Revision: 7436
http://playerstage.svn.sourceforge.net/playerstage/?rev=7436&view=rev
Author: gerkey
Date: 2009-03-10 07:30:23 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
now building against latest websim
Modified Paths:
--------------
code/branches/federation/gazebo/webgazebo/SConscript
code/branches/federation/gazebo/webgazebo/WebGazebo.cc
code/branches/federation/gazebo/webgazebo/WebGazebo.hh
Modified: code/branches/federation/gazebo/webgazebo/SConscript
===================================================================
--- code/branches/federation/gazebo/webgazebo/SConscript 2009-03-10
07:01:16 UTC (rev 7435)
+++ code/branches/federation/gazebo/webgazebo/SConscript 2009-03-10
07:30:23 UTC (rev 7436)
@@ -1,6 +1,20 @@
#Import variable
Import('*')
+PKG_CONFIG_VERSION = '0.22'
+exec(open('../build.py'))
+
+packages = {
+ # TODO: replace with pkg-config check for websim
+ 'glib' : {
+ 'pkgcfg' : 'pkg-config --cflags --libs glib-2.0',
+ 'check' : 'glib-2.0',
+ 'msg' : 'Error: glib not found',
+ 'flags' : '',
+ 'web' : 'http://www.gtk.org'
+ },
+}
+
env.Append(CPPPATH = '#webgazebo')
libEnv = Environment (
@@ -16,7 +30,7 @@
#SHLINKCOMSTR = 'Linking $TARGET',
#LINKCOMSTR = 'Linking $TARGET',
- LIBS=Split('event gazebo websim'),
+ LIBS=Split('event gazebo websim yaml'),
LIBPATH=Split('#libgazebo ' + install_prefix + '/lib'),
CPPPATH=Split('#. ' + install_prefix + '/include')
)
@@ -43,11 +57,14 @@
#SHLINKCOMSTR = 'Linking $TARGET',
#LINKCOMSTR = 'Linking $TARGET',
- LIBS=Split('websim webgazebo event gazebo'),
+ LIBS=Split('yaml webgazebo websim event gazebo'),
LIBPATH=Split('#libgazebo ' + os.getcwd() + ' ' + install_prefix + '/lib'),
CPPPATH=Split('#. ' + install_prefix + '/include')
)
+Config(libEnv, packages)
+Config(exeEnv, packages)
+
webgazebo = exeEnv.Program('webgazebo', 'main.cc')
client = exeEnv.Program('client', 'client.cc')
Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.cc 2009-03-10
07:01:16 UTC (rev 7435)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.cc 2009-03-10
07:30:23 UTC (rev 7436)
@@ -44,7 +44,7 @@
// - do performance test
WebGazebo::WebGazebo(const std::string& fedfile,
- const std::string& host, int port,
+ const std::string& host, unsigned short port,
double dtol, double atol) :
websim::WebSim(fedfile, host, port),
sq_dist_tol(dtol*dtol), sq_ang_tol(atol*atol)
@@ -270,4 +270,5 @@
{
this->simIface->Go((unsigned int)rint(t/1e6),
boost::bind(&WebGazebo::GoCallback, this));
+ return true;
}
Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.hh
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.hh 2009-03-10
07:01:16 UTC (rev 7435)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.hh 2009-03-10
07:30:23 UTC (rev 7436)
@@ -36,13 +36,13 @@
// against the source tree
#include <libgazebo/gazebo.h>
-#include "websim/websim.h"
+#include "websim/websim.hh"
class WebGazebo : public websim::WebSim
{
public:
WebGazebo(const std::string& fedfile,
- const std::string& host, int port,
+ const std::string& host, unsigned short port,
double dtol, double atol);
virtual ~WebGazebo();
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