Thanks! I'm forwarding this to the pyro-users mailing list, too, to let
others know of this option. Please let us know when/if the Gentoo ebuild
is accepted.
-Doug
-------- Original Message --------
Subject: Pyrobot on x86_64
Date: Thu, 26 Feb 2009 09:07:21 +0100
To: Douglas Blank <dbl...@brynmawr.edu>
Hello,
I have been playing around Pyrobot for a while now, but since my
computer is a Linux 64bits I had to install pyrobot on a 32 bits
chroot environment. Now taht pyrobot became quite useful for me I
decided to get ridd of this chrooted environment.
As far as I can see, after some tests and so on, porting the code to
x86_64 was pretty simple and does not break anything for x86_32.
However, I did not proceed to any exhaustive tests.
If you are interested, I attached the patch. I did the patch against
CVS version of pyrobot.
Basically, I only modified 2 lines of C++ code to make it portable.
And I added "-fPIC" to CFLAGS on every necessary makefiles.
I hope it does not add flaws in there.
For more info, here is the versions of tools I use:
gcc 4.1.2
Python 2.5.2
swig 1.3.34
Player 2.0.4
Stage 2.0.3
Gazebo 0.7.0
I am also going to post an ebuild for Gentoo (it is the distro I use)
Best regards,
T.
----------------------------------------------------------------
This message was sent using IMP, the Internet Messaging Program.
--
Douglas S. Blank
Director, Institute for Personal Robots in Education (IPRE)
http://www.roboteducation.org
Chair, and Associate Professor, Computer Science, Bryn Mawr College
http://cs.brynmawr.edu/~dblank (610)526-6501
diff -r -u --exclude=.svn pyrobot/brain/psom/csom_src/makefile pyrobot-x86_64/brain/psom/csom_src/makefile
--- pyrobot/brain/psom/csom_src/makefile 2009-02-26 09:18:29.647908569 +0200
+++ pyrobot-x86_64/brain/psom/csom_src/makefile 2009-02-25 13:34:27.085012794 +0200
@@ -26,7 +26,7 @@
#statically linked one. -- WKV 2003-07-28
#LD=ld
LD=$(CC)
-CC_FLAGS=-c -g -I $(PYTHON_INCLUDE)
+CC_FLAGS=-fPIC -c -g -I $(PYTHON_INCLUDE)
SWIG_FLAGS=-python
LD_FLAGS=-shared
diff -r -u --exclude=.svn pyrobot/brain/psom/csom_src/som_pak-dev/makefile pyrobot-x86_64/brain/psom/csom_src/som_pak-dev/makefile
--- pyrobot/brain/psom/csom_src/som_pak-dev/makefile 2009-02-26 09:18:29.621241021 +0200
+++ pyrobot-x86_64/brain/psom/csom_src/som_pak-dev/makefile 2009-02-25 13:33:44.331683857 +0200
@@ -2,7 +2,7 @@
include ../../../../Makefile.src
CC=cc
-CFLAGS=-O $(PYTHON_INCLUDE)
+CFLAGS=-fPIC -O $(PYTHON_INCLUDE)
LDFLAGS=-s
LDLIBS=-lm
LD=$(CC)
diff -r -u --exclude=.svn pyrobot/camera/aibo/Makefile pyrobot-x86_64/camera/aibo/Makefile
--- pyrobot/camera/aibo/Makefile 2009-02-26 09:18:28.437937447 +0200
+++ pyrobot-x86_64/camera/aibo/Makefile 2009-02-25 13:25:40.411763397 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBDIRS=
@@ -21,10 +22,10 @@
$(CC) $(CPPFLAGS) -shared aibo.o Aibo.o Socket.o jpeg.o RWLock.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS)
RWLock.o: RWLock.cpp RWLock.h
- $(CC) RWLock.cpp -c
+ $(CC) $(CPPFLAGS) RWLock.cpp -c
jpeg.o: jpeg.c jpeg.h
- $(CC) jpeg.c -c
+ $(CC) $(CPPFLAGS) jpeg.c -c
Aibo.o: Aibo.cpp Aibo.h ../device/Device.o
$(CC) $(CPPFLAGS) -o $@ -c Aibo.cpp
@@ -33,10 +34,10 @@
swig -python -c++ $(INCLUDE) -o Aibo.cc Aibo.i
aibo.o: Aibo.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Aibo.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Aibo.cc -o $@
Socket.o: Socket.cpp Socket.h
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Socket.cpp -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Socket.cpp -o $@
clean::
$(RM) *~ *.so *.o Aibo.cc aibo.py
diff -r -u --exclude=.svn pyrobot/camera/blob/Makefile pyrobot-x86_64/camera/blob/Makefile
--- pyrobot/camera/blob/Makefile 2009-02-26 09:18:28.537911160 +0200
+++ pyrobot-x86_64/camera/blob/Makefile 2009-02-25 13:26:02.781798739 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBDIRS=
@@ -27,7 +28,7 @@
swig -python -c++ $(INCLUDE) -o Blob.cc Blob.i
blob.o: Blob.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Blob.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Blob.cc -o $@
clean::
$(RM) *~ *.so *.o Blob.cc blob.py
diff -r -u --exclude=.svn pyrobot/camera/bt848/Makefile pyrobot-x86_64/camera/bt848/Makefile
--- pyrobot/camera/bt848/Makefile 2009-02-26 09:18:28.344605882 +0200
+++ pyrobot-x86_64/camera/bt848/Makefile 2009-02-25 13:26:27.252560274 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE)
LIBDIRS=
@@ -24,7 +25,7 @@
swig -python $(INCLUDE) -c++ -o $@ BT848.i
bt848.o: BT848.cc ../device/Device.o
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) BT848.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) BT848.cc -o $@
clean::
$(RM) *~ BT848.cc bt848.py bt848.cc bt848grab *.so *.o
diff -r -u --exclude=.svn pyrobot/camera/device/Makefile pyrobot-x86_64/camera/device/Makefile
--- pyrobot/camera/device/Makefile 2009-02-26 09:18:27.707908658 +0200
+++ pyrobot-x86_64/camera/device/Makefile 2009-02-25 13:27:31.295084992 +0200
@@ -9,8 +9,12 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) -shared
+Device.o:: Device.cpp Device.h
+ $(CC) $(CPPFLAGS) -o $@ -c $<
+
clean::
$(RM) *~ *.so *.o
diff -r -u --exclude=.svn pyrobot/camera/fake/Makefile pyrobot-x86_64/camera/fake/Makefile
--- pyrobot/camera/fake/Makefile 2009-02-26 09:18:28.264583892 +0200
+++ pyrobot-x86_64/camera/fake/Makefile 2009-02-25 13:27:57.255888538 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBS= -lstdc++ -ldl -lpthread
@@ -26,7 +27,7 @@
swig -python -c++ $(INCLUDE) -o Fake.cc Fake.i
fake.o: Fake.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Fake.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Fake.cc -o $@
clean::
$(RM) *~ *.so *.o fake.py Fake.cc
diff -r -u --exclude=.svn pyrobot/camera/fourway/Makefile pyrobot-x86_64/camera/fourway/Makefile
--- pyrobot/camera/fourway/Makefile 2009-02-26 09:18:28.477941179 +0200
+++ pyrobot-x86_64/camera/fourway/Makefile 2009-02-25 13:28:13.678383252 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBS= -lstdc++ -ldl -lpthread
@@ -26,7 +27,7 @@
swig -python -c++ $(INCLUDE) -o Fourway.cc Fourway.i
fourway.o: Fourway.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Fourway.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Fourway.cc -o $@
clean::
$(RM) *~ *.so *.o fourway.py Fourway.cc
diff -r -u --exclude=.svn pyrobot/camera/player/Makefile pyrobot-x86_64/camera/player/Makefile
--- pyrobot/camera/player/Makefile 2009-02-26 09:18:28.511271826 +0200
+++ pyrobot-x86_64/camera/player/Makefile 2009-02-25 13:28:27.741744787 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBS= -lstdc++ -ldl -L/usr/local/lib -L/usr/lib -lpthread -lplayerc -ljpeg
@@ -26,7 +27,7 @@
swig -python -c++ $(INCLUDE) -o PlayerCam.cc PlayerCam.i
playercam.o: PlayerCam.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) PlayerCam.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) PlayerCam.cc -o $@
clean::
$(RM) *~ *.so *.o PlayerCam.cc playercam.py
diff -r -u --exclude=.svn pyrobot/camera/robocup/Makefile pyrobot-x86_64/camera/robocup/Makefile
--- pyrobot/camera/robocup/Makefile 2009-02-26 09:18:28.374605258 +0200
+++ pyrobot-x86_64/camera/robocup/Makefile 2009-02-25 13:28:39.588409881 +0200
@@ -9,6 +9,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBDIRS=
@@ -27,7 +28,7 @@
swig -python -c++ $(INCLUDE) -o Robocup.cc Robocup.i
robocup.o: Robocup.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Robocup.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Robocup.cc -o $@
clean::
$(RM) *~ *.so *.o Robocup.cc robocup.py
diff -r -u --exclude=.svn pyrobot/camera/robocup/Robocup.cpp pyrobot-x86_64/camera/robocup/Robocup.cpp
--- pyrobot/camera/robocup/Robocup.cpp 2009-02-26 09:18:28.374605258 +0200
+++ pyrobot-x86_64/camera/robocup/Robocup.cpp 2009-02-26 09:17:32.768747270 +0200
@@ -96,7 +96,8 @@
// ]
// draw points
PyObject *key, *value;
- int next = 0;
+ /*int next = 0;*/
+ Py_ssize_t next = 0;
int lastX, lastY;
while (PyDict_Next(points, &next, &key, &value)) { // for each line
// key is the name of the line
diff -r -u --exclude=.svn pyrobot/camera/stereo/Makefile pyrobot-x86_64/camera/stereo/Makefile
--- pyrobot/camera/stereo/Makefile 2009-02-26 09:18:27.911273393 +0200
+++ pyrobot-x86_64/camera/stereo/Makefile 2009-02-25 13:28:55.465049544 +0200
@@ -10,6 +10,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBS= -lstdc++ -ldl -lpthread
@@ -27,7 +28,7 @@
swig -python -c++ $(INCLUDE) -o Stereo.cc Stereo.i
stereo.o: Stereo.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Stereo.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) Stereo.cc -o $@
clean::
$(RM) *~ *.so *.o stereo.py Stereo.cc p2p
diff -r -u --exclude=.svn pyrobot/camera/v4l/Makefile pyrobot-x86_64/camera/v4l/Makefile
--- pyrobot/camera/v4l/Makefile 2009-02-26 09:18:28.198750091 +0200
+++ pyrobot-x86_64/camera/v4l/Makefile 2009-02-25 13:29:16.915075732 +0200
@@ -10,6 +10,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE)
LIBDIRS=
@@ -25,7 +26,7 @@
swig -python $(INCLUDE) -c++ -o $@ V4L.i
v4l.o: V4L.cc ../device/Device.o
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) V4L.cc -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) V4L.cc -o $@
clean::
$(RM) *~ *.so *.o v4l.py V4L.cc
diff -r -u --exclude=.svn pyrobot/camera/v4l/V4L.cpp pyrobot-x86_64/camera/v4l/V4L.cpp
--- pyrobot/camera/v4l/V4L.cpp 2009-02-26 09:18:28.195439144 +0200
+++ pyrobot-x86_64/camera/v4l/V4L.cpp 2009-02-26 09:14:59.984630372 +0200
@@ -136,7 +136,8 @@
MAP_SHARED,
grab_fd,
0);
- if ((int)image == -1) {
+ /*if ((int)image == -1) {*/
+ if ((void *)image == (void *) MAP_FAILED) {
fprintf(stderr,"Error ");
perror("mmap");
exit(1);
diff -r -u --exclude=.svn pyrobot/vision/cvision/Makefile pyrobot-x86_64/vision/cvision/Makefile
--- pyrobot/vision/cvision/Makefile 2009-02-26 09:18:45.081240092 +0200
+++ pyrobot-x86_64/vision/cvision/Makefile 2009-02-25 13:30:08.515037931 +0200
@@ -10,6 +10,7 @@
-D_REENTRANT -DPOSIX \
-D__x86__ -D__linux__ \
-D__OSVERSION__=2 -frepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \
+ -fPIC \
$(PYTHON_INCLUDE) $(INCLUDE)
LIBS= -lstdc++ -ldl -lpthread
@@ -24,7 +25,7 @@
swig $(INCLUDE) -python -c++ -o $@ Vision.i
vision.o: Vision.cc
- $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) $^ -o $@
+ $(CC) $(CPPFLAGS) -c $(PYTHON_INCLUDE) $(INCLUDE) $^ -o $@
clean::
$(RM) *~ *.so *.o *.cc *.so *.pyc vision.py
_______________________________________________
Pyro-users mailing list
Pyro-users@pyrorobotics.org
http://emergent.brynmawr.edu/mailman/listinfo/pyro-users
