Revision: 7363
http://playerstage.svn.sourceforge.net/playerstage/?rev=7363&view=rev
Author: natepak
Date: 2009-03-07 08:08:24 +0000 (Sat, 07 Mar 2009)
Log Message:
-----------
Fixed some problems with the scons build
Modified Paths:
--------------
code/gazebo/trunk/SConstruct
code/gazebo/trunk/build.py
code/gazebo/trunk/libgazebo/SConscript
code/gazebo/trunk/libgazebo/Server.cc
code/gazebo/trunk/player/SConscript
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/SConscript
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/audio_video/SConscript
code/gazebo/trunk/server/controllers/SConscript
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/trunk/server/gui/SConscript
code/gazebo/trunk/server/physics/HeightmapGeom.cc
code/gazebo/trunk/server/physics/SConscript
code/gazebo/trunk/server/physics/ode/SConscript
code/gazebo/trunk/server/rendering/SConscript
code/gazebo/trunk/server/sensors/SConscript
code/gazebo/trunk/server/sensors/Sensor.cc
code/gazebo/trunk/server/sensors/Sensor.hh
code/gazebo/trunk/server/sensors/camera/SConscript
code/gazebo/trunk/server/sensors/contact/SConscript
code/gazebo/trunk/server/sensors/imu/SConscript
code/gazebo/trunk/server/sensors/ir/SConscript
code/gazebo/trunk/server/sensors/ray/SConscript
Modified: code/gazebo/trunk/SConstruct
===================================================================
--- code/gazebo/trunk/SConstruct 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/SConstruct 2009-03-07 08:08:24 UTC (rev 7363)
@@ -5,65 +5,117 @@
exec(open('build.py'))
+
PKG_CONFIG_VERSION = '0.22'
OGRE_VERSION = '>= 1.6.0'
ODE_VERSION = '>= 0.10.1'
+#######
+# Create a release
+#######
if 'release' in COMMAND_LINE_TARGETS:
CreateRelease()
exit()
-#
+#######
# Setup the Options
-#
+#######
opts = Options()
opts.Add('prefix', 'The install path "prefix"', '/usr/local')
opts.Add('destdir', 'The root directory to install into. Useful mainly for
binary package building', '/')
opts.Add('mode','Defines how Gazebo will be built, options available:
optimized, profile, debug','debug')
-#
-# 3rd party packages
-#
-parseConfigs=['pkg-config --cflags --libs OGRE',
- 'xml2-config --cflags --libs',
- 'ode-config --cflags --libs',
- 'fltk-config --cflags --libs --ldflags --use-gl --use-images',
- 'pkg-config --cflags --libs xft',
- 'pkg-config --cflags --libs libavformat',
- 'pkg-config --cflags --libs libavcodec',
- 'pkg-config --cflags --libs openal'
- ]
+#######
+# List of all the required packages
+#######
+packages = {
+ 'OGRE' : {
+ 'pkgcfg': 'pkg-config --cflags --libs OGRE',
+ 'check' : 'OGRE ' + OGRE_VERSION,
+ 'msg' : 'Error: Ogre3d and development files are required, but not\
+ found. ',
+ 'flags' : '',
+ 'web' : 'http://www.ogre3d.org'
+ },
-#
-# setup the build environment
-#
-env = Environment (
- CC = 'g++',
+ 'ODE' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs ode',
+ 'check' : 'ode ' + ODE_VERSION,
+ 'msg' : 'Error: ODE and development files are required, but not\
+ found.',
+ 'flags' : '',
+ 'web' : 'http://www.ode.org'
+ },
- CPPPATH = [
- '#.',
- '#server',
- '#server/models',
- '#server/gui',
- '#server/gui/fltk',
- '#libgazebo',
- '#server/rendering',
- '#server/sensors',
- '#server/sensors/camera',
- '#server/sensors/ray',
- '#server/sensors/contact',
- '#server/sensors/imu',
- '#server/sensors/ir',
- '#server/physics',
- '#server/physics/ode',
- '#server/controllers',
- '#server/controllers/position2d',
- '#server/controllers/position2d/pioneer2dx',
- '#server/controllers/irarray',
- '#server/audio_video',
- ],
+ 'OpenAL' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs openal',
+ 'check' : 'openal',
+ 'msg' : 'Warning: OpenAL not found. 3D audio will be disbled',
+ 'flags' : ['-DHAVE_OPENAL'],
+ 'web' : 'http://www.openal.org'
+ },
+ 'XFT' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs xft',
+ 'check' : 'xft',
+ 'msg' : 'Error: ',
+ 'flags' : '',
+ 'web' : 'http://www.xft.org'
+ },
+
+ 'avformat' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs libavformat',
+ 'check' : 'libavformat',
+ 'msg' : 'Warning: FFMpeg pkg-config not found. MP3 decoding\
+ is disabled',
+ 'flags' : '',
+ 'web' : 'http://ffmpeg.mplayerhq.hu/'
+ },
+
+ 'avcodec' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs libavcodec',
+ 'check' : 'libavcodec',
+ 'msg' : 'Warning: FFMpeg pkg-config not found. MP3 decoding is\
+ disabled',
+ 'flags' : '',
+ 'web' : 'http://ffmpeg.mplayerhq.hu/'
+ },
+
+ 'XML2' : {
+ 'pkgcfg' : 'xml2-config --cflags --libs',
+ 'check' : '',
+ 'msg' : 'Error: libxml2 and development files are required, but\
+ not found.',
+ 'flags' : '',
+ 'web' : 'http://www.xmlsoft.org'
+ },
+
+ 'FLTK' : {
+ 'pkgcfg' : 'fltk-config --cflags --libs --ldflags --use-gl\
+ --use-images',
+ 'check' : '',
+ 'msg' : 'Error: libfltk & development files are required, but not\
+ found.',
+ 'flags' : '',
+ 'web' : 'http://www.fltk.org'
+ },
+ 'Player' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs playerc++',
+ 'check' : 'playerc++',
+ 'msg' : 'Warning: Player not found, bindings will not be built.',
+ 'flags' : ['-DHAVE_PLAYER'],
+ 'web' : 'http://playerstage.sourceforge.net'
+ },
+}
+
+#######
+# setup the build environment
+#######
+env = Environment (
+ CC = 'gcc',
+ CXX = 'g++',
+ CPPPATH = [ '#.' ],
LIBPATH=Split('#libgazebo #server/audio_video'),
#LIBS=Split('gazebo boost_python')
@@ -73,18 +125,44 @@
TARFLAGS = '-c -z',
TARSUFFIX = '.tar.gz',
- options=opts
+ options = opts,
+
+ # Static object compile string
+ CXXCOMSTR = 'Compiling $TARGET',
+ CCCOMSTR = 'Compiling $TARGET',
+ LINKCOMSTR = 'Linking $TARGET',
+
+ # Shared object compile strings
+ SHCXXCOMSTR = 'Compiling $TARGET',
+ SHCCCOMSTR = 'Compiling $TARGET',
+ SHLINKCOMSTR = 'Linking $TARGET',
)
+#######
+# DEFAULT list of subdirectories to build
+#######
+subdirs = ['libgazebo','server', 'player']
+
+
+#######
+# Generate help text
+#######
Help(opts.GenerateHelpText(env))
+
+#######
+# Setup default install destination
+#######
if env['destdir'] != '/':
install_prefix = env['destdir'] + '/' + env['prefix']
else:
install_prefix = env['prefix']
+#######
+# Create the custom builder
+#######
env['BUILDERS']['PkgConfig'] = Builder(action = createPkgConfig)
pkgconfig = env.PkgConfig(target='libgazeboServer.pc',
source=Value(install_prefix))
env.Install(dir=install_prefix+'/lib/pkgconfig', source=pkgconfig)
@@ -92,10 +170,9 @@
env['BUILDERS']['RCConfig'] = Builder(action = createGazeborc)
rcconfig = env.RCConfig(target='gazeborc', source=Value(install_prefix))
-# DEFAULT list of subdirectories to build
-subdirs = ['libgazebo','server', 'player']
-
+#######
# Set the compile mode
+#######
if env['mode'] == 'debug':
env['CCFLAGS'] += Split('-ggdb -g2 -Wall -Wno-deprecated -fPIC')
elif env['mode'] == 'profile':
@@ -104,137 +181,54 @@
elif env['mode'] == 'optimized':
env['CCFLAGS'] += Split('-O3 -fPIC')
+optimize_for_cpu(env)
-optimize_for_cpu(env);
+#######
+# Conifgure the system
+#######
+Config(env, packages)
-# Setup the configuration environment.
-conf = Configure(env, custom_tests = {'CheckODELib' : CheckODELib,
- 'CheckPkgConfig' : CheckPkgConfig,
- 'CheckPkg' : CheckPkg})
-# Check for pkg-config
-if not conf.CheckPkgConfig(PKG_CONFIG_VERSION):
- print ' Error: pkg-config version >= ' + PKG_CONFIG_VERSION + ' not found.'
- Exit(1)
-
-# Check for the correct OGRE version
-if not conf.CheckPkg('OGRE ' + OGRE_VERSION):
- print ' Error: OGRE version = ' + OGRE_VERSION + ' not found.'
- Exit(1)
-
-# Check for the correct ODE version
-if not conf.CheckPkg('ode ' + ODE_VERSION):
- print ' Error: ODE version = ' + ODE_VERSION + ' not found.'
- Exit(1)
-
-#
-# Parse all the pacakge configurations
-#
-if not env.GetOption('clean'):
- for cfg in parseConfigs:
- print "Checking for ["+cfg+"]"
- try:
- env.ParseConfig(cfg)
- print " Success"
- except OSError,e:
- print "Unable to parse config ["+cfg+"]"
- if cfg.find("OGRE") >= 0:
- print "Ogre3d and development files are required, but not found."
- print " http://www.ogre3d.org/";
- Exit(1)
- elif cfg.find("ode") >= 0:
- print "ODE and development files are required, but not found."
- print " http://www.ode.org";
- Exit(1)
- elif cfg.find("xml2") >= 0:
- print "libxml2 and development files are required, but not found."
- print " http://www.xmlsoft.org";
- Exit(1)
- elif cfg.find("fltk") >= 0:
- print "libfltk & development files are required, but not found."
- print " http://www.fltk.org";
- Exit(1)
- elif cfg.find("OpenAL") >= 0:
- print "OpenAL not found. 3D audio is disabled"
- print "http://www.ogre3d.org/phpBB2addons/viewtopic.php?t=3293";
- Exit(1)
- elif cfg.find("avcodec") >= 0 or cfg.find("avformat") >= 0:
- print "FFMpeg not found. MP3 decoding is disabled"
- print " http://ffmpeg.mplayerhq.hu/";
- Exit(1)
-
-# Check for trimesh support in ODE
-#if not conf.CheckODELib():
-# print ' Error: ODE not compiled with trimesh support.'
-# Exit(1)
-
-env = conf.Finish()
-
-
-
-simpleenv = Environment(CPPPATH="/usr/include/AL")
-simpleconf = Configure(simpleenv)
-
-# Test for libtool
-if not simpleconf.CheckLibWithHeader('ltdl','ltdl.h','CXX'):
- print " Warning: Failed to find ltdl, no plugin support will be included"
- env["HAVE_LTDL"]=False
-else:
- env["HAVE_LTDL"]=True
- env.Append(CCFLAGS = " -DHAVE_LTDL")
- env.Append(LIBS = "ltdl")
-
-# Test for openal
-if simpleconf.CheckLibWithHeader('openal', 'al.h', 'CXX'):
- env["HAVE_OPENAL"] = True
-else:
- env["HAVE_OPENAL"] = False
-
-simpleconf.Finish()
-
-
-# # Check for boost_python
-#if not conf.CheckLibWithHeader('boost_python', 'boost/python.hpp', 'C'):
-# print 'Did not find libboost_python exiting'
-# Exit(1)
-#else:
-# conf.env.Append(LIBS="boost_python")
-
-
+#######
+# Export the environment
+#######
#staticObjs = []
sharedObjs = []
headers = []
-
-#
-# Export the environment
-#
Export('env install_prefix version sharedObjs headers subdirs')
-#
-# Process subdirectories
-#
+
+#######
+# Parse subdirectories
+#######
for subdir in subdirs:
- print subdir
+ print 'Parsing sub directory ' + subdir
SConscript('%s/SConscript' % subdir)
-#
-# Create the gazebo executable
-#
-gazebo = env.Program('gazebo',sharedObjs)
+print ''
-Depends(gazebo, 'libgazebo/libgazebo.so')
-#
-# Create static and shared libraries for the server
-#
-#libgazeboServerStatic = env.StaticLibrary('gazeboServer', staticObjs)
-libgazeboServerShared = env.SharedLibrary('gazeboServer', sharedObjs)
-#
-# Install gazebo
-#
-env.Alias('install', install_prefix)
-env.Install(install_prefix+'/bin',gazebo)
-env.Install(install_prefix+'/share/gazebo','Media')
-env.Install(install_prefix+'/include/gazebo',headers)
-#env.Install(install_prefix+'/lib',libgazeboServerStatic )
-env.Install(install_prefix+'/lib',libgazeboServerShared )
-env.Install(install_prefix+'/share/gazebo','worlds')
+#######
+# Create the gazebo executable and libraries
+#######
+if not 'configure' in COMMAND_LINE_TARGETS:
+ #Progress('Evaluating $TARGET\n')
+
+ gazebo = env.Program('gazebo',sharedObjs)
+ Depends(gazebo, 'libgazebo/libgazebo.so')
+
+ #libgazeboServerStatic = env.StaticLibrary('gazeboServer', staticObjs)
+ libgazeboServerShared = env.SharedLibrary('gazeboServer', sharedObjs)
+
+ #
+ # Install gazebo
+ #
+ env.Alias('install', install_prefix)
+ env.Install(install_prefix+'/bin',gazebo)
+ env.Install(install_prefix+'/share/gazebo','Media')
+ env.Install(install_prefix+'/include/gazebo',headers)
+ #env.Install(install_prefix+'/lib',libgazeboServerStatic )
+ env.Install(install_prefix+'/lib',libgazeboServerShared )
+ env.Install(install_prefix+'/share/gazebo','worlds')
+else:
+ print 'Configure done'
+ Exit()
Modified: code/gazebo/trunk/build.py
===================================================================
--- code/gazebo/trunk/build.py 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/build.py 2009-03-07 08:08:24 UTC (rev 7363)
@@ -114,3 +114,96 @@
env['CCFLAGS'] += Split (line_atr)
print "detected CPU atributes: " +line_atr
+
+def Config(env, packages):
+ # Setup the configuration environment.
+ conf = Configure(env, custom_tests = {'CheckODELib' : CheckODELib,
+ 'CheckPkgConfig' : CheckPkgConfig,
+ 'CheckPkg' : CheckPkg})
+
+ print '\n=== 3rd Party Dependency Checks === '
+
+ # Check for pkg-config
+ if not conf.CheckPkgConfig(PKG_CONFIG_VERSION):
+ print ' Error: pkg-config version >= ' + PKG_CONFIG_VERSION + ' not
found.'
+ Exit(1)
+
+ #
+ # Parse all the pacakge configurations
+ #
+ for key in packages:
+ pkgcfg = packages[key]['pkgcfg']
+ check = packages[key]['check']
+ msg = packages[key]['msg']
+ web = packages[key]['web']
+ flags = packages[key]['flags']
+ docfg = True
+ valid = True
+
+ # Check for the package
+ if check and not conf.CheckPkg(check):
+ docfg = False
+ valid = False
+ print ' !!' + msg + key + ' not found.'
+ print ' See: ' + web
+ if msg.find('Error') > 0:
+ Exit(1)
+
+ # Try parsing the pkg-config
+ if docfg:
+ try:
+ if not check:
+ print "Checking for "+key+"...",
+ env.ParseConfig(pkgcfg)
+ if not check:
+ print 'yes'
+ except OSError,e:
+ valid = False
+ if not check:
+ print 'no'
+ print "Unable to parse config ["+pkgcfg+"]"
+ print ' !!' + msg + key + ' not found.'
+ print ' See: ' + web
+ if msg.find('Error') > 0:
+ Exit(1)
+
+ # If valid so far, apply any flags to the environment
+ if valid:
+ for flag in flags:
+ env.Append(CCFLAGS = " " + flag)
+
+ # Check for trimesh support in ODE
+ #if not conf.CheckODELib():
+ # print ' Error: ODE not compiled with trimesh support.'
+ # Exit(1)
+
+ env = conf.Finish()
+
+ #simpleenv = Environment(CPPPATH="/usr/include/AL")
+ #simpleconf = Configure(simpleenv)
+ #
+ ## Test for libtool
+ #if not simpleconf.CheckLibWithHeader('ltdl','ltdl.h','CXX'):
+ # print " Warning: Failed to find ltdl, no plugin support will be included"
+ # env["HAVE_LTDL"]=False
+ #else:
+ # env["HAVE_LTDL"]=True
+ # env.Append(CCFLAGS = " -DHAVE_LTDL")
+ # env.Append(LIBS = "ltdl")
+
+ #if not simpleconf.CheckHeader('boost/signal.hpp',language='C++'):
+ # print "Error: Boost signals not found. Please install."
+ # Exit(0)
+ #
+ #simpleconf.Finish()
+
+ # # Check for boost_python
+ #if not conf.CheckLibWithHeader('boost_python', 'boost/python.hpp', 'C'):
+ # print 'Did not find libboost_python exiting'
+ # Exit(1)
+ #else:
+ # conf.env.Append(LIBS="boost_python")
+
+ print '=== Done ===\n'
+
+
Modified: code/gazebo/trunk/libgazebo/SConscript
===================================================================
--- code/gazebo/trunk/libgazebo/SConscript 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/libgazebo/SConscript 2009-03-07 08:08:24 UTC (rev
7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('install_prefix version')
+Import('*')
+env.Append(CPPPATH = '#libgazebo')
+
#
# Create the pkg-config file
#
@@ -23,6 +25,16 @@
env = Environment (
CC = 'g++',
CCFLAGS = Split ('-pthread -pipe -W -Wall -O2'),
+
+ CXXCOMSTR = 'Compiling $TARGET',
+ CCCOMSTR = 'Compiling $TARGET',
+
+ SHCXXCOMSTR = 'Compiling $TARGET',
+ SHCCCOMSTR = 'Compiling $TARGET',
+
+ SHLINKCOMSTR = 'Linking $TARGET',
+ LINKCOMSTR = 'Linking $TARGET',
+
)
env['BUILDERS']['PkgConfig'] = Builder(action = createPkgConfig)
Modified: code/gazebo/trunk/libgazebo/Server.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Server.cc 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/libgazebo/Server.cc 2009-03-07 08:08:24 UTC (rev
7363)
@@ -106,7 +106,9 @@
if(fp)
{
int pid;
- fscanf(fp, "%d", &pid);
+ if (fscanf(fp, "%d", &pid) != 0)
+ std::cerr << "Error\n";
+
fclose(fp);
std::cout << "found a pid file: pid=" << pid << "\n";
@@ -188,7 +190,8 @@
<< "] : [" << strerror(errno) << "]\n";
snprintf(cmd, sizeof(cmd), "rm -rf %s", this->filename.c_str());
- system(cmd);
+ if (system(cmd))
+ std::cerr << "System cmd invalid\n";
}
// Finalize semaphores
Modified: code/gazebo/trunk/player/SConscript
===================================================================
--- code/gazebo/trunk/player/SConscript 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/player/SConscript 2009-03-07 08:08:24 UTC (rev 7363)
@@ -1,8 +1,6 @@
import os
-Import('env install_prefix sharedObjs subdirs')
+Import('*')
-parseConfigs = ['pkg-config --cflags --libs playerc++']
-
sources = ['GazeboDriver.cc',
'GazeboClient.cc',
'GazeboInterface.cc',
@@ -23,34 +21,19 @@
# Position3dInterface.cc PowerInterface.cc SonarInterface.ccGpsInterface.cc ')
-playerEnv = env.Clone()
-
-for cfg in parseConfigs:
- print "Checking for ["+cfg+"]"
- try:
- playerEnv.ParseConfig(cfg)
- print " Success"
- except OSError,e:
- print "Unable to parse config ["+cfg+"]"
- if cfg.find("player") >=0:
- print
"\n================================================================"
- print "Player not found, bindings will not be built."
- print " To install player visit(http://playerstage.sourceforge.net)"
- print "================================================================"
- subdirs.remove('player')
- Return
- #time.sleep(3)
-
-if ('player' in subdirs):
+try:
+ env["CCFLAGS"].index('-DHAVE_PLAYER')
-#staticPlayerObjs = playerEnv.StaticObject(sources)
- sharedPlayerObjs = playerEnv.SharedObject(sources)
-
-#staticPlayerObjs.append(staticObjs);
+ #staticPlayerObjs = env.StaticObject(sources)
+ sharedPlayerObjs = env.SharedObject(sources)
+
+ #staticPlayerObjs.append(staticObjs);
sharedPlayerObjs.append(sharedObjs);
-
- sharedLib = playerEnv.SharedLibrary('gazeboplugin', sharedPlayerObjs)
-# staticLib = playerEnv.StaticLibrary('gazeboplugin', staticPlayerObjs)
-
+
+ sharedLib = env.SharedLibrary('gazeboplugin', sharedPlayerObjs)
+ # staticLib = env.StaticLibrary('gazeboplugin', staticPlayerObjs)
+
env.Install(install_prefix+'/lib', sharedLib)
-#env.Install(install_prefix+'/lib', staticLib)
+ #env.Install(install_prefix+'/lib', staticLib)
+except ValueError,e:
+ garbage = 1
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/server/Entity.cc 2009-03-07 08:08:24 UTC (rev 7363)
@@ -168,6 +168,8 @@
if (body)
body->SetEnabled(!s);
}
+
+ return true;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/SConscript
===================================================================
--- code/gazebo/trunk/server/SConscript 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/server/SConscript 2009-03-07 08:08:24 UTC (rev 7363)
@@ -1,12 +1,18 @@
#Import variables
-Import('env install_prefix sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server')
+
dirs = Split('physics rendering sensors controllers gui')# bindings')
-if env["HAVE_OPENAL"] == True:
+try:
+ env["CCFLAGS"].index('-DHAVE_OPENAL')
dirs.append("audio_video")
+except ValueError,e:
+ garbage = 1
for subdir in dirs:
+ print 'Parsing sub directory ' + subdir
SConscript('%s/SConscript' % subdir)
sources = ['main.cc',
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/server/World.cc 2009-03-07 08:08:24 UTC (rev 7363)
@@ -38,7 +38,11 @@
#include "Simulator.hh"
#include "gazebo.h"
#include "World.hh"
+
+#ifdef HAVE_OPENAL
#include "OpenAL.hh"
+#endif
+
#include "Geom.hh"
using namespace gazebo;
@@ -124,9 +128,11 @@
gzthrow(err);
}
+#ifdef HAVE_OPENAL
// Load OpenAL audio
if (rootNode->GetChild("openal","audio"))
OpenAL::Instance()->Load( rootNode->GetChild("openal", "audio") );
+#endif
this->physicsEngine = new ODEPhysics(); //TODO: use exceptions here
@@ -176,7 +182,9 @@
this->physicsEngine->Init();
// Initialize openal
+#ifdef HAVE_OPENAL
OpenAL::Instance()->Init();
+#endif
this->toAddModels.clear();
this->toDeleteModels.clear();
@@ -262,7 +270,9 @@
}
// Close the openal server
+#ifdef HAVE_OPENAL
OpenAL::Instance()->Fini();
+#endif
return 0;
}
Modified: code/gazebo/trunk/server/audio_video/SConscript
===================================================================
--- code/gazebo/trunk/server/audio_video/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/audio_video/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs headers install_prefix')
+Import('*')
+env.Append(CPPPATH = '#server/audio_video')
+
sources = ['AudioDecoder.cc',
'OpenAL.cc'
]
Modified: code/gazebo/trunk/server/controllers/SConscript
===================================================================
--- code/gazebo/trunk/server/controllers/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/controllers/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,10 +1,15 @@
#Import variable
-Import('env sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server/controllers')
+
dirs = Split('position2d laser camera factory gripper actarray ptz opaque
bumper imu irarray')
-if env["HAVE_OPENAL"] == True:
+try:
+ env["CCFLAGS"].index('-DHAVE_OPENAL')
dirs.append("audio")
+except ValueError,e:
+ garbage = 1
for subdir in dirs :
SConscript('%s/SConscript' % subdir)
Modified:
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-03-04 22:19:10 UTC (rev 7362)
+++ code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-03-07 08:08:24 UTC (rev 7363)
@@ -69,7 +69,6 @@
// Load the controller
void Pioneer2_Gripper::LoadChild(XMLConfigNode *node)
{
- int i;
XMLConfigNode *jNode;
this->myIface = dynamic_cast<GripperIface*>(this->ifaces[0]);
Modified: code/gazebo/trunk/server/gui/SConscript
===================================================================
--- code/gazebo/trunk/server/gui/SConscript 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/server/gui/SConscript 2009-03-07 08:08:24 UTC (rev
7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server/gui')
+
sources = ['Gui.cc',
'GLWindow.cc',
'MainMenu.cc',
Modified: code/gazebo/trunk/server/physics/HeightmapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/HeightmapGeom.cc 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/physics/HeightmapGeom.cc 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -229,7 +229,7 @@
// Create a data stream for loading the terrain into Ogre
char *mstr = new char[1024];//stream.str().size()];
bzero (mstr, 1024);
- sprintf(mstr, stream.str().c_str());
+ sprintf(mstr, (char*)(stream.str().c_str()));
Ogre::DataStreamPtr dataStream(
new Ogre::MemoryDataStream(mstr,strlen(mstr)) );
Modified: code/gazebo/trunk/server/physics/SConscript
===================================================================
--- code/gazebo/trunk/server/physics/SConscript 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/server/physics/SConscript 2009-03-07 08:08:24 UTC (rev
7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server/physics')
+
dirs = Split('ode')
for subdir in dirs :
Modified: code/gazebo/trunk/server/physics/ode/SConscript
===================================================================
--- code/gazebo/trunk/server/physics/ode/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/physics/ode/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,7 +1,9 @@
#Import variable
-Import('env sharedObjs')
+Import('*')
-sources = Split('ODEPhysics.cc')
+env.Append(CPPPATH = '#server/physics/ode')
+sources = ['ODEPhysics.cc']
+
#staticObjs.append(env.StaticObject('ODEPhysics.cc'))
-sharedObjs.append(env.SharedObject('ODEPhysics.cc'))
+sharedObjs.append(env.SharedObject(sources))
Modified: code/gazebo/trunk/server/rendering/SConscript
===================================================================
--- code/gazebo/trunk/server/rendering/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/rendering/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server/rendering')
+
sources = [
'MovableText.cc',
'OgreCreator.cc',
Modified: code/gazebo/trunk/server/sensors/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/SConscript 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/server/sensors/SConscript 2009-03-07 08:08:24 UTC (rev
7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs headers')
+Import('*')
+env.Append(CPPPATH = '#server/sensors')
+
dirs = Split('camera ray contact imu ir')
for subdir in dirs :
Modified: code/gazebo/trunk/server/sensors/Sensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.cc 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/server/sensors/Sensor.cc 2009-03-07 08:08:24 UTC (rev
7363)
@@ -190,7 +190,7 @@
////////////////////////////////////////////////////////////////////////////////
/// Get the current pose
-const Pose3d &Sensor::GetPose() const
+const Pose3d Sensor::GetPose() const
{
return this->body->GetPose();
}
Modified: code/gazebo/trunk/server/sensors/Sensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/Sensor.hh 2009-03-04 22:19:10 UTC (rev
7362)
+++ code/gazebo/trunk/server/sensors/Sensor.hh 2009-03-07 08:08:24 UTC (rev
7363)
@@ -70,7 +70,7 @@
public: void Fini();
/// \brief Get the current pose
- public: const Pose3d &GetPose() const;
+ public: const Pose3d GetPose() const;
/// \brief Set whether the sensor is active or not
public: void SetActive(bool value);
Modified: code/gazebo/trunk/server/sensors/camera/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/camera/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/sensors/camera/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs')
+Import('*')
+env.Append(CPPPATH = '#server/sensors/camera')
+
sources = [
'MonoCameraSensor.cc',
'StereoCameraSensor.cc'
Modified: code/gazebo/trunk/server/sensors/contact/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/contact/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/sensors/contact/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs')
+Import('*')
+env.Append(CPPPATH = '#server/sensors/contact')
+
sources = Split('ContactSensor.cc')
sharedObjs.append(env.SharedObject(sources))
Modified: code/gazebo/trunk/server/sensors/imu/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/imu/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/sensors/imu/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
Import('env sharedObjs')
+env.Append(CPPPATH = '#server/sensors/imu')
+
sources = Split('ImuSensor.cc')
sharedObjs.append(env.SharedObject(sources))
Modified: code/gazebo/trunk/server/sensors/ir/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/ir/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/sensors/ir/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,8 @@
#Import variable
-Import('env sharedObjs')
+Import('*')
+env.Append(CPPPATH = '#server/sensors/ir')
+
sources = Split('IRSensor.cc')
#staticObjs.append(env.StaticObject(sources))
Modified: code/gazebo/trunk/server/sensors/ray/SConscript
===================================================================
--- code/gazebo/trunk/server/sensors/ray/SConscript 2009-03-04 22:19:10 UTC
(rev 7362)
+++ code/gazebo/trunk/server/sensors/ray/SConscript 2009-03-07 08:08:24 UTC
(rev 7363)
@@ -1,6 +1,7 @@
-#Import variable
-Import('env sharedObjs')
+Import('*')
+env.Append(CPPPATH = '#server/sensors/ray')
+
sources = Split('RaySensor.cc')
#staticObjs.append(env.StaticObject(sources))
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