifdef WIN32
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CCdlCOM::CCdlCOM(TCdlCOMDesc ccd) : _deviceName(""), _ccd(), _prtHdl(INVALID_HANDLE_VALUE), _oto() {
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@@ -160,21 +161,24 @@
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#else //LINUX
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-CCdlCOM::CCdlCOM(TCdlCOMDesc ccd) : _deviceName(""), _ccd(), _prtHdl(-1), _oto() {
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+CCdlCOM::CCdlCOM(TCdlCOMDesc ccd, const char *dev_name) : _deviceName(""), _ccd(), _prtHdl(-1), _oto() {
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int prtHdl = -1;
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- std::string deviceName;
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struct termios nto, oto;
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- char name[11];
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+ char *name;
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errno = 0;
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- strncpy(name, "/dev/ttyS ", 11);
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- name[9] = digit(ccd.port);
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+ if (dev_name) {
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+ name = strdup(dev_name);
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+ } else {
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+ asprintf(&name, "/dev/ttyS%i", ccd.port);
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+ }
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prtHdl = ::open(name, O_RDWR | O_NOCTTY | O_NDELAY| O_NONBLOCK);
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_deviceName = name;
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+ free(name);
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if (prtHdl < 0) {
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throw CannotOpenPortException(_deviceName, strerror(errno));
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@@ -290,7 +294,6 @@
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}
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_prtHdl = prtHdl;
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- _deviceName = deviceName;
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_ccd = ccd;
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_oto = oto;
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}
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diff -urN KNI_3.9.2/src/Base/cdlCOM.cpp.orig KNI_3.9.2.ctor/src/Base/cdlCOM.cpp.orig
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--- KNI_3.9.2/src/Base/cdlCOM.cpp.orig 1970-01-01 01:00:00.000000000 +0100
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+++ KNI_3.9.2.ctor/src/Base/cdlCOM.cpp.orig 2009-06-12 16:44:42.000000000 +0200
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@@ -0,0 +1,369 @@
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+/*
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+ * Katana Native Interface - A C++ interface to the robot arm Katana.
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+ * Copyright (C) 2005 Neuronics AG
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+ * Check out the AUTHORS file for detailed contact information.
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+ *
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+ * This program is free software; you can redistribute it and/or modify
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+ * it under the terms of the GNU General Public License as published by
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+ * the Free Software Foundation; either version 2 of the License, or
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+ * (at your option) any later version.
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+ *
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+ * This program is distributed in the hope that it will be useful,
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+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
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+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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+ * GNU General Public License for more details.
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+ *
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+ * You should have received a copy of the GNU General Public License
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+ * along with this program; if not, write to the Free Software
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+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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+ */
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+
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+
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+#include "KNI/cdlCOM.h"
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+
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+#include "common/Timer.h"
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+#include <cstring>
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+
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+
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+#ifdef WIN32
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+
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+CCdlCOM::CCdlCOM(TCdlCOMDesc ccd) : _deviceName(""), _ccd(), _prtHdl(INVALID_HANDLE_VALUE), _oto() {
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+
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+ DCB commDCB; //COM port parameters
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+ COMMTIMEOUTS nto; //new timeouts
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+ char comX[5];
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+ char dcb[35];
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+ int i, d;
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+
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+ std::string deviceName;
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+ HANDLE prtHdl;
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+ COMMTIMEOUTS oto;
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+
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+ strncpy_s(comX, "COM ", 5);
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+ comX[3] = digit(ccd.port);
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+ deviceName = comX;
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+ prtHdl = CreateFile(comX,
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+ GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING,
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+ FILE_ATTRIBUTE_NORMAL | FILE_FLAG_WRITE_THROUGH | FILE_FLAG_NO_BUFFERING, 0
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+ );
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+
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+ if (prtHdl == INVALID_HANDLE_VALUE) {
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+ throw CannotOpenPortException(_deviceName, "info from win32-system not yet available");
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+ }
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+
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+ FillMemory(&commDCB, sizeof(commDCB), 0);
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+ commDCB.DCBlength = sizeof(commDCB);
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+ strncpy_s(dcb, "baud= parity= data= stop= ", 35);
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+ for(i=5,d=100000; d>=1; d=d/10) {
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+ if(d <= ccd.baud) {
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+ dcb[i++] = digit((ccd.baud/d) % 10);
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+ }
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+ }
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+ dcb[19] = ccd.parity;
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+ dcb[26] = digit(ccd.data);
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+ dcb[33] = digit(ccd.stop);
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+ if (!BuildCommDCB(dcb, &commDCB)) {
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+ CloseHandle(prtHdl);
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+ throw CannotGetSetPortAttributesException(_deviceName);
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+ }
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+
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+ commDCB.fAbortOnError = false;
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+ commDCB.fInX = false;
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+ commDCB.fOutX = false;
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+ commDCB.fOutxCtsFlow = false;
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+ if (!SetCommState(prtHdl, &commDCB)) {
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+ CloseHandle(prtHdl);
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+ throw CannotGetSetPortAttributesException(_deviceName);
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+ }
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+
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+ PurgeComm( prtHdl, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR);
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+
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+ GetCommTimeouts(prtHdl, &oto);
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+ nto.ReadIntervalTimeout = MAXDWORD;
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+ nto.ReadTotalTimeoutMultiplier = 0;
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+ nto.ReadTotalTimeoutConstant = 0;
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+ nto.WriteTotalTimeoutMultiplier = 0;
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+ nto.WriteTotalTimeoutConstant = 0;
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+ if (!SetCommTimeouts(prtHdl, &nto)) {
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+ CloseHandle(prtHdl);
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+ throw CannotGetSetPortAttributesException(_deviceName);
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+ }
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+
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+ // Everything done, now we can change the state
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+ _prtHdl = prtHdl;
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+ _deviceName = deviceName;
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+ _ccd = ccd;
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+ _oto = oto;
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+}
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+
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+CCdlCOM::~CCdlCOM() {
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+ if(_prtHdl == INVALID_HANDLE_VALUE)
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+ return;
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+
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+ FlushFileBuffers(_prtHdl);
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+ SetCommTimeouts(_prtHdl, &_oto);
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+
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+ CloseHandle(_prtHdl);
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+
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+}
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+
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+int CCdlCOM::send(const void* buf, int size) {
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+
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+ if (_prtHdl == INVALID_HANDLE_VALUE) {
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+ throw PortNotOpenException(_deviceName);
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+ }
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+
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+ if(PurgeComm(_prtHdl, PURGE_TXABORT | PURGE_TXCLEAR) == 0) {
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+ throw DeviceWriteException(_deviceName, "PurgeComm failed");
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+ }
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+
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+ unsigned long readsz;
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+ if (WriteFile(_prtHdl, buf, size, &readsz, 0) == 0) {
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+ throw DeviceWriteException(_deviceName, "WriteFile failed");
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+ }
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+
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+ if(readsz != static_cast<long>(size)) {
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+ throw WriteNotCompleteException(_deviceName);
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+ }
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+
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+ return (int)readsz;
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+}
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+
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+int CCdlCOM::recv(void* buf, int size) {
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+
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+ if (_prtHdl == INVALID_HANDLE_VALUE) {
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+ throw PortNotOpenException(_deviceName);
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+ }
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+
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+ unsigned char* tmp = static_cast<unsigned char*>(buf);
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+ unsigned long readsz = 0, readsz_temp = 0;
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+ KNI::Timer timeout(_ccd.rttc);
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+ timeout.Start();
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+ while (readsz<(unsigned long)size && !timeout.Elapsed()) {
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+ if(ReadFile(_prtHdl, &tmp[readsz], size, &readsz_temp, 0) == 0) {
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+ DeviceReadException( _deviceName, "ReadFile failed" );
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+ } else {
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+ readsz += readsz_temp;
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+ }
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+ }
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+
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+ if((unsigned)size != readsz) {
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+ throw ReadNotCompleteException(_deviceName);
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+ }
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+
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+ if(PurgeComm(_prtHdl, PURGE_RXABORT | PURGE_RXCLEAR) == 0) {
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+ throw DeviceReadException(_deviceName, "PurgeComm failed");
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+ }
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+ return (int)readsz;
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+}
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+
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+
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+#else //LINUX
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+
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+CCdlCOM::CCdlCOM(TCdlCOMDesc ccd) : _deviceName(""), _ccd(), _prtHdl(-1), _oto() {
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+
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+ int prtHdl = -1;
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+
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+ std::string deviceName;
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+ struct termios nto, oto;
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+ char name[11];
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+
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+ errno = 0;
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+
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+ strncpy(name, "/dev/ttyS ", 11);
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+ name[9] = digit(ccd.port);
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+ prtHdl = ::open(name, O_RDWR | O_NOCTTY | O_NDELAY| O_NONBLOCK);
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+
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+ _deviceName = name;
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+
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+ if (prtHdl < 0) {
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+ throw CannotOpenPortException(_deviceName, strerror(errno));
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+ }
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+
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+ tcgetattr(prtHdl, &oto);
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+ bzero(&nto, sizeof(nto));
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+ nto.c_cc[VTIME] = 0;
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+ nto.c_cc[VMIN] = 0;
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+ nto.c_oflag = 0;
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+ nto.c_lflag = 0;
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+ nto.c_cflag = CLOCAL | CREAD;
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+ nto.c_iflag = 0;
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+
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+ switch (ccd.baud) {
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+ case 50:
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+ nto.c_cflag |= B50;
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+ break;
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+ case 75:
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+ nto.c_cflag |= B75;
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+ break;
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+ case 110:
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+ nto.c_cflag |= B110;
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+ break;
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+ case 134:
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+ nto.c_cflag |= B134;
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+ break;
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+ case 150:
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+ nto.c_cflag |= B150;
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+ break;
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+ case 200:
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+ nto.c_cflag |= B200;
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+ break;
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+ case 300:
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+ nto.c_cflag |= B300;
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+ break;
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+ case 600:
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+ nto.c_cflag |= B600;
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+ break;
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+ case 1200:
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+ nto.c_cflag |= B1200;
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+ break;
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+ case 1800:
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+ nto.c_cflag |= B1800;
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+ break;
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+ case 2400:
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+ nto.c_cflag |= B2400;
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+ break;
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+ case 4800:
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+ nto.c_cflag |= B4800;
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+ break;
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+ case 9600:
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+ nto.c_cflag |= B9600;
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+ break;
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+ case 19200:
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+ nto.c_cflag |= B19200;
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+ break;
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+ case 38400:
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+ nto.c_cflag |= B38400;
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+ break;
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+ case 57600:
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+ nto.c_cflag |= B57600;
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+ break;
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+ case 115200:
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+ nto.c_cflag |= B115200;
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+ break;
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+ case 230400:
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+ nto.c_cflag |= B230400;
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+ break;
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+ }
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+
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+ switch (ccd.data) {
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+ case 5:
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+ nto.c_cflag |= CS5;
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+ break;
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+ case 6:
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+ nto.c_cflag |= CS6;
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+ break;
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+ case 7:
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+ nto.c_cflag |= CS7;
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+ break;
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+ case 8:
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+ nto.c_cflag |= CS8;
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+ break;
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+ }
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+
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+ switch (ccd.parity) {
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+ case 'N':
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+ case 'n':
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+ break;
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+ case 'O':
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+ case 'o':
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+ nto.c_cflag |= PARENB | PARODD;
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+ break;
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+ case 'E':
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+ case 'e':
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+ nto.c_cflag |= PARENB;
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+ break;
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+ }
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+
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+ switch (ccd.stop) {
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+ case 1:
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+ break;
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+ case 2:
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+ nto.c_cflag |= CSTOPB;
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+ break;
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+ }
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+
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+ tcflush(prtHdl,TCIFLUSH);
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+ if (tcsetattr(prtHdl, TCSANOW, &nto) != 0) {
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+ ::close(prtHdl);
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+ throw CannotGetSetPortAttributesException(_deviceName);
|
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+ }
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+
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+ _prtHdl = prtHdl;
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+ _deviceName = deviceName;
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+ _ccd = ccd;
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+ _oto = oto;
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+}
|
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+
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+CCdlCOM::~CCdlCOM() {
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+
|
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+ if (_prtHdl < 0) {
|
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+ return;
|
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+ }
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+
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+ tcflush(_prtHdl, TCIFLUSH);
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+ tcsetattr(_prtHdl, TCSANOW, &_oto);
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+
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+ ::close(_prtHdl); // there's nothing we can do about failing
|
||||
+
|
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+}
|
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+
|
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+int CCdlCOM::send(const void* buf, int size) {
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+
|
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+ if (_prtHdl < 0)
|
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+ throw PortNotOpenException(_deviceName);
|
||||
+
|
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+ errno = 0;
|
||||
+
|
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+ int tcflush_return = tcflush(_prtHdl,TCIFLUSH);
|
||||
+ if(tcflush_return < 0)
|
||||
+ throw DeviceWriteException( _deviceName, strerror(errno) );
|
||||
+
|
||||
+ int writesz = write(_prtHdl, buf, size);
|
||||
+
|
||||
+ if(writesz < 0)
|
||||
+ throw DeviceWriteException( _deviceName, strerror(errno) );
|
||||
+
|
||||
+ if(writesz != size)
|
||||
+ throw WriteNotCompleteException(_deviceName);
|
||||
+
|
||||
+ return writesz;
|
||||
+}
|
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+
|
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+int CCdlCOM::recv(void* buf, int size) {
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+ unsigned char* tmp = static_cast<unsigned char*>(buf);
|
||||
+ register int readsz = 0;
|
||||
+
|
||||
+ if (_prtHdl < 0)
|
||||
+ throw PortNotOpenException(_deviceName);
|
||||
+
|
||||
+ errno = 0;
|
||||
+
|
||||
+ int read_return;
|
||||
+ KNI::Timer timeout(_ccd.rttc);
|
||||
+ timeout.Start();
|
||||
+ while (readsz<size && !timeout.Elapsed()) {
|
||||
+ read_return = read(_prtHdl, &tmp[readsz], size-readsz);
|
||||
+ if(read_return < 0) {
|
||||
+ if(errno != EAGAIN)
|
||||
+ throw DeviceReadException( _deviceName, strerror(errno));
|
||||
+ } else {
|
||||
+ readsz += read_return;
|
||||
+ }
|
||||
+ }
|
||||
+
|
||||
+ if (readsz != size)
|
||||
+ throw ReadNotCompleteException(_deviceName);
|
||||
+
|
||||
+ int tcflush_return = tcflush(_prtHdl,TCIFLUSH);
|
||||
+ if(tcflush_return < 0)
|
||||
+ throw DeviceReadException( _deviceName, strerror(errno));
|
||||
+
|
||||
+ return readsz;
|
||||
+
|
||||
+}
|
||||
+
|
||||
+
|
||||
+
|
||||
+#endif //WIN32 else LINUX
|
||||
+
|
||||
|
|
@ -0,0 +1,203 @@
|
|||
diff -urN KNI_3.9.2/demo/keycontrol/keycontrol.cpp KNI_3.9.2.gcc43/demo/keycontrol/keycontrol.cpp
|
||||
--- KNI_3.9.2/demo/keycontrol/keycontrol.cpp 2007-08-10 14:37:42.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/keycontrol/keycontrol.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -10,6 +10,7 @@
|
||||
#include <vector>
|
||||
#include <fstream>
|
||||
#include <pthread.h>
|
||||
+#include <cstdlib>
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
diff -urN KNI_3.9.2/demo/perfo/main.cpp KNI_3.9.2.gcc43/demo/perfo/main.cpp
|
||||
--- KNI_3.9.2/demo/perfo/main.cpp 2007-04-12 14:52:06.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/perfo/main.cpp 2009-06-12 16:48:21.000000000 +0200
|
||||
@@ -19,6 +19,7 @@
|
||||
#include "KNI/kmlBase.h" //for robot: CKatBase, CMotBase, CSctBase
|
||||
#include "KNI/kmlExt.h" // extended katana features
|
||||
#include <iostream> //for messages: printf()
|
||||
+#include <cstdio>
|
||||
|
||||
/**********************************************************************************/
|
||||
#include "perfo.h" //for performance checking..
|
||||
diff -urN KNI_3.9.2/demo/perfo/perfo.cpp KNI_3.9.2.gcc43/demo/perfo/perfo.cpp
|
||||
--- KNI_3.9.2/demo/perfo/perfo.cpp 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/perfo/perfo.cpp 2009-06-12 16:48:29.000000000 +0200
|
||||
@@ -2,6 +2,7 @@
|
||||
#include "perfo.h"
|
||||
#include <time.h>
|
||||
#include <iostream>
|
||||
+#include <cstdio>
|
||||
|
||||
#include "KNI/cdlCOMExceptions.h"
|
||||
#include "KNI/cplSerial.h"
|
||||
@@ -13,7 +14,7 @@
|
||||
#define CLOCK() (clock_t)((double)(1000.0f * clock()) / CLOCKS_PER_SEC)
|
||||
//-------------------------------------------------------------------------------//
|
||||
|
||||
-void statKatRecv(char strTitle[], long i, long j, clock_t t, long l) {
|
||||
+void statKatRecv(const char strTitle[], long i, long j, clock_t t, long l) {
|
||||
printf("-------------------------------------------\n");
|
||||
printf(strTitle); printf("\tAverage: %.3f [ms]\n", (double)t/(double)l);
|
||||
printf("-------------------------------------------\n");
|
||||
@@ -102,7 +103,7 @@
|
||||
//-------------------------------------------------------------------------------//
|
||||
//-------------------------------------------------------------------------------//
|
||||
|
||||
-void statMotRecv(char strTitle[], short idx, long i, long j, clock_t t, long l) {
|
||||
+void statMotRecv(const char strTitle[], short idx, long i, long j, clock_t t, long l) {
|
||||
printf("-------------------------------------------\n");
|
||||
printf(strTitle, idx); printf("\tAverage: %.3f [ms]\n", (double)t/(double)l);
|
||||
printf("-------------------------------------------\n");
|
||||
@@ -111,7 +112,7 @@
|
||||
printf("-------------------------------------------\n\n");
|
||||
}
|
||||
|
||||
-void statMotSend(char strTitle[], short idx, long i, long j, long k, long s, clock_t t, long l) {
|
||||
+void statMotSend(const char strTitle[], short idx, long i, long j, long k, long s, clock_t t, long l) {
|
||||
printf("-------------------------------------------\n");
|
||||
printf(strTitle, idx); printf("\tAverage: %.3f [ms]\n", (double)t/(double)l);
|
||||
printf("-------------------------------------------\n");
|
||||
@@ -278,7 +279,7 @@
|
||||
//-------------------------------------------------------------------------------//
|
||||
//-------------------------------------------------------------------------------//
|
||||
|
||||
-void statSct(char strTitle[], short idx, long i, long j, long k, long s, clock_t t, long l) {
|
||||
+void statSct(const char strTitle[], short idx, long i, long j, long k, long s, clock_t t, long l) {
|
||||
printf("-------------------------------------------\n");
|
||||
printf(strTitle, idx); printf("\tAverage: %.3f [ms]\n", (double)t/(double)l);
|
||||
printf("-------------------------------------------\n");
|
||||
diff -urN KNI_3.9.2/demo/positions/main.cpp KNI_3.9.2.gcc43/demo/positions/main.cpp
|
||||
--- KNI_3.9.2/demo/positions/main.cpp 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/positions/main.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -8,6 +8,7 @@
|
||||
#include <vector>
|
||||
#include <fstream>
|
||||
#include <pthread.h>
|
||||
+#include <cstdlib>
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
diff -urN KNI_3.9.2/demo/sensor/main.cpp KNI_3.9.2.gcc43/demo/sensor/main.cpp
|
||||
--- KNI_3.9.2/demo/sensor/main.cpp 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/sensor/main.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -6,6 +6,7 @@
|
||||
#include <conio.h> //ONLY WIN32 COMPATIBLE!!
|
||||
#endif
|
||||
#include <time.h>
|
||||
+#include <cstdlib>
|
||||
|
||||
//------------------------------------------------------------------------//
|
||||
|
||||
diff -urN KNI_3.9.2/demo/socketcommands/socketcommands.cpp KNI_3.9.2.gcc43/demo/socketcommands/socketcommands.cpp
|
||||
--- KNI_3.9.2/demo/socketcommands/socketcommands.cpp 2007-04-12 14:52:06.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/socketcommands/socketcommands.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -6,6 +6,7 @@
|
||||
#include <iostream>
|
||||
#include <cstdio>
|
||||
#include <memory>
|
||||
+#include <cstdlib>
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
diff -urN KNI_3.9.2/demo/socketcontrol/socketcontrol.cpp KNI_3.9.2.gcc43/demo/socketcontrol/socketcontrol.cpp
|
||||
--- KNI_3.9.2/demo/socketcontrol/socketcontrol.cpp 2007-09-03 16:04:48.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/demo/socketcontrol/socketcontrol.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -11,6 +11,7 @@
|
||||
#include <vector>
|
||||
#include <fstream>
|
||||
#include <pthread.h>
|
||||
+#include <cstdlib>
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
diff -urN KNI_3.9.2/include/KNI/kmlMotBase.h KNI_3.9.2.gcc43/include/KNI/kmlMotBase.h
|
||||
--- KNI_3.9.2/include/KNI/kmlMotBase.h 2007-09-19 15:16:44.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/include/KNI/kmlMotBase.h 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -45,7 +45,7 @@
|
||||
|
||||
/*! \brief command flags
|
||||
*/
|
||||
-typedef enum TMotCmdFlg {
|
||||
+enum TMotCmdFlg {
|
||||
MCF_OFF = 0, //!< set the motor off
|
||||
MCF_CALIB = 4, //!< calibrate
|
||||
MCF_FREEZE = 8, //!< freeze the motor
|
||||
@@ -54,7 +54,7 @@
|
||||
|
||||
/*! \brief status flags
|
||||
*/
|
||||
-typedef enum TMotStsFlg {
|
||||
+enum TMotStsFlg {
|
||||
MSF_MECHSTOP = 1, //!< mechanical stopper reached
|
||||
MSF_MAXPOS = 2, //!< max. position was reached
|
||||
MSF_MINPOS = 4, //!< min. position was reached
|
||||
diff -urN KNI_3.9.2/src/Base/cdlCOM.cpp KNI_3.9.2.gcc43/src/Base/cdlCOM.cpp
|
||||
--- KNI_3.9.2/src/Base/cdlCOM.cpp 2007-04-12 14:52:06.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/src/Base/cdlCOM.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -22,6 +22,7 @@
|
||||
#include "KNI/cdlCOM.h"
|
||||
|
||||
#include "common/Timer.h"
|
||||
+#include <cstring>
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
diff -urN KNI_3.9.2/src/Base/cdlSocket.cpp KNI_3.9.2.gcc43/src/Base/cdlSocket.cpp
|
||||
--- KNI_3.9.2/src/Base/cdlSocket.cpp 2007-11-06 14:45:08.000000000 +0100
|
||||
+++ KNI_3.9.2.gcc43/src/Base/cdlSocket.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -21,6 +21,9 @@
|
||||
/****************************************************************************/
|
||||
#include "KNI/cdlSocket.h"
|
||||
#include <iostream>
|
||||
+#include <cstring>
|
||||
+#include <cstdlib>
|
||||
+
|
||||
/****************************************************************************/
|
||||
//test write:
|
||||
int writesz;
|
||||
diff -urN KNI_3.9.2/src/Base/cplSerial.cpp KNI_3.9.2.gcc43/src/Base/cplSerial.cpp
|
||||
--- KNI_3.9.2/src/Base/cplSerial.cpp 2007-11-13 10:38:44.000000000 +0100
|
||||
+++ KNI_3.9.2.gcc43/src/Base/cplSerial.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -22,6 +22,7 @@
|
||||
#include "KNI/CRC.h"
|
||||
#include <assert.h>
|
||||
#include <iostream>
|
||||
+#include <cstring>
|
||||
|
||||
|
||||
/*
|
||||
diff -urN KNI_3.9.2/src/Base/kmlBase.cpp KNI_3.9.2.gcc43/src/Base/kmlBase.cpp
|
||||
--- KNI_3.9.2/src/Base/kmlBase.cpp 2007-11-07 09:22:52.000000000 +0100
|
||||
+++ KNI_3.9.2.gcc43/src/Base/kmlBase.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -21,6 +21,7 @@
|
||||
#include "KNI/kmlBase.h"
|
||||
|
||||
#include <vector>
|
||||
+#include <cstring>
|
||||
|
||||
bool CKatBase::init(
|
||||
const TKatGNL _gnl,
|
||||
diff -urN KNI_3.9.2/src/Base/kmlFactories.cpp KNI_3.9.2.gcc43/src/Base/kmlFactories.cpp
|
||||
--- KNI_3.9.2/src/Base/kmlFactories.cpp 2007-07-16 14:17:40.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/src/Base/kmlFactories.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -1,5 +1,7 @@
|
||||
|
||||
#include "KNI/kmlFactories.h"
|
||||
+#include <cstring>
|
||||
+#include <cstdlib>
|
||||
|
||||
namespace KNI {
|
||||
|
||||
diff -urN KNI_3.9.2/src/Base/kmlMotBase.cpp KNI_3.9.2.gcc43/src/Base/kmlMotBase.cpp
|
||||
--- KNI_3.9.2/src/Base/kmlMotBase.cpp 2007-09-19 15:16:44.000000000 +0200
|
||||
+++ KNI_3.9.2.gcc43/src/Base/kmlMotBase.cpp 2009-06-12 16:48:02.000000000 +0200
|
||||
@@ -15,6 +15,8 @@
|
||||
#include "common/MathHelperFunctions.h"
|
||||
#include "common/Timer.h"
|
||||
#include <iostream>
|
||||
+#include <cstring>
|
||||
+#include <cstdlib>
|
||||
|
||||
|
||||
bool CMotBase::init(CKatBase* _own, const TMotDesc _motDesc, CCplBase* _protocol) {
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
diff -urN KNI_3.9.2.patched/src/Base/cdlSocket.cpp KNI_3.9.2.noexit/src/Base/cdlSocket.cpp
|
||||
--- KNI_3.9.2.patched/src/Base/cdlSocket.cpp 2008-12-01 13:12:13.000000000 +0100
|
||||
+++ KNI_3.9.2.noexit/src/Base/cdlSocket.cpp 2008-12-01 13:16:07.000000000 +0100
|
||||
@@ -23,6 +23,7 @@
|
||||
#include <iostream>
|
||||
#include <cstring>
|
||||
#include <cstdlib>
|
||||
+#include <stdexcept>
|
||||
|
||||
/****************************************************************************/
|
||||
//test write:
|
||||
@@ -95,7 +96,7 @@
|
||||
_socketfd = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
|
||||
if(_socketfd == -1){
|
||||
std::cout << "socket could not be created"<<_ipAddr<<" port: "<< _port<<" \n";
|
||||
- exit(1);
|
||||
+ throw std::runtime_error("socket could not be created");
|
||||
}
|
||||
memset(&_socketAddr, 0, sizeof(_socketAddr));
|
||||
_socketAddr.sin_family = AF_INET;
|
||||
@@ -106,13 +107,13 @@
|
||||
res = inet_pton ( AF_INET, _ipAddr, &_socketAddr.sin_addr );
|
||||
if ( errno == EAFNOSUPPORT ){
|
||||
std::cout << "inet_pton failed, try again "<<_ipAddr<<" port: "<< _port<<" \n";
|
||||
- exit(1);
|
||||
+ throw std::runtime_error("inet_pton failed (EAFNOSUPPORT)");
|
||||
}
|
||||
// std::cout << "trying to connect to server...\n";
|
||||
res = connect(_socketfd, (struct sockaddr *) &_socketAddr, _len);
|
||||
if(res != 0){
|
||||
std::cout << "client could not connect, check if server is running on ip "<<_ipAddr<<" port: "<< _port<<" \n";
|
||||
- exit(1);
|
||||
+ throw std::runtime_error("client could not connect, check if server is running");
|
||||
}
|
||||
else{
|
||||
// std::cout << "client connected to ip "<<_ipAddr<<", port: "<< _port<<" \n";
|
||||
diff -urN KNI_3.9.2.patched/src/Base/kmlExt.cpp KNI_3.9.2.noexit/src/Base/kmlExt.cpp
|
||||
--- KNI_3.9.2.patched/src/Base/kmlExt.cpp 2007-09-28 07:38:10.000000000 +0200
|
||||
+++ KNI_3.9.2.noexit/src/Base/kmlExt.cpp 2008-12-01 13:16:58.000000000 +0100
|
||||
@@ -28,6 +28,7 @@
|
||||
#include <iostream>
|
||||
#include <algorithm>
|
||||
#include <vector>
|
||||
+#include <stdexcept>
|
||||
|
||||
#define max(a,b) (((a)>(b))?(a):(b))
|
||||
KNI::Timer kni_timer;
|
||||
@@ -145,7 +146,8 @@
|
||||
std::cout << "Exit: Incompatible Config File!\n";
|
||||
std::cout << "Check whether you have a Katana 400 or 300 and choose the config file accordingly\n";
|
||||
std::cout << "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n\n.";
|
||||
- exit(0);
|
||||
+ throw std::runtime_error("Exit: Incompatible Config File! "
|
||||
+ "Check whether you have a Katana 400 or 300 and choose the config file accordingly");
|
||||
}
|
||||
bool gripperIsPresent;
|
||||
int gripperOpenEncoders, gripperCloseEncoders;
|
||||
|
|
@ -0,0 +1,172 @@
|
|||
diff -urN KNI_3.9.2/demo/Makefile KNI_3.9.2.sofixes/demo/Makefile
|
||||
--- KNI_3.9.2/demo/Makefile 2007-06-20 08:05:24.000000000 +0200
|
||||
+++ KNI_3.9.2.sofixes/demo/Makefile 2009-08-28 22:09:05.000000000 +0200
|
||||
@@ -34,11 +34,11 @@
|
||||
INCLUDE_DIR = ../include -I./common
|
||||
LIBRARY_DIR = ../lib/linux
|
||||
|
||||
-BASE_LIBRARY = $(LIBRARY_DIR)/libKNIBase.a
|
||||
-INVKIN_LIBRARY = $(LIBRARY_DIR)/libKNI_InvKin.a
|
||||
-LM_LIBRARY = $(LIBRARY_DIR)/libKNI_LM.a
|
||||
+BASE_LIBRARY = $(LIBRARY_DIR)/libKNIBase3.a
|
||||
+INVKIN_LIBRARY = $(LIBRARY_DIR)/libKNI_InvKin3.a
|
||||
+LM_LIBRARY = $(LIBRARY_DIR)/libKNI_LM3.a
|
||||
|
||||
-AVAILABLE_LIBRARIES = ./common/keyboard.o ${BASE_LIBRARY} ${INVKIN_LIBRARY} ${LM_LIBRARY}
|
||||
+AVAILABLE_LIBRARIES = ./common/keyboard.o
|
||||
|
||||
.SILENT:
|
||||
|
||||
@@ -55,7 +55,7 @@
|
||||
|
||||
$(TARGETS_D): $(CTARGETS_D)
|
||||
echo -n "Building: $@"
|
||||
- if $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -lpthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES} 2>.clog; \
|
||||
+ if $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -L../lib/linux -lKNIBase3 -lKNI_InvKin3 -lKNI_LM3 -lpthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES} 2>.clog; \
|
||||
then echo " [ok]"; \
|
||||
cat .clog; \
|
||||
else echo " [failed]"; \
|
||||
diff -urN KNI_3.9.2/src/Base/Makefile KNI_3.9.2.sofixes/src/Base/Makefile
|
||||
--- KNI_3.9.2/src/Base/Makefile 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.sofixes/src/Base/Makefile 2009-08-28 22:08:00.000000000 +0200
|
||||
@@ -24,20 +24,22 @@
|
||||
|
||||
TARGETS = alib solib
|
||||
|
||||
-LIBNAME = libKNIBase
|
||||
+LIBNAME = libKNIBase3
|
||||
SOURCES = cdlCOM.cpp cplSerial.cpp cdlSocket.cpp CRC.cpp kmlBase.cpp kmlExt.cpp kmlMotBase.cpp kmlSctBase.cpp kmlFactories.cpp
|
||||
|
||||
ADDITIONAL_DEPS = ../common/Timer.o
|
||||
|
||||
LIBNAME_A = $(LIBNAME).a
|
||||
LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
|
||||
-
|
||||
-SLCFLAGS=-fPIC
|
||||
-SLLDFLAGS=-shared
|
||||
+LIBNAME_SO_LN = $(LIBNAME).so
|
||||
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
|
||||
|
||||
INCLUDE_DIR = ../../include
|
||||
TARGET_DIR = ../../lib/linux
|
||||
|
||||
+SLCFLAGS=-fPIC
|
||||
+SLLDFLAGS = -shared -L$(TARGET_DIR)
|
||||
+
|
||||
.SILENT:
|
||||
|
||||
.SUFFIXES: .cpp.o
|
||||
@@ -69,8 +71,9 @@
|
||||
|
||||
$(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
|
||||
echo -n "Building: $@"
|
||||
- if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
|
||||
+ if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
|
||||
then echo " [ok]"; \
|
||||
+ ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
|
||||
cat .slog; \
|
||||
else echo " [failed]"; \
|
||||
cat .slog; \
|
||||
diff -urN KNI_3.9.2/src/common/Makefile KNI_3.9.2.sofixes/src/common/Makefile
|
||||
--- KNI_3.9.2/src/common/Makefile 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.sofixes/src/common/Makefile 2009-08-28 22:08:16.000000000 +0200
|
||||
@@ -17,14 +17,14 @@
|
||||
#===========================================================================
|
||||
|
||||
CXX = g++
|
||||
-CXXFLAGS += -g -O2 -Wall
|
||||
+CXXFLAGS += -g -O2 -Wall -fPIC
|
||||
|
||||
MAJOR_VERSION = 3.9
|
||||
MINOR_VERSION = 0
|
||||
|
||||
TARGETS = alib
|
||||
|
||||
-LIBNAME = knicommon
|
||||
+LIBNAME = knicommon3
|
||||
SOURCES = Timer.cpp
|
||||
|
||||
LIBNAME_A = $(LIBNAME).a
|
||||
diff -urN KNI_3.9.2/src/InvKin/Makefile KNI_3.9.2.sofixes/src/InvKin/Makefile
|
||||
--- KNI_3.9.2/src/InvKin/Makefile 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.sofixes/src/InvKin/Makefile 2009-08-28 22:08:25.000000000 +0200
|
||||
@@ -24,20 +24,23 @@
|
||||
|
||||
TARGETS = alib solib
|
||||
|
||||
-LIBNAME = libKNI_InvKin
|
||||
+LIBNAME = libKNI_InvKin3
|
||||
SOURCES = ikBase.cpp KatanaKinematics6M90G.cpp KatanaKinematics6M90T.cpp KatanaKinematics6M180.cpp KatanaKinematics5M180.cpp KatanaKinematicsDecisionAlgorithms.cpp
|
||||
|
||||
ADDITIONAL_DEPS = ../common/Timer.o
|
||||
|
||||
LIBNAME_A = $(LIBNAME).a
|
||||
LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
|
||||
-
|
||||
-SLCFLAGS=-fPIC
|
||||
-SLLDFLAGS=-shared
|
||||
+LIBNAME_SO_LN = $(LIBNAME).so
|
||||
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
|
||||
|
||||
INCLUDE_DIR = ../../include
|
||||
TARGET_DIR = ../../lib/linux
|
||||
|
||||
+SLCFLAGS=-fPIC
|
||||
+SLLDFLAGS=-shared -L$(TARGET_DIR) -lKNIBase3
|
||||
+
|
||||
+
|
||||
.SILENT:
|
||||
|
||||
.SUFFIXES: .cpp.o
|
||||
@@ -69,8 +72,9 @@
|
||||
|
||||
$(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
|
||||
echo -n "Building: $@"
|
||||
- if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
|
||||
+ if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
|
||||
then echo " [ok]"; \
|
||||
+ ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
|
||||
cat .slog; \
|
||||
else echo " [failed]"; \
|
||||
cat .slog; \
|
||||
diff -urN KNI_3.9.2/src/LM/Makefile KNI_3.9.2.sofixes/src/LM/Makefile
|
||||
--- KNI_3.9.2/src/LM/Makefile 2007-04-26 08:18:24.000000000 +0200
|
||||
+++ KNI_3.9.2.sofixes/src/LM/Makefile 2009-08-28 22:08:40.000000000 +0200
|
||||
@@ -24,20 +24,22 @@
|
||||
|
||||
TARGETS = alib solib
|
||||
|
||||
-LIBNAME = libKNI_LM
|
||||
+LIBNAME = libKNI_LM3
|
||||
SOURCES = lmBase.cpp
|
||||
|
||||
ADDITIONAL_DEPS = ../common/Timer.o
|
||||
|
||||
LIBNAME_A = $(LIBNAME).a
|
||||
LIBNAME_SO = $(LIBNAME).so.$(MAJOR_VERSION).$(MINOR_VERSION)
|
||||
-
|
||||
-SLCFLAGS=-fPIC
|
||||
-SLLDFLAGS=-shared
|
||||
+LIBNAME_SO_LN = $(LIBNAME).so
|
||||
+LIBNAME_SONAME = $(LIBNAME).so.$(MAJOR_VERSION)
|
||||
|
||||
INCLUDE_DIR = ../../include
|
||||
TARGET_DIR = ../../lib/linux
|
||||
|
||||
+SLCFLAGS=-fPIC
|
||||
+SLLDFLAGS=-shared -L$(TARGET_DIR) -lKNIBase3 -lKNI_InvKin3
|
||||
+
|
||||
.SILENT:
|
||||
|
||||
.SUFFIXES: .cpp.o
|
||||
@@ -69,8 +71,9 @@
|
||||
|
||||
$(TARGET_DIR)/$(LIBNAME_SO): $(SOURCES:.cpp=.o)
|
||||
echo -n "Building: $@"
|
||||
- if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ $(SOURCES:.cpp=.o) $(ADDITITIONAL_DEPS) 2>.slog; \
|
||||
+ if $(CXX) $(CXXFLAGS) $(SLLDFLAGS) -o $@ -Wl,-soname,$(LIBNAME_SONAME) $(SOURCES:.cpp=.o) $(ADDITIONAL_DEPS) 2>.slog; \
|
||||
then echo " [ok]"; \
|
||||
+ ln -s $(LIBNAME_SO) $(TARGET_DIR)/$(LIBNAME_SO_LN); \
|
||||
cat .slog; \
|
||||
else echo " [failed]"; \
|
||||
cat .slog; \
|
||||
|
|
@ -0,0 +1,204 @@
|
|||
Name: libkni3
|
||||
Version: 3.9.2
|
||||
Release: 12%{?dist}
|
||||
Summary: C++ KNI library v3 for the Katana 300 robot arm
|
||||
|
||||
Group: System Environment/Libraries
|
||||
License: GPLv2+
|
||||
URL: http://www.neuronics.ch/cms_de/web/index.php?id=386
|
||||
Source0: http://www.neuronics.ch/cms_de/mediabase/KNI_3.9.2.tar.gz
|
||||
Patch0: kni-3.9.2-gcc43.patch
|
||||
Patch1: kni-3.9.2-sofixes.patch
|
||||
Patch2: kni-3.9.2-ctor.patch
|
||||
Patch3: kni-3.9.2-noexit.patch
|
||||
BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
|
||||
|
||||
BuildRequires: doxygen, graphviz
|
||||
%if 0%{?fedora} >= 9
|
||||
BuildRequires: texlive-utils
|
||||
%else
|
||||
BuildRequires: tetex
|
||||
%endif
|
||||
|
||||
BuildRequires: boost-devel
|
||||
|
||||
%description
|
||||
Katana Native Interface is a C++ library for programmers who would like to
|
||||
write their own programs, but don't want to implement the protocol and
|
||||
device stuff katana is using.
|
||||
|
||||
This package contains the library for the Katana 300 series of the arm. For
|
||||
newer robots use libkni (version 4 and above).
|
||||
|
||||
|
||||
%package devel
|
||||
Summary: Development files for %{name}
|
||||
Group: Development/Libraries
|
||||
Requires: %{name} = %{version}-%{release}
|
||||
Requires: pkgconfig
|
||||
|
||||
%description devel
|
||||
The %{name}-devel package contains libraries and header files for
|
||||
developing applications that use %{name}.
|
||||
|
||||
|
||||
%package static
|
||||
Summary: Static libraries for %{name}
|
||||
Group: Development/Libraries
|
||||
Requires: %{name}-devel = %{version}-%{release}
|
||||
|
||||
%description static
|
||||
This package contains static libraries that can be used to
|
||||
compile static binaries using %{name}.
|
||||
|
||||
|
||||
%package doc
|
||||
Summary: Documentation for %{name}
|
||||
Group: Documentation
|
||||
|
||||
%description doc
|
||||
This package contains the documentation for developing with %{name}.
|
||||
|
||||
%package examples
|
||||
Summary: Example applications for %{name}
|
||||
Group: Applications/System
|
||||
Requires: %{name} = %{version}-%{release}
|
||||
|
||||
%description examples
|
||||
This package contains demo applications for %{name}.
|
||||
|
||||
%prep
|
||||
%setup -q -n KNI_%{version}
|
||||
%patch0 -p1 -b .gcc43
|
||||
%patch1 -p1 -b .sofixes
|
||||
%patch2 -p1 -b .ctor
|
||||
%patch3 -p1 -b .noexit
|
||||
|
||||
|
||||
%build
|
||||
make CFLAGS="%{optflags}"
|
||||
make doc
|
||||
echo "prefix=%{prefix}
|
||||
exec_prefix=%{prefix}
|
||||
libdir=%{_libdir}
|
||||
includedir=%{_includedir}
|
||||
|
||||
Name: %{name}
|
||||
Description: %{summary}
|
||||
Version: %{version}
|
||||
Libs: -L\${libdir} -lKNIBase3 -lKNI_InvKin3 -lKNI_LM3
|
||||
Cflags: -I\${includedir}/kni3" > libkni3.pc
|
||||
|
||||
|
||||
%install
|
||||
rm -rf %{buildroot}
|
||||
mkdir -p %{buildroot}
|
||||
mkdir -p %{buildroot}%{_libdir}
|
||||
install -m 0644 -p lib/linux/*.a %{buildroot}%{_libdir}
|
||||
install -p lib/linux/*.so.* %{buildroot}%{_libdir}
|
||||
for f in `find %{buildroot}%{_libdir} -name '*.so.*.*.*'`; do
|
||||
ln -s `basename $f` %{buildroot}%{_libdir}/`echo \`basename $f\` | sed -e 's/\(\(.*\).so\)\(.*\)/\1/'`
|
||||
ln -s `basename $f` %{buildroot}%{_libdir}/`objdump --private-headers $f | grep SONAME | awk '{print $2}'`
|
||||
done
|
||||
mkdir -p %{buildroot}%{_bindir}
|
||||
for f in `find demo/ -perm /a+x -type f`; do
|
||||
install -p $f %{buildroot}%{_bindir}/kni_`basename $f`
|
||||
done
|
||||
mkdir -p %{buildroot}%{_sysconfdir}/kni3
|
||||
mkdir -p %{buildroot}%{_sysconfdir}/kni3/hd300
|
||||
mkdir -p %{buildroot}%{_sysconfdir}/kni3/hd400
|
||||
install -p -m 0644 configfiles300/*.cfg %{buildroot}%{_sysconfdir}/kni3/hd300
|
||||
install -p -m 0644 configfiles400/*.cfg %{buildroot}%{_sysconfdir}/kni3/hd400
|
||||
mkdir -p %{buildroot}%{_includedir}/kni3
|
||||
cp -a include/* %{buildroot}%{_includedir}/kni3
|
||||
mkdir -p %{buildroot}%{_docdir}/%{name}-doc-%{version}
|
||||
cp -a doc/html %{buildroot}%{_docdir}/%{name}-doc-%{version}
|
||||
install -p -m 0644 doc/*.pdf %{buildroot}%{_docdir}/%{name}-doc-%{version}
|
||||
find %{buildroot} -name '.svn' | xargs rm -rf
|
||||
mkdir -p %{buildroot}%{_libdir}/pkgconfig
|
||||
install -p -m 0644 libkni3.pc %{buildroot}%{_libdir}/pkgconfig
|
||||
|
||||
|
||||
%clean
|
||||
rm -rf %{buildroot}
|
||||
|
||||
|
||||
%post -p /sbin/ldconfig
|
||||
|
||||
%postun -p /sbin/ldconfig
|
||||
|
||||
|
||||
%files
|
||||
%defattr(-,root,root,-)
|
||||
%doc LICENSE.txt readme.txt AUTHORS.txt
|
||||
%{_libdir}/*.so.*
|
||||
%dir %{_sysconfdir}/kni3
|
||||
%dir %{_sysconfdir}/kni3/hd300
|
||||
%dir %{_sysconfdir}/kni3/hd400
|
||||
%config(noreplace)%{_sysconfdir}/kni3/*/*.cfg
|
||||
|
||||
%files devel
|
||||
%defattr(-,root,root,-)
|
||||
%{_includedir}/*
|
||||
%{_libdir}/*.so
|
||||
%{_libdir}/pkgconfig/*
|
||||
|
||||
%files static
|
||||
%defattr(-,root,root,-)
|
||||
%{_libdir}/*.a
|
||||
|
||||
%files doc
|
||||
%defattr(-, root, root, 0755)
|
||||
%{_docdir}/%{name}-doc-%{version}
|
||||
|
||||
%files examples
|
||||
%defattr(-, root, root, 0755)
|
||||
%{_bindir}/kni_*
|
||||
|
||||
|
||||
%changelog
|
||||
* Mon Sep 14 2009 Tim Niemueller <tim@niemueller.de> - 3.9.2-12
|
||||
- doc package contains doc dir, not docs
|
||||
|
||||
* Fri Aug 28 2009 Tim Niemueller <tim@niemueller.de> - 3.9.2-11
|
||||
- Rename shared libs to allow parallel installation for libkni
|
||||
- Merge all shared lib related patches to one sofixes patch
|
||||
|
||||
* Sat Jun 13 2009 Tim Niemueller <tim@niemueller.de> - 3.9.2-10
|
||||
- Update ctor and gcc43 patch for F11
|
||||
|
||||
* Tue Jun 09 2009 Tim Niemueller <tim@niemueller.de> - 3.9.2-9
|
||||
- Rename to libkni3, libkni will be the most up2date version (v4), but this
|
||||
version is still required for older Katana 300 arms
|
||||
- Add patch to fix library building, did work on my machin only because libs
|
||||
were installed on the system
|
||||
|
||||
* Wed Dec 03 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-8
|
||||
- Fix noexit patch
|
||||
|
||||
* Mon Dec 01 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-7
|
||||
- Make patch 3 apply with fuzz=0
|
||||
- Added patch that removes calls to exit() but throws exceptions
|
||||
|
||||
* Sun Nov 09 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-6
|
||||
- Updated license tag
|
||||
- Consistent (non-)macro usage
|
||||
|
||||
* Tue Jul 15 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-5
|
||||
- Added ctor patch which adds an optional argument to the ctor to allow for
|
||||
accessing an arbitrary device, for example a usb2ser converter
|
||||
(RoboCup 2008)
|
||||
|
||||
* Mon Jun 23 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-4
|
||||
- More .so fixes, link libs against base lib to get rid of
|
||||
undefined-non-weak-symbol rpmlint warnings
|
||||
|
||||
* Mon Jun 16 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-3
|
||||
- Fixed summary
|
||||
|
||||
* Thu Jun 12 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-2
|
||||
- Upgraded BR to support building on Fedora version < 9
|
||||
|
||||
* Sat Jun 07 2008 Tim Niemueller <tim@niemueller.de> - 3.9.2-1
|
||||
- Initial package
|
||||
|
||||
Loading…
Reference in New Issue