Merge branch 'libusb'

diff --git a/build/gumstix/INSTALL b/build/gumstix/INSTALL
new file mode 100644 (file)
index 0000000..66d809f
--- /dev/null
+++ b/build/gumstix/INSTALL
@@ -0,0 +1,9 @@
+Postup pro uspesnou kompilaci (zatim s puvodnim toolchainem od P. Pisy): 
+
+#      1. Nejprve je nutne pridat do PATHu cestu k toolchainu - pro jeho velikost zatim nedavam do gitu, ma totiz 50MB
+2. Je nutne stahnout archiv s Qt: ftp://ftp.trolltech.com/qt/source/qt-everywhere-opensource-src-4.6.3.tar.gz a rozbalit do slozky soft/src/3rdparty/qt a to tak, aby qt byla korenova slozka
+#      3. nastavit platformu hosta v qt/Makefile.omk, pro 64bitu -platform qws/linux-x86_64-g++, pro 32bitu -platform qws/linux-x86-g++
+
+TODO
+1. Aplikace patchu pro opravu prace s pismy a s kurzorem - v Qt v rootfs v Gumstixu je opraveno
+2. Zahrnout cely postup do makefilu ?
\ No newline at end of file

diff --git a/build/gumstix/qt/Makefile.omk b/build/gumstix/qt/Makefile.omk
index 6bb4938c8ef047c6c8a51f3f2b8588b771ed8a6e..915db778490d90879344c5b1f78acbde1b878901 100644 (file)
--- a/build/gumstix/qt/Makefile.omk
+++ b/build/gumstix/qt/Makefile.omk
@@ -4,15 +4,16 @@ library-pass_HOOKS = install-qt
 
 config.status: $(SOURCES_DIR)/qt-src/configure
        cp -a $(SOURCES_DIR)/linux-arm-gumstix-g++ $(SOURCES_DIR)/qt-src/mkspecs/qws
-       $< -embedded arm --prefix=$(OUTPUT_DIR)/_compiled/qt -xplatform qws/linux-arm-gumstix-g++ -opensource -confirm-license -little-endian -qt-gfx-linuxfb
+       cp -arv $(SOURCES_DIR)linux.conf $(SOURCES_DIR)/qt-src/mkspecs/common
+       $< -embedded arm --prefix=$(OUTPUT_DIR)/_compiled/qt -xplatform qws/linux-arm-gumstix-g++ -opensource -confirm-license -little-endian -qt-gfx-linuxfb -qt3support -opengl es2 -depths 16,24,32  -plugin-gfx-powervr -qtlibinfix E -plugin-mouse-tslib -qt-mouse-pc -qt-mouse-linuxinput -qt-kbd-tty -qt-kbd-linuxinput -DQT_KEYPAD_NAVIGATION
 
-lib/libQtCore.so: config.status
+lib/libQtCoreE.so: config.status
        $(MAKE)
 
-$(OUTPUT_DIR)/_compiled/qt/libQtCore.so: lib/libQtCore.so
+$(OUTPUT_DIR)/_compiled/qt/libQtCoreE.so: lib/libQtCoreE.so
        echo $@: $^
        $(MAKE) install
        touch $@
 
 .PHONY: install-qt
-install-qt: $(OUTPUT_DIR)/_compiled/qt/libQtCore.so
+install-qt: $(OUTPUT_DIR)/_compiled/qt/libQtCoreE.so

diff --git a/build/gumstix/qt/linux.conf b/build/gumstix/qt/linux.conf
new file mode 100644 (file)
index 0000000..307975d
--- /dev/null
+++ b/build/gumstix/qt/linux.conf
@@ -0,0 +1,66 @@
+#
+# qmake configuration for common linux
+#
+
+QMAKE_CFLAGS_THREAD    += -D_REENTRANT
+QMAKE_CXXFLAGS_THREAD  += $$QMAKE_CFLAGS_THREAD
+
+QMAKE_INCDIR          =
+QMAKE_LIBDIR          =
+QMAKE_INCDIR_X11      = /usr/X11R6/include
+QMAKE_LIBDIR_X11      = /usr/X11R6/lib
+QMAKE_INCDIR_QT       = $$[QT_INSTALL_HEADERS]
+QMAKE_LIBDIR_QT       = $$[QT_INSTALL_LIBS]
+QMAKE_INCDIR_OPENGL   = /usr/X11R6/include
+QMAKE_LIBDIR_OPENGL   = /usr/X11R6/lib
+QMAKE_INCDIR_OPENGL_ES1 = $$QMAKE_INCDIR_OPENGL
+QMAKE_LIBDIR_OPENGL_ES1 = $$QMAKE_LIBDIR_OPENGL
+QMAKE_INCDIR_OPENGL_ES1CL = $$QMAKE_INCDIR_OPENGL
+QMAKE_LIBDIR_OPENGL_ES1CL = $$QMAKE_LIBDIR_OPENGL
+QMAKE_INCDIR_OPENGL_ES2 = $$QMAKE_INCDIR_OPENGL
+QMAKE_LIBDIR_OPENGL_ES2 = $$QMAKE_LIBDIR_OPENGL
+QMAKE_INCDIR_EGL      = 
+QMAKE_LIBDIR_EGL      =
+QMAKE_INCDIR_OPENVG   = 
+QMAKE_LIBDIR_OPENVG   =
+
+QMAKE_LIBS            = -Wl,-rpath-link,SEDME/lib -lglib-2.0
+QMAKE_LIBS_DYNLOAD    = -ldl
+QMAKE_LIBS_X11        = -lXext -lX11 -lm
+QMAKE_LIBS_X11SM      = -lSM -lICE
+QMAKE_LIBS_NIS        = -lnsl
+QMAKE_LIBS_EGL        = -lEGL -lIMGegl -lsrv_um
+QMAKE_LIBS_OPENGL     = -lEGL -lGLES_CM -lIMGegl -lsrv_um 
+QMAKE_LIBS_OPENGL_QT  = -lEGL -lGLES_CM -lIMGegl -lsrv_um
+QMAKE_LIBS_OPENGL_ES1 = -lEGL -lGLES_CM -lIMGegl -lsrv_um
+QMAKE_LIBS_OPENGL_ES1CL = -lGLES_CL
+QMAKE_LIBS_OPENGL_ES2 = -lEGL -lGLESv2 -lGLES_CM -lIMGegl -lsrv_um 
+QMAKE_LIBS_OPENVG     = -lOpenVG
+QMAKE_LIBS_THREAD     = -lpthread
+
+QMAKE_MOC             = $$[QT_INSTALL_BINS]/moc
+QMAKE_UIC             = $$[QT_INSTALL_BINS]/uic
+
+QMAKE_AR              = ar cqs
+QMAKE_OBJCOPY         = objcopy
+QMAKE_RANLIB          =
+
+QMAKE_TAR             = tar -cf
+QMAKE_GZIP            = gzip -9f
+
+QMAKE_COPY            = cp -f
+QMAKE_COPY_FILE       = $(COPY)
+QMAKE_COPY_DIR        = $(COPY) -r
+QMAKE_MOVE            = mv -f
+QMAKE_DEL_FILE        = rm -f
+QMAKE_DEL_DIR         = rmdir
+QMAKE_STRIP           = strip
+QMAKE_STRIPFLAGS_LIB += --strip-unneeded
+QMAKE_CHK_DIR_EXISTS  = test -d
+QMAKE_MKDIR           = mkdir -p
+QMAKE_INSTALL_FILE    = install -m 644 -p
+QMAKE_INSTALL_PROGRAM = install -m 755 -p
+
+DEFINES += QT_QWS_CLIENTBLIT
+
+include(unix.conf)

diff --git a/src/fsm/fsm.h b/src/fsm/fsm.h
index d9ea6c39e19c8e1f620ac97b5fc7dfc62da86742..308fb1f40908035c2e0d5a2b2ede99d1e2fb537b 100644 (file)
--- a/src/fsm/fsm.h
+++ b/src/fsm/fsm.h
@@ -389,7 +389,7 @@ static inline void fsm_set_flags(struct robo_fsm *fsm, int flag_mask)
  * Sends an event to another FSM, which may run  in another
  * thread. Event sending is asynchronous, but each FSM has a buffer for
  * several events. If this buffer is full, @a event_lost flag is set
- * and the event is forgotten. This should never happen in carefully
+ * and the event is lost. This should never happen in a carefully
  * designed application.
  *
  * @note This macro ensures that it is not possible to send an event

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index c4c90f61ffcb7e3000573375619f2b77586193e3..962d63766eba083f7aff4b78e7af2c198c74065a 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -14,6 +14,6 @@
 #define HOKUYO_INDEX_TO_DEG(x) ((HOKUYO_START_ANGLE-(x)*360.0/HOKUYO_SPLIT_DIVISION) * HOKUYO_ORIENTATION)
 #define HOKUYO_INDEX_TO_RAD(x) (HOKUYO_INDEX_TO_DEG(x)/180.0*M_PI)
 
-#define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d))/(360.0/HOKUYO_SPLIT_DIVISION))
+#define HOKUYO_DEG_TO_INDEX(d) ((HOKUYO_START_ANGLE-(d)/HOKUYO_ORIENTATION)/(360.0/HOKUYO_SPLIT_DIVISION))
 
 #endif //HOKUYO_H

diff --git a/src/motion/arc.cc b/src/motion/arc.cc
index f3b67e6e92bf87241b0683dc9be1f6a9bc2c5de8..fa34acaf6ce04c6b52473a848f1575cd7e91b2aa 100644 (file)
--- a/src/motion/arc.cc
+++ b/src/motion/arc.cc
@@ -1,4 +1,4 @@
-//     Copyright 2009 Michal Sojka <sojkam1@fel.cvut.cz>
+//     Copyright 2009, 2012 Michal Sojka <sojkam1@fel.cvut.cz>
 //     Copyright 2009 Petr Beneš
 //
 //     This file is part of Trgen library.
@@ -87,7 +87,7 @@ namespace Segment {
 
     TrajectorySegment* Arc::splitAt(double distance, Point *newEnd) {
         if (distance <= 0 || distance >= length)
-            return NULL;
+            return 0;
 
         getPointAt(distance, newEnd);
         Arc *ns = new Arc(*this);

diff --git a/src/motion/turn.cc b/src/motion/turn.cc
index 49bc1fe9e95285b2f3bb0196e37b80ab5b844d2a..76a4b271f4747fe06194b635ed4ea815d11980d3 100644 (file)
--- a/src/motion/turn.cc
+++ b/src/motion/turn.cc
@@ -1,4 +1,4 @@
-//     Copyright 2009 Michal Sojka <sojkam1@fel.cvut.cz>
+//     Copyright 2009, 2012 Michal Sojka <sojkam1@fel.cvut.cz>
 //     Copyright 2009 Petr Beneš
 //
 //     This file is part of Trgen library.
@@ -54,7 +54,7 @@ namespace Segment {
     TrajectorySegment* Turn::splitAt(double distance, Point *newEnd) {
        if (distance <= 0 || distance >= fabs(turnBy)) {
             dbgPrintf("splitAt: distance=%g turnBy=%g\n", distance, turnBy);
-            return NULL;
+            return 0;
         }
 
         Turn *ns = new Turn(*this);
@@ -69,7 +69,7 @@ namespace Segment {
     TrajectorySegment* Turn::splitAtByTime(double time, Point *newEnd) {
        if (time <= t1 || time >= t2) {
             dbgPrintf("splitAt: distance=%g turnBy=%g\n", time, turnBy);
-            return NULL;
+            return 0;
         }
 
         Turn *ns = new Turn(*this);