The Player Project

to run it you just need to specify the .so file in player cfg file, have a
look at the example cfg file.

Toby

On 30/01/2008, mojahid haque <mojahidiut@...> wrote:
>
> Hi,
> thanks for your mail.  I already make drioDriver.so file by using command
>
>
> $ g++ -shared -o drioDriver.so `pkg-config --cflags playercore`
> drioDriver.cc `pkg-config --libs playercore`
>
>
>
> So next  what i shall do for plugin my relay. How i shall  test my  relay
> ?. I never use makefile system compile. I do not know how to compile
> makefile system .Is it ok. I get just drioDriver.so in my directory.
> pls pls help me.
> best regards
> ASM. Hoque
>
> DCU
> Ireland
>
>
>
> ----- Original Message ----
> From: Toby Collett <tcollett+player@...>
> To: mojahid haque <mojahidiut@...>
> Sent: Tuesday, 29 January, 2008 6:19:44 PM
> Subject: Re: About Relay Driver
>
> You need to build drivers as shared objects (.so in linux) rather than as
> executable programs. Have a look at the Makefile.example in the player
> example plugin driver directory for the correct flags.
>
> Toby
>
> On 30/01/2008, mojahid haque <mojahidiut@...> wrote:
> >
> >   Hi Toby,
> > thank you for your instraction.
> > I already write one driver for relay. which manual you can find here
> > http://www.bb-europe.com/product.asp?SKU=232DRIO.
> >
> > the programme is
> >
> >
> >
> > #if
> > HAVE_CONFIG_H
> >
> > #include <config.h>
> >
> > #endif
> >
> > #include
> > <fcntl.h>
> >
> > #include
> > <string.h>
> >
> > #include
> > <termios.h>
> >
> > #include
> > <unistd.h>
> >
> > #include
> > <libplayercore/playercore.h>
> >
> > /* the class for the driver*/
> >
> > #define
> > DEFAULT_DRIODRIVER_PORT "/dev/ttyS0"
> >
> > #define
> > DEFAULT_DRIODRIVER_PORT_RATE 9600
> >
> >
> >
> >
> >
> > class
> > drioDriver : public Driver
> >
> > {
> >
> > public:
> >
> > // Constructor; need that
> >
> > drioDriver (ConfigFile* cf, int section);
> >
> > ~drioDriver ();
> >
> > // Must implement the following methods.
> >
> >  virtual int Setup();
> >
> > virtual int Shutdown();
> >
> > virtual void Main();
> >
> > // This method will be invoked on each incoming message
> >
> > virtual int ProcessMessage(MessageQueue* queue,
> >
> > player_msghdr * msghdr,
> >
> > void * data);
> >
> > virtual int Subscribe (player_devaddr_t id);
> >
> > virtual int Unsubscribe (player_devaddr_t id);
> >
> > private:
> >
> > // dio state data
> >
> > player_devaddr_t dio_id;
> >
> > player_dio_data_t data, prev_data;
> >
> > // Publish state data .
> >
> > void PutData(void);
> >
> > const char* serial_port;
> >
> > int port_rate;
> >
> > // Port file descriptor
> >
> > int fd;
> >
> > // Initial serial port attributes
> >
> > struct termios initial_options;
> >
> >
> >
> > int PortStatus;
> >
> > int value;
> >
> > int Relay1;
> >
> > };
> >
> >
> >
> > Driver*
> >
> > drioDriver_Init (ConfigFile* cf, int section)
> >
> > {
> >
> > // Create and return a new instance of this driver
> >
> > return((Driver*)(new drioDriver (cf, section)));
> >
> > }
> >
> > void
> > drioDriver_Register (DriverTable* table)
> >
> > {
> >
> > table->AddDriver("drioDriver", drioDriver_Init);
> >
> > }
> >
> >
> >
> >
> >
> >
> >
> >
> >
> > drioDriver::drioDriver (ConfigFile* cf, int section)
> >
> > : Driver(cf,section,true,PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
> >
> > {
> >
> > // zero ids, so that we'll know later which interfaces were requested
> >
> > memset(&dio_id, 0, sizeof(dio_id));
> >
> > // Do we create a dio interface?
> >
> > if(cf->ReadDeviceAddr(&dio_id, section, "provides",
> >
> > PLAYER_DIO_CODE, -1, NULL) == 0)
> >
> > {
> >
> > if(AddInterface(dio_id) != 0)
> >
> > {
> >
> > SetError(-1);
> >
> > return;
> >
> > }
> >
> > }
> >
> > serial_port = cf->ReadString(section,"port",DEFAULT_DRIODRIVER_PORT);
> >
> > port_rate = cf->ReadInt(section, "rate", DEFAULT_DRIODRIVER_PORT_RATE);
> >
> > }
> >
> >
> >
> > drioDriver:: ~drioDriver ()
> >
> > {
> >
> > }
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> >
> > int
> > drioDriver::Setup()
> >
> > {
> >
> > // Open serial port
> >
> > this->fd = open (this->serial_port, O_RDWR);
> >
> > if (this->fd < 0)
> >
> > {
> >
> > PLAYER_ERROR2 ("> Connecting to drioDriver on [%s]; [%s]...[failed!]",
> >
> > (char*) this->serial_port, strerror (errno));
> >
> > return (-1);
> >
> > }
> >
> > PLAYER_MSG0 (1, "> Connecting to drioDriver...[done]");
> >
> >
> >
> > StartThread();
> >
> > return (0);
> >
> > }
> >
> >
> >
> > int
> >
> > drioDriver::Shutdown()
> >
> > {
> >
> >
> >
> > // Stop the driver thread
> >
> > StopThread ();
> >
> > // Close the serial port
> >
> > tcsetattr (fd, TCSANOW, &initial_options);
> >
> > close (fd);
> >
> > PLAYER_MSG0 (1, "drioDriver shutting down... [done]");
> >
> > return (0);
> >
> > }
> >
> >
> >
> >
> >
> > void
> > drioDriver::Main()
> >
> > {
> >
> > for(;;)
> >
> > {
> >
> > pthread_testcancel();
> >
> > memset(&data,0, sizeof(data));
> >
> > Lock();
> >
> > Unlock();
> >
> > if (memcmp(&prev_data, &data, sizeof(data))) {
> >
> > PutData();
> >
> > memcpy(&prev_data, &data, sizeof(data));
> >
> > }
> >
> > // Handle pending messages
> >
> > if (InQueue->Empty() == false) {
> >
> > ProcessMessages();
> >
> > }
> >
> > }
> >
> > usleep(100000);
> >
> > }
> >
> >
> >
> > int
> > drioDriver::Subscribe(player_devaddr_t id)
> >
> > {
> >
> > return Driver::Subscribe(id);
> >
> > }
> >
> > int
> > drioDriver::Unsubscribe(player_devaddr_t id)
> >
> > {
> >
> > return Driver::Unsubscribe(id);
> >
> > }
> >
> >
> >
> > void
> > drioDriver::PutData()
> >
> > {
> >
> > PLAYER_MSG0(1, "Publishing dio data");
> >
> > Publish(dio_id, NULL, PLAYER_MSGTYPE_DATA,
> >
> > PLAYER_DIO_DATA_VALUES,
> >
> > (void *) &data, sizeof(data));
> >
> > }
> >
> > /////////////////////////////////////////////////////
> >
> > // Message processing
> >
> > /////////////////////////////////////////////////////
> >
> > int
> > drioDriver::ProcessMessage(MessageQueue *queue, player_msghdr *hdr, void*data)
> >
> > {
> >
> > PLAYER_WARN("unknown message");
> >
> > return -1;
> >
> > }
> >
> >
> >
> >
> >
> > /* Need the extern to avoid C++ name-mangling */
> >
> > extern
> > "C" {
> >
> > int
> > player_driver_init(DriverTable* table)
> >
> > {
> >
> > PLAYER_MSG0(1, "Registering drioDriver driver.");
> >
> > drioDriver_Register(table);
> >
> > return 0;
> >
> > }
> >
> > }
> >
> >
> >  But when i go for compile by using g++. then the problem is like that.
> >
> >
> >
> > hoquea2@...$ cd DRIVERhoquea2@...$
> > g++ -o test `pkg-config --cflags playercore` drioDriver.cc `pkg-config
> > --libs playercore`
> >
> > /usr/lib/gcc/i486-linux-gnu/4..1.2/../../../../lib/crt1.o: In function
> > `_start':
> >
> > (.text+0x18): undefined reference to `main'
> >
> > collect2: ld returned 1 exit status
> >
> > hoquea2@...$>
> >
> >
> >
> > my driver is ok or not if not please send me which portion i need to
> > modify and whice way.
> >
> >
> > best regards
> >
> > ASM Hoque
> >
> > PhD. student
> >
> > DCU
> >
> > Ireland
> >
> >
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>
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