Update of /cvsroot/playerstage/code/player/server/drivers/wsn
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/wsn
Modified Files:
Tag: release-2-0-patches
Makefile.am mica2.cc
Added Files:
Tag: release-2-0-patches
rcore_xbridge.cc rcore_xbridge.h
Log Message:
backported lots of stuff from HEAD
Index: mica2.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/wsn/mica2.cc,v
retrieving revision 1.3
retrieving revision 1.3.2.1
diff -C2 -d -r1.3 -r1.3.2.1
*** mica2.cc 12 Apr 2006 12:48:45 -0000 1.3
--- mica2.cc 7 Jun 2006 16:12:54 -0000 1.3.2.1
***************
*** 57,61 ****
using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".
! - rate (integer)
- Default: 57600
- Baud rate. Valid values are 19200 for MICA2DOT and 57600 for MICA2.
--- 57,61 ----
using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".
! - speed (integer)
- Default: 57600
- Baud rate. Valid values are 19200 for MICA2DOT and 57600 for MICA2.
***************
*** 76,79 ****
--- 76,88 ----
]
+ - converted (integer)
+ - Default: 1.
+ - Fill the data buffer with converted engineering units (1) or RAW (0)
values.
+
+ - filterbasenode (integer)
+ - Default: 0.
+ - Filter the base node (ID 0) in case there is another application !=
TOSBase
+ installed on it.
+
@par Example
***************
*** 84,92 ****
provides ["wsn:0"]
port "/dev/ttyS0"
! rate "57600"
# Calibrate node 0 from group 125 (default) with X={419,532} and Y={440,552}
node [0 125 419 532 440 552 0 0]
# Calibrate node 2 from group 125 (default) with X={447,557} and Y={410,520}
node [2 125 447 557 410 520 0 0]
)
@endverbatim
--- 93,105 ----
provides ["wsn:0"]
port "/dev/ttyS0"
! speed "57600"
# Calibrate node 0 from group 125 (default) with X={419,532} and Y={440,552}
node [0 125 419 532 440 552 0 0]
# Calibrate node 2 from group 125 (default) with X={447,557} and Y={410,520}
node [2 125 447 557 410 520 0 0]
+ # Use RAW values
+ converted 0
+ # Filter the base node (in case TOSBase is not installed on it)
+ filterbasenode 1
)
@endverbatim
***************
*** 148,152 ****
int base_node_status;
! // RFID interface
player_wsn_data_t data;
player_wsn_cmd_t cmd;
--- 161,165 ----
int base_node_status;
! // WSN interface
player_wsn_data_t data;
player_wsn_cmd_t cmd;
***************
*** 154,158 ****
const char* port_name;
int port_speed;
!
// Calibration values
int nodes_count;
--- 167,174 ----
const char* port_name;
int port_speed;
!
! // Filter base node from readings ?
! int filterbasenode;
!
// Calibration values
int nodes_count;
***************
*** 178,183 ****
void ChangeNodeState (int node_id, int group_id, unsigned char state,
int device, int enable, double rate);
! float ConvertAccel (unsigned short raw_accel, int neg_1g, int pos_1g);
!
};
--- 194,199 ----
void ChangeNodeState (int node_id, int group_id, unsigned char state,
int device, int enable, double rate);
! float ConvertAccel (unsigned short raw_accel, int neg_1g, int pos_1g,
! int converted);
};
***************
*** 226,231 ****
// Defaults to converted values
! raw_or_converted = 1;
return;
}
--- 242,249 ----
// Defaults to converted values
! raw_or_converted = cf->ReadInt (section, "converted", 1);
+ // Filter base node from readings ?
+ filterbasenode = cf->ReadInt (section, "filterbasenode", 0);
return;
}
***************
*** 387,398 ****
player_wsn_datatype_config *datatype =
(player_wsn_datatype_config*)data;
- if (datatype->value == 1)
- raw_or_converted = 1;
- else
- raw_or_converted = 0;
! Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
! hdr->subtype);
! return 0;
}
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
--- 405,419 ----
player_wsn_datatype_config *datatype =
(player_wsn_datatype_config*)data;
! if ((datatype->value > -1) && (datatype->value < 3))
! {
! raw_or_converted = datatype->value;
! Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
! hdr->subtype);
! }
! else
! Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
! hdr->subtype);
! return 0;
}
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
***************
*** 568,571 ****
--- 589,595 ----
data = DecodeSerial (buffer, length);
+ if ((data.node_id == 0) && (filterbasenode == 1))
+ return;
+
// Write the WSN data
Publish (device_addr, NULL, PLAYER_MSGTYPE_DATA, PLAYER_WSN_DATA,
***************
*** 637,641 ****
if (n.node_id == nodeID)
! break;
}
--- 661,665 ----
if (n.node_id == nodeID)
! break;
}
***************
*** 697,712 ****
temp_data.data_packet.mic = sound;
! if (raw_or_converted == 1)
{
node_values = FindNodeValues (packet->node_id);
temp_data.data_packet.accel_x = ConvertAccel
! (data->accelX,
! node_values.c_values[0],
! node_values.c_values[1]);
temp_data.data_packet.accel_y = ConvertAccel
! (data->accelY,
! node_values.c_values[2],
! node_values.c_values[3]);
// temp_data.data_packet.battery =
--- 721,736 ----
temp_data.data_packet.mic = sound;
! if (raw_or_converted != 0)
{
node_values = FindNodeValues (packet->node_id);
temp_data.data_packet.accel_x = ConvertAccel
! (data->accelX,
! node_values.c_values[0],
! node_values.c_values[1], raw_or_converted);
temp_data.data_packet.accel_y = ConvertAccel
! (data->accelY,
! node_values.c_values[2],
! node_values.c_values[3], raw_or_converted);
// temp_data.data_packet.battery =
***************
*** 738,753 ****
temp_data.data_packet.mic = data->mic;
! if (raw_or_converted == 1)
{
node_values = FindNodeValues (packet->node_id);
temp_data.data_packet.accel_x = ConvertAccel
! (data->accelX,
! node_values.c_values[0],
! node_values.c_values[1]);
temp_data.data_packet.accel_y = ConvertAccel
! (data->accelY,
! node_values.c_values[2],
! node_values.c_values[3]);
// Convert battery to Volts
--- 762,777 ----
temp_data.data_packet.mic = data->mic;
! if (raw_or_converted != 0)
{
node_values = FindNodeValues (packet->node_id);
temp_data.data_packet.accel_x = ConvertAccel
! (data->accelX,
! node_values.c_values[0],
! node_values.c_values[1], raw_or_converted);
temp_data.data_packet.accel_y = ConvertAccel
! (data->accelY,
! node_values.c_values[2],
! node_values.c_values[3], raw_or_converted);
// Convert battery to Volts
***************
*** 806,810 ****
////////////////////////////////////////////////////////////////////////////////
// ConvertAccel function - convert RAW accel. data to metric units (m/s^2)
! float Mica2::ConvertAccel (unsigned short raw_accel, int neg_1g, int pos_1g)
{
if (neg_1g == 0)
--- 830,835 ----
////////////////////////////////////////////////////////////////////////////////
// ConvertAccel function - convert RAW accel. data to metric units (m/s^2)
! float Mica2::ConvertAccel (unsigned short raw_accel,
! int neg_1g, int pos_1g, int converted)
{
if (neg_1g == 0)
***************
*** 816,820 ****
float offset = (pos_1g + neg_1g) / 2.0f;
float acceleration = (raw_accel - offset) / sensitivity;
! return acceleration * 9.81;
}
//------------------------------------------------------------------------------
--- 841,848 ----
float offset = (pos_1g + neg_1g) / 2.0f;
float acceleration = (raw_accel - offset) / sensitivity;
! if (converted == 1)
! return acceleration * 9.81;
! else
! return acceleration;
}
//------------------------------------------------------------------------------
--- NEW FILE: rcore_xbridge.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2006 Radu Bogdan Rusu ([EMAIL PROTECTED])
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
Desc: Driver for the TeCo Particle Router Core (using the XBridge) nodes.
Author: Radu Bogdan Rusu
Date: 01 May 2006
*/
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_rcore_xbridge rcore_xbridge
* @brief TeCo Particle Router Core (XBridge) sensor node
The rcore_xbridge driver controls the TeCo Particle Router Core sensor node,
using the XBridge. The SSimp Full board is supported.
@par Compile-time dependencies
- none
@par Provides
- @ref interface_wsn
@par Requires
- none
@par Configuration requests
- PLAYER_WSN_REQ_POWER (to be implemented)
- PLAYER_WSN_REQ_DATATYPE
- PLAYER_WSN_REQ_DATAFREQ (to be implemented)
@par Configuration file options
- port (string)
- Default: "5555"
- TCP port to which the XBridge data gets broadcasted.
- node (integer tupple)
- These are the calibration values for -1G/+1G for the ADXL210 accelerometer
sensor (see the appropriate data sheet on how to obtain it). Each sepparate
board *MUST* be calibrated! Only usable when requesting data in converted
metric units mode.
- The tuple means: [node_id
group_id
calibration_negative_1g_x_axis
calibration_positive_1g_x_axis
calibration_negative_1g_y_axis
calibration_positive_1g_y_axis
calibration_negative_1g_z_axis
calibration_positive_1g_z_axis
]
- converted (integer)
- Default: 1. Possible values: 0, 1, 2. (0=RAW, 1=m/s^2, 2=G)
- Fill the data buffer with converted engineering units (1,2) or RAW (0)
values.
- readppacket (integer)
- Default: 8.
- How many readings does the Particle send in one packet? (using multiple
readings
per packet, will increase the sample rate).
@par Example
@verbatim
driver
(
name "rcore_xbridge"
provides ["wsn:0"]
port 5555
# Calibrate node 0 from group 125 (default) with X={419,532} and Y={440,552}
node [0 125 419 532 440 552 0 0]
# Calibrate node 2 from group 125 (default) with X={447,557} and Y={410,520}
node [2 125 447 557 410 520 0 0]
# Use converted engineering units (G)
converted 2
)
@endverbatim
@author Radu Bogdan Rusu
*/
/** @} */
#ifdef __cplusplus
extern "C" {
#endif
#include <libparticle/_packet.h>
#include <libparticle.h>
#ifdef __cplusplus
}
#endif
#include "rcore_xbridge.h"
#include <assert.h>
#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <termios.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <math.h>
#include <vector>
// Includes needed for player
#include <libplayercore/playercore.h>
// The RCore_XBridge device class.
class RCore_XBridge : public Driver
{
public:
// Constructor
RCore_XBridge (ConfigFile* cf, int section);
// Destructor
~RCore_XBridge ();
// Implementations of virtual functions
int Setup ();
int Shutdown ();
// This method will be invoked on each incoming message
virtual int ProcessMessage (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data);
private:
// Main function for device thread.
virtual void Main ();
void RefreshData ();
// Port file descriptor
int fd;
// Does the user want RAW or converted values?
int raw_or_converted;
// How many readings per packet does the sensor node sends ?
int readppacket;
// WSN interface
player_wsn_data_t data;
player_wsn_cmd_t cmd;
int port_number;
int filter;
int sockd;
// Calibration values
int nodes_count;
NCV ncv;
// Calibration values
int calibration_values[6];
// Calibration node ID
int calibration_node_id;
NodeCalibrationValues FindNodeValues (unsigned int nodeID);
short ParseTuple (short b1, short b2);
player_wsn_data_t DecodePacket (struct p_packet *pkt);
float ConvertAccel (unsigned short raw_accel, int neg_1g, int pos_1g,
int converted);
};
////////////////////////////////////////////////////////////////////////////////
//Factory creation function. This functions is given as an argument when
// the driver is added to the driver table
Driver* RCore_XBridge_Init (ConfigFile* cf, int section)
{
// Create and return a new instance of this driver
return ((Driver*)(new RCore_XBridge (cf, section)));
}
////////////////////////////////////////////////////////////////////////////////
//Registers the driver in the driver table. Called from the
// player_driver_init function that the loader looks for
void RCore_XBridge_Register (DriverTable* table)
{
table->AddDriver ("rcore_xbridge", RCore_XBridge_Init);
}
////////////////////////////////////////////////////////////////////////////////
// Constructor. Retrieve options from the configuration file and do any
// pre-Setup() setup.
RCore_XBridge::RCore_XBridge (ConfigFile* cf, int section)
: Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_WSN_CODE)
{
int i = 0;
int j = 0;
port_number = cf->ReadInt (section, "port", DEFAULT_XBRIDGE_PORT);
nodes_count = cf->ReadInt (section, "nodes", 0);
for (i = 0; i < nodes_count; i++)
{
char node_nr[7];
sprintf (node_nr, "node%d", (i+1));
NodeCalibrationValues n;
n.node_id = cf->ReadTupleInt (section, node_nr, 0, 0);
n.group_id = cf->ReadTupleInt (section, node_nr, 1, 0);
for (j = 0; j < 6; j++)
n.c_values[j] = cf->ReadTupleInt (section, node_nr, j+2, 0);
ncv.push_back (n);
}
// Defaults to converted values
raw_or_converted = cf->ReadInt (section, "converted", 1);
// How many readings per packet does the sensor node sends ?
readppacket = cf->ReadInt (section, "readppacket", 8);
return;
}
////////////////////////////////////////////////////////////////////////////////
// Destructor.
RCore_XBridge::~RCore_XBridge()
{
}
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
int RCore_XBridge::Setup ()
{
// Create a filter and open the socket
filter = p_filter_create ("filter");
sockd = p_socket_open (0, 0, port_number);
// Set socket options
p_socket_set_option (sockd, SOCKET_RECV_ALL, 1);
p_socket_set_option (sockd, SOCKET_AUTOACK, 0);
PLAYER_MSG0 (1, "> RCore_XBridge driver initializing... [done]");
// Start the device thread
StartThread ();
return (0);
}
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device
int RCore_XBridge::Shutdown ()
{
// Stop the driver thread
StopThread ();
// Close the Particle socket
p_socket_close (sockd);
PLAYER_MSG0 (1, "> RCore_XBridge driver shutting down... [done]");
return (0);
}
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
void RCore_XBridge::Main ()
{
// Zero data
memset (&data, 0, sizeof (player_wsn_data_t));
timespec sleepTime = {0, 0};
// The main loop; interact with the device here
while (true)
{
// test if we are supposed to cancel
pthread_testcancel ();
// Process any pending messages
ProcessMessages();
RefreshData ();
nanosleep (&sleepTime, NULL);
}
}
////////////////////////////////////////////////////////////////////////////////
// ProcessMessage function
int RCore_XBridge::ProcessMessage (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data)
{
assert (hdr);
assert (data);
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_WSN_REQ_POWER, device_addr))
{
return 0;
}
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_WSN_REQ_DATATYPE, device_addr))
{
// Change the data type to RAW or converted metric units
player_wsn_datatype_config *datatype =
(player_wsn_datatype_config*)data;
if ((datatype->value > -1) && (datatype->value < 3))
{
raw_or_converted = datatype->value;
Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
hdr->subtype);
}
else
Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
hdr->subtype);
return 0;
}
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_WSN_REQ_DATAFREQ, device_addr))
{
return 0;
}
else
{
return -1;
}
return 0;
}
////////////////////////////////////////////////////////////////////////////////
// RefreshData function
void RCore_XBridge::RefreshData ()
{
memset (&data, 0, sizeof (player_wsn_data_t));
// Get the time at which we started reading
// This will be a pretty good estimate of when the phenomena occured
struct timeval time;
GlobalTime->GetTime(&time);
// Get the TCP packet
packet = p_socket_recv (sockd, sockd);
if (packet == NULL)
return;
// Decode and publish the data
data = DecodePacket (packet);
return;
}
////////////////////////////////////////////////////////////////////////////////
// ParseTuple function - return the value of a tuple
short RCore_XBridge::ParseTuple (short b1, short b2)
{
long value;
value = b1 << 8;
value |= b2;
return (short)value;
}
////////////////////////////////////////////////////////////////////////////////
// DecodePacket function - decode a TeCo Particle packet
player_wsn_data_t RCore_XBridge::DecodePacket (struct p_packet *pkt)
{
NodeCalibrationValues node_values;
player_wsn_data_t temp_data;
struct p_acl_tuple *tuple;
short accelX[MAXREADPPACKET], accelY[MAXREADPPACKET],
accelZ[MAXREADPPACKET];
int i;
char gid[12];
char nid[12];
sprintf (gid, "%d%d%d%d", pkt->p_src_id[0], pkt->p_src_id[1],
pkt->p_src_id[2], pkt->p_src_id[3]);
sprintf (nid, "%d%d%d%d", pkt->p_src_id[4], pkt->p_src_id[5],
pkt->p_src_id[6], pkt->p_src_id[7]);
temp_data.node_type = 1;
temp_data.node_id = atol (nid);
temp_data.node_parent_id = atol (gid);
tuple = p_acl_first(pkt);
// Parse all the tuples
while (tuple != NULL) {
if ((tuple->acl_type[0] == 234) && (tuple->acl_type[1] == 128)) // SGX
for (i = 0; i < readppacket; i++)
{
accelX[i] = ParseTuple (tuple->acl_data[0+(i*6)],
tuple->acl_data[1+(i*6)]);
accelY[i] = ParseTuple (tuple->acl_data[2+(i*6)],
tuple->acl_data[3+(i*6)]);
accelZ[i] = ParseTuple (tuple->acl_data[4+(i*6)],
tuple->acl_data[5+(i*6)]);
}
tuple = p_acl_next(pkt, tuple);
}
temp_data.data_packet.light = -1;
temp_data.data_packet.mic = -1;
temp_data.data_packet.magn_x = -1;
temp_data.data_packet.magn_y = -1;
temp_data.data_packet.magn_z = -1;
temp_data.data_packet.temperature = -1;
temp_data.data_packet.battery = -1;
for (i = 0; i < readppacket; i++)
{
if (raw_or_converted != 0)
{
node_values = FindNodeValues (temp_data.node_id);
temp_data.data_packet.accel_x = ConvertAccel (accelX[i],
node_values.c_values[0], node_values.c_values[1],
raw_or_converted);
temp_data.data_packet.accel_y = ConvertAccel (accelY[i],
node_values.c_values[2], node_values.c_values[3],
raw_or_converted);
temp_data.data_packet.accel_z = ConvertAccel (accelZ[i],
node_values.c_values[4], node_values.c_values[5],
raw_or_converted);
}
else
{
temp_data.data_packet.accel_x = accelX[i];
temp_data.data_packet.accel_y = accelY[i];
temp_data.data_packet.accel_z = accelZ[i];
}
// Publish the WSN data (each packet goes separately)
Publish (device_addr, NULL, PLAYER_MSGTYPE_DATA, PLAYER_WSN_DATA,
&temp_data, sizeof (player_wsn_data_t), NULL);
}
p_pkt_free (packet);
return temp_data;
}
////////////////////////////////////////////////////////////////////////////////
// FindNodeValues function - find the appropriate calibration values for nodeID
NodeCalibrationValues RCore_XBridge::FindNodeValues (unsigned int nodeID)
{
NodeCalibrationValues n;
unsigned int i = 0;
for (i = 0; i < ncv.size (); i++)
{
n = ncv.at (i);
if (n.node_id == nodeID)
break;
}
return n;
}
////////////////////////////////////////////////////////////////////////////////
// ConvertAccel function - convert RAW accel. data to metric units (m/s^2)
float RCore_XBridge::ConvertAccel (unsigned short raw_accel,
int neg_1g, int pos_1g, int converted)
{
if (neg_1g == 0)
neg_1g = 450;
if (pos_1g == 0)
pos_1g = 550;
float sensitivity = (pos_1g - neg_1g) / 2.0f;
float offset = (pos_1g + neg_1g) / 2.0f;
float acceleration = (raw_accel - offset) / sensitivity;
if (converted == 1)
return acceleration * 9.81;
else
return acceleration;
}
//------------------------------------------------------------------------------
--- NEW FILE: rcore_xbridge.h ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2006
* Radu Bogdan Rusu <[EMAIL PROTECTED]>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#include <vector>
#define DEFAULT_XBRIDGE_PORT 5555
#define MAXREADPPACKET 10
// ---[ Node calibration values ]---
class NodeCalibrationValues
{
public:
unsigned int node_id; // node identifier
unsigned int group_id; // group identifier
int c_values[6]; // calibration values
};
typedef std::vector<NodeCalibrationValues> NCV;
struct p_packet *packet = NULL;
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/wsn/Makefile.am,v
retrieving revision 1.1
retrieving revision 1.1.2.1
diff -C2 -d -r1.1 -r1.1.2.1
*** Makefile.am 7 Apr 2006 21:00:29 -0000 1.1
--- Makefile.am 7 Jun 2006 16:12:54 -0000 1.1.2.1
***************
*** 1,11 ****
noinst_LTLIBRARIES =
if INCLUDE_MICA2
noinst_LTLIBRARIES += libmica2.la
endif
! #if INCLUDE_RCORE
! #noinst_LTLIBRARIES += librcore.la
! #endif
! AM_CPPFLAGS = -Wall -I$(top_srcdir)
libmica2_la_SOURCES = mica2.cc
! #librcore_la_SOURCES = rcore.cc
--- 1,14 ----
noinst_LTLIBRARIES =
+
if INCLUDE_MICA2
noinst_LTLIBRARIES += libmica2.la
endif
!
! if INCLUDE_RCORE_XBRIDGE
! noinst_LTLIBRARIES += librcore_xbridge.la
! endif
!
! AM_CPPFLAGS = -Wall -I$(top_srcdir) -fno-strict-aliasing
libmica2_la_SOURCES = mica2.cc
! librcore_xbridge_la_SOURCES = rcore_xbridge.cc
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