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Commit f974891d authored by Anthony Mallet's avatar Anthony Mallet
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[wip/FRILibrary] Don't require CAP_SYS_NICE and compile with -fPIC to objects 

 * patch-aj and patch-ak prevent the software from miserably failing when a
   user does not have CAP_SYS_NICE. This is merely required to set the
   scheduling parameters of threads, and this should not be fatal.
   Just print a warning instead.

 * update patch-ai to compile object files with -fPIC. This won't hurt when
   linked in an executable, and it is required whenb link this library in a
   another shared library.

 * Fix unzip extraction by forcing -aa, so that CR/LF is converted
   correctly. Updated all patches accordingly

Fixes #140, bump PKGREVISION
parent 29b71ce8
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FRILibrary/Makefile
+ 4
− 0
View file @ f974891d
...@@ -2,6 +2,7 @@ ...@@ -2,6 +2,7 @@
# Created: Matthieu Herrb on Mon, 23 May 2016 # Created: Matthieu Herrb on Mon, 23 May 2016
# #
PKGREVISION= 1
DISTNAME= fril DISTNAME= fril
VERSION= 1.2 VERSION= 1.2
PKGNAME= FRILibrary-${VERSION} PKGNAME= FRILibrary-${VERSION}
...@@ -15,6 +16,9 @@ MAINTAINER= openrobots@laas.fr ...@@ -15,6 +16,9 @@ MAINTAINER= openrobots@laas.fr
COMMENT= C++ Library to interface the KUKA Light Weight Robot IV COMMENT= C++ Library to interface the KUKA Light Weight Robot IV
LICENSE= apache-2.0 LICENSE= apache-2.0
# force text conversion to handle CR/LR correctly.
EXTRACT_OPTS_ZIP=-aao
WRKSRC= ${WRKDIR}/FRILibrary WRKSRC= ${WRKDIR}/FRILibrary
BUILD_DIRS= Linux BUILD_DIRS= Linux
......
FRILibrary/distinfo
+ 11
− 9
View file @ f974891d
SHA1 (frilib-1.2/fril.zip) = a876c225b464ffa25a0dcbae8783eb84e5d06132 SHA1 (frilib-1.2/fril.zip) = a876c225b464ffa25a0dcbae8783eb84e5d06132
RMD160 (frilib-1.2/fril.zip) = b23957503feee5c16e610eb4fae65d49760fcdc2 RMD160 (frilib-1.2/fril.zip) = b23957503feee5c16e610eb4fae65d49760fcdc2
Size (frilib-1.2/fril.zip) = 997218 bytes Size (frilib-1.2/fril.zip) = 997218 bytes
SHA1 (patch-aa) = 5922a171eecc767859b565cd01c00b94fc0a3321 SHA1 (patch-aa) = 116b579954eafecc5c3e611199fffe80dd9d8c37
SHA1 (patch-ab) = 7313d58b0a215b7b6ddb84c9b0187191f300fe7e SHA1 (patch-ab) = df3ad8dec088eb66624e5180647faccbde6b5614
SHA1 (patch-ac) = 451b9b1e8c534747af7f75bbc894ac6d81450fbf SHA1 (patch-ac) = 408cc7be2429ad59bc8c311fa312a169730e062f
SHA1 (patch-ad) = c5b88b1b2ed9605d0ddff59e06b400d7af398c76 SHA1 (patch-ad) = 08edc24d746782cd15445e94357acba58c80aafb
SHA1 (patch-ae) = 2540ae5fe484aaa59b610b7bcd74659bec1f2bbb SHA1 (patch-ae) = 1fe3dcba29eab2f7b83de4aad76fc7cb7976c475
SHA1 (patch-af) = 8c230783e5ffcaf8194738ab371a32485eef892b SHA1 (patch-af) = f25d28021ffd688e82a1bca3140d1376124fdff1
SHA1 (patch-ag) = 34c2a6973f17861182555f3c295732685730c36f SHA1 (patch-ag) = 7de00937cd7d3b3c290af9900f9fa8ed79985a72
SHA1 (patch-ah) = 4379946c9efaae50f9935ccd6d4acdfb6e5840c6 SHA1 (patch-ah) = 7ceb00185ea5e4395d7e7a611b3d9b586561bb27
SHA1 (patch-ai) = 02d8aaee1583ff4da2c81ae4673bd70181afd4ae SHA1 (patch-ai) = 3e35976bc8dca9b70249849c87ffe7bfc1eb11b9
SHA1 (patch-aj) = 406ad55706a7e7d04873998a08e374c31e56157a
SHA1 (patch-ak) = 82e6c7dc56b46dc00ddca5d30b1e5fdc77b93d93
FRILibrary/patches/patch-aa
+ 6
− 6
View file @ f974891d
--- ./etc/980039-FRI-Driver.init.orig 2011-11-19 21:07:18.000000000 +0100 --- ./etc/980039-FRI-Driver.init.orig 2011-11-19 21:07:18.000000000 +0100
+++ ./etc/980039-FRI-Driver.init 2016-05-23 17:57:02.808782000 +0200 +++ ./etc/980039-FRI-Driver.init 2016-05-23 17:57:02.808782000 +0200
@@ -16,5 +16,5 @@ @@ -16,5 +16,5 @@
[Logging] [Logging]
NumberOfLoggingFileEntries=60000 NumberOfLoggingFileEntries=60000
-LoggingPath=/home/lwrcontrol/output -LoggingPath=/home/lwrcontrol/output
-LoggingFileName=LWR-Scope.dat -LoggingFileName=LWR-Scope.dat
\ No newline at end of file \ No newline at end of file
+LoggingPath=/tmp +LoggingPath=/tmp
+LoggingFileName=LWR-Scope.dat +LoggingFileName=LWR-Scope.dat
FRILibrary/patches/patch-ab
+ 8
− 8
View file @ f974891d
--- ./src/FastResearchInterfaceTest/FastResearchInterfaceTest.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/FastResearchInterfaceTest/FastResearchInterfaceTest.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/FastResearchInterfaceTest/FastResearchInterfaceTest.cpp 2016-05-23 17:53:38.860953000 +0200 +++ ./src/FastResearchInterfaceTest/FastResearchInterfaceTest.cpp 2016-05-23 17:53:38.860953000 +0200
@@ -108,7 +108,7 @@ @@ -108,7 +108,7 @@
#ifdef __LINUX__ #ifdef __LINUX__
fprintf(stdout, "You may need superuser permission to run this program.\n"); fprintf(stdout, "You may need superuser permission to run this program.\n");
fflush(stdout); fflush(stdout);
- FRI = new FastResearchInterface("/home/torsten/etc/980039-FRI-Driver.init"); - FRI = new FastResearchInterface("/home/torsten/etc/980039-FRI-Driver.init");
+ FRI = new FastResearchInterface(PREFIX "/etc/980039-FRI-Driver.init"); + FRI = new FastResearchInterface(PREFIX "/etc/980039-FRI-Driver.init");
#endif #endif
#ifdef __MACOS__ #ifdef __MACOS__
FRILibrary/patches/patch-ac
+ 8
− 8
View file @ f974891d
--- ./src/LWRGettingStartedExamples/LWRCartImpedanceControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/LWRGettingStartedExamples/LWRCartImpedanceControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/LWRGettingStartedExamples/LWRCartImpedanceControlExample.cpp 2016-05-23 17:54:55.458384000 +0200 +++ ./src/LWRGettingStartedExamples/LWRCartImpedanceControlExample.cpp 2016-05-23 17:54:55.458384000 +0200
@@ -91,7 +91,7 @@ @@ -91,7 +91,7 @@
LWRCartImpedanceController *Robot; LWRCartImpedanceController *Robot;
- Robot = new LWRCartImpedanceController("/home/lwrcontrol/etc/980039-FRI-Driver.init"); - Robot = new LWRCartImpedanceController("/home/lwrcontrol/etc/980039-FRI-Driver.init");
+ Robot = new LWRCartImpedanceController(PREFIX "/etc/980039-FRI-Driver.init"); + Robot = new LWRCartImpedanceController(PREFIX "/etc/980039-FRI-Driver.init");
fprintf(stdout, "RobotCartImpedanceController object created. Starting the robot...\n"); fprintf(stdout, "RobotCartImpedanceController object created. Starting the robot...\n");
FRILibrary/patches/patch-ad
+ 8
− 8
View file @ f974891d
--- ./src/LWRGettingStartedExamples/LWRJointImpedanceControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/LWRGettingStartedExamples/LWRJointImpedanceControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/LWRGettingStartedExamples/LWRJointImpedanceControlExample.cpp 2016-05-23 18:56:00.196563000 +0200 +++ ./src/LWRGettingStartedExamples/LWRJointImpedanceControlExample.cpp 2016-05-23 18:56:00.196563000 +0200
@@ -81,7 +81,7 @@ @@ -81,7 +81,7 @@
LWRJointImpedanceController *Robot; LWRJointImpedanceController *Robot;
- Robot = new LWRJointImpedanceController("/home/lwrcontrol/etc/980039-FRI-Driver.init"); - Robot = new LWRJointImpedanceController("/home/lwrcontrol/etc/980039-FRI-Driver.init");
+ Robot = new LWRJointImpedanceController(PREFIX "/etc/980039-FRI-Driver.init"); + Robot = new LWRJointImpedanceController(PREFIX "/etc/980039-FRI-Driver.init");
fprintf(stdout, "RobotJointImpedanceController object created. Starting the robot...\n"); fprintf(stdout, "RobotJointImpedanceController object created. Starting the robot...\n");
FRILibrary/patches/patch-ae
+ 8
− 8
View file @ f974891d
--- ./src/LWRGettingStartedExamples/LWRJointPositionControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/LWRGettingStartedExamples/LWRJointPositionControlExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/LWRGettingStartedExamples/LWRJointPositionControlExample.cpp 2016-05-23 17:55:43.250402000 +0200 +++ ./src/LWRGettingStartedExamples/LWRJointPositionControlExample.cpp 2016-05-23 17:55:43.250402000 +0200
@@ -81,7 +81,7 @@ @@ -81,7 +81,7 @@
LWRJointPositionController *Robot; LWRJointPositionController *Robot;
- Robot = new LWRJointPositionController("/home/lwrcontrol/etc/980039-FRI-Driver.init"); - Robot = new LWRJointPositionController("/home/lwrcontrol/etc/980039-FRI-Driver.init");
+ Robot = new LWRJointPositionController(PREFIX "/etc/980039-FRI-Driver.init"); + Robot = new LWRJointPositionController(PREFIX "/etc/980039-FRI-Driver.init");
fprintf(stdout, "RobotJointPositionController object created. Starting the robot...\n"); fprintf(stdout, "RobotJointPositionController object created. Starting the robot...\n");
FRILibrary/patches/patch-af
+ 8
− 8
View file @ f974891d
--- ./src/LWRGettingStartedExamples/LWRLoggingExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/LWRGettingStartedExamples/LWRLoggingExample.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/LWRGettingStartedExamples/LWRLoggingExample.cpp 2016-05-23 17:56:15.514740000 +0200 +++ ./src/LWRGettingStartedExamples/LWRLoggingExample.cpp 2016-05-23 17:56:15.514740000 +0200
@@ -87,7 +87,7 @@ @@ -87,7 +87,7 @@
LWRJointPositionController *Robot; LWRJointPositionController *Robot;
- Robot = new LWRJointPositionController("/home/lwrcontrol/etc/980039-FRI-Driver.init"); - Robot = new LWRJointPositionController("/home/lwrcontrol/etc/980039-FRI-Driver.init");
+ Robot = new LWRJointPositionController(PREFIX "/etc/980039-FRI-Driver.init"); + Robot = new LWRJointPositionController(PREFIX "/etc/980039-FRI-Driver.init");
fprintf(stdout, "RobotJointPositionController object created. Starting the robot...\n"); fprintf(stdout, "RobotJointPositionController object created. Starting the robot...\n");
FRILibrary/patches/patch-ag
+ 14
− 14
View file @ f974891d
--- ./src/FastResearchInterfaceLibrary/FastResearchInterface.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/FastResearchInterfaceLibrary/FastResearchInterface.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/FastResearchInterfaceLibrary/FastResearchInterface.cpp 2016-05-23 18:26:01.337261000 +0200 +++ ./src/FastResearchInterfaceLibrary/FastResearchInterface.cpp 2016-05-23 18:26:01.337261000 +0200
@@ -240,12 +240,12 @@ @@ -240,12 +240,12 @@
} }
else else
{ {
- sprintf(this->LoggingPath, ".%s\0", OS_FOLDER_SEPARATOR); - sprintf(this->LoggingPath, ".%s\0", OS_FOLDER_SEPARATOR);
+ sprintf(this->LoggingPath, ".%s", OS_FOLDER_SEPARATOR); + sprintf(this->LoggingPath, ".%s", OS_FOLDER_SEPARATOR);
} }
if (strlen(this->LoggingFileName) == 0) if (strlen(this->LoggingFileName) == 0)
{ {
- sprintf(this->LoggingFileName, "FRI.dat\0"); - sprintf(this->LoggingFileName, "FRI.dat\0");
+ sprintf(this->LoggingFileName, "FRI.dat"); + sprintf(this->LoggingFileName, "FRI.dat");
} }
this->DataLogger = new DataLogging( this->RobotName this->DataLogger = new DataLogging( this->RobotName
FRILibrary/patches/patch-ah
+ 8
− 8
View file @ f974891d
--- ./src/FastResearchInterfaceLibrary/UDPSocket.cpp.orig 2014-12-03 09:27:36.000000000 +0100 --- ./src/FastResearchInterfaceLibrary/UDPSocket.cpp.orig 2014-12-03 09:27:36.000000000 +0100
+++ ./src/FastResearchInterfaceLibrary/UDPSocket.cpp 2016-05-23 18:27:33.082396000 +0200 +++ ./src/FastResearchInterfaceLibrary/UDPSocket.cpp 2016-05-23 18:27:33.082396000 +0200
@@ -157,7 +157,7 @@ @@ -157,7 +157,7 @@
} }
else else
{ {
- fprintf(stderr, "ERROR: Data size incorrect (received: %d, expected %d)\n", DataReceived, sizeof(FRIDataReceivedFromKRC)); - fprintf(stderr, "ERROR: Data size incorrect (received: %d, expected %d)\n", DataReceived, sizeof(FRIDataReceivedFromKRC));
+ fprintf(stderr, "ERROR: Data size incorrect (received: %d, expected %zu)\n", DataReceived, sizeof(FRIDataReceivedFromKRC)); + fprintf(stderr, "ERROR: Data size incorrect (received: %d, expected %zu)\n", DataReceived, sizeof(FRIDataReceivedFromKRC));
fflush(stderr); fflush(stderr);
} }
} }
FRILibrary/patches/patch-ai
+ 19
− 17
View file @ f974891d
* Generate PIC library, so that this can be linked in shared libraries
* Pass PREFIX to avoid hardcoding paths
--- Linux/Makefile.global.orig 2013-10-30 09:28:32.000000000 +0100 --- Linux/Makefile.global.orig 2013-10-30 09:28:32.000000000 +0100
+++ Linux/Makefile.global 2016-05-23 18:47:54.687506000 +0200 +++ Linux/Makefile.global 2016-05-23 18:47:54.687506000 +0200
@@ -80,13 +80,14 @@ @@ -80,13 +80,13 @@
DEBUG_EXE_DIR=debug/bin DEBUG_EXE_DIR=debug/bin
DEBUG_OBJ_DIR=debug/obj DEBUG_OBJ_DIR=debug/obj
DEBUG_LIB_DIR=debug/lib DEBUG_LIB_DIR=debug/lib
-DEBUG_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -ggdb -DEBUG_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -ggdb
+DEBUG_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -ggdb -DPREFIX=\"${PREFIX}\" +DEBUG_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -ggdb -fPIC -DPREFIX=\"${PREFIX}\"
+ DEBUG_CL= g++ $(SYSTEM_LIBS) -gddb
DEBUG_CL= g++ $(SYSTEM_LIBS) -gddb
RELEASE_EXE_DIR=release/bin
RELEASE_EXE_DIR=release/bin RELEASE_OBJ_DIR=release/obj
RELEASE_OBJ_DIR=release/obj RELEASE_LIB_DIR=release/lib
RELEASE_LIB_DIR=release/lib -RELEASE_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -O3
-RELEASE_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -O3 +RELEASE_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -O3 -fPIC -DPREFIX=\"${PREFIX}\"
+RELEASE_CC= g++ -c -I $(INCLUDE_DIR) -D$(TARGET_OS) -O3 -DPREFIX=\"${PREFIX}\" RELEASE_CL= g++ $(SYSTEM_LIBS)
RELEASE_CL= g++ $(SYSTEM_LIBS)
AR= ar vrs
AR= ar vrs
FRILibrary/patches/patch-aj 0 → 100644
+ 38
− 0
View file @ f974891d
Don't fail to create pthread if user don't have CAP_SYS_NICE
--- src/FastResearchInterfaceLibrary/FastResearchInterface.cpp~ 2017-12-08 16:40:08.568668402 +0100
+++ src/FastResearchInterfaceLibrary/FastResearchInterface.cpp 2017-12-08 18:40:03.925198913 +0100
@@ -155,15 +155,12 @@
// Set the thread scheduling policy attribute to round robin
// default is OTHER which equals RR in QNX 6.5.0.
- pthread_attr_setschedpolicy(&AttributesKRCCommunicationThread , SCHED_FIFO ) ;
pthread_attr_setschedpolicy(&AttributesTimerThread , SCHED_FIFO ) ;
// Set the thread's inherit-scheduling attribute to explicit
// otherwise, the scheduling parameters Cannot be changed (e.g., priority)
- pthread_attr_setinheritsched(&AttributesKRCCommunicationThread , PTHREAD_EXPLICIT_SCHED ) ;
pthread_attr_setinheritsched(&AttributesTimerThread , PTHREAD_EXPLICIT_SCHED ) ;
- pthread_attr_setschedparam(&AttributesKRCCommunicationThread , &SchedulingParamsKRCCommunicationThread ) ;
pthread_attr_setschedparam(&AttributesTimerThread , &SchedulingParamsTimerThread ) ;
// this is supposed to become the message thread
@@ -229,7 +226,16 @@
}
ThreadCreated = false;
- pthread_mutex_unlock(&(this->MutexForThreadCreation));
+
+ if (pthread_setschedparam(KRCCommunicationThread, SCHED_FIFO,
+ &SchedulingParamsKRCCommunicationThread)) {
+ if (errno == EPERM) {
+ this->OutputConsole->printf("Warning: not enough privilege "
+ "to set scheduling parameters\n");
+ }
+ }
+
+ pthread_mutex_unlock(&(this->MutexForThreadCreation));
if (strlen(this->LoggingPath) > 0)
{
FRILibrary/patches/patch-ak 0 → 100644
+ 24
− 0
View file @ f974891d
Don't fail to create pthread if user don't have CAP_SYS_NICE
--- src/FastResearchInterfaceLibrary/Console.cpp~ 2014-12-03 09:27:36.000000000 +0100
+++ src/FastResearchInterfaceLibrary/Console.cpp 2017-12-08 18:41:56.650521057 +0100
@@ -81,9 +81,6 @@
ThreadSchedulingParams.sched_priority = Priority;
pthread_attr_init (&ThreadAttributes ) ;
- pthread_attr_setschedpolicy (&ThreadAttributes , SCHED_FIFO ) ;
- pthread_attr_setinheritsched(&ThreadAttributes , PTHREAD_EXPLICIT_SCHED ) ;
- pthread_attr_setschedparam (&ThreadAttributes , &ThreadSchedulingParams ) ;
pthread_create( &ConsoleThread
, &ThreadAttributes
@@ -97,6 +94,9 @@
pthread_cond_wait (&(this->CondVar), &(this->Mutex));
}
+ pthread_setschedparam(ConsoleThread, SCHED_FIFO,
+ &ThreadSchedulingParams);
+
pthread_mutex_unlock(&(this->Mutex));
memset(this->Buffer, 0x0, 2
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