[Playerstage-developers] Player 2.2 (SVN) on Solaris 10 with SunStudio 12

[Paul O. <new...@ki...>]

Hello Devels,

As I announced in some post earlier, I'm opening new thread about my 
struggles to compile Player 2.2 (SVN) on Solaris 10 using Sun compiler 
from SunStudio 12 instead of gcc from csw development environment. So far 
csw (which offer gcc 2.95.3) was proven to be suitable to compile Player. 
Unfortunately, offered version of gcc is far too old so it is not possible 
to compile easily anything more than Player + utils (most noticable is 
Stage which needs huge amount of changes for succcesfull build).

First step after installation of SunStudio 12 (both user and system wide 
installations are suitable) is to install cmake 2.6.x (I used cmake 
2.6.2). It builds fine with suncc (csw itself offered cmake 2.4.8 which 
was also suitable for Player). Next, libtool must be isntalled as I didn't 
find any libltdl other than provided by csw (I used libtool 2.2). Other 
critical libraries (glib2, gtk2, gnomecanvas) are provided by Solaris 10 
(Sun provides its own distribution of GNOME with all required libraries, 
so there is a choice for the user between using GNOME and good old CDE - 
ancient KDE; also csw offered its own GNOME distribution with libraries, I 
was using it while compiling Player with csw; nevertheless, I sticked 
with good old CDE).

So far I didn't touch C++ client-side library, so I don't even know if it 
causes boost-related problems.

*LINKING*
The biggest problem I had was caused by linking issues that came from 
inline functions. Do we really need them? For the purpose of my attempts, 
I've removed all 'inline' directives, but someone more responsible for 
Player will have to make a statement if inlines should be changed to 
regular global functions.

*LINKING*
urglaser and rs4leuze couldn't be linked. The error was:
Undefined                       first referenced
  symbol                             in file
  void urglaser_Register(DriverTable*) libplayerdrivers/libplayerdrivers.so.2.2.0
  void rs4leuze_Register(DriverTable*) libplayerdrivers/libplayerdrivers.so.2.2.0
  ld: fatal: Symbol referencing errors. No output written to player
I don't know what happens, I've turned off both using ccmake.

*CMAKE*
One problem is caused by cmake which does not know that if function from 
math.h is used, -lm linker flag must be added: affected place is 
logsplitter utility which uses fabs() function.

*CMAKE*
Other problem with dependencies that I guess cmake should solve is that 
some functions from math library offered by Sun compiler aren't defined in 
<math.h>, there is one more header file called <ieeefp.h> which should be 
included if any of those functions must be used. Namely, it is finite() 
function, (typically defined in math.h, but not in Sun's compiler), it is 
used in server/drivers/localization/amcl/pf/pf_vector.c file. Other 
mathematical functions used in this file are available in regular <math.h> 
that it properly includes.
I guess, cmake should check if ieeefp.h is available and if so, 
HAVE_IEEEFP (or something like that) should be defined, so pf_vector.c 
could use this in #ifdefs to include one more required header.

*COMPATIBILITY*
In many places __packed__ attribute is used. What for? It causes such a 
warning: 'attribute packed is unsupported and will be skipped..'

Here are some easy to fix issues, for other bigger and more serious errors 
I'll soon release a serie of patches. All problems were caused by 
permissive nature of gcc compiler.

1. Missing headers:
1.1. client_libs/libplayerc/dev_ranger.c: stddef.h, stdlib.h
1.2. server/drivers/mixed/nomad/Nclient.c: string.h (see section 4 below 
for more problems with this file)

2. Unexpected comas:
2.1. server/drivers/mixed/erratic/erratic.h about line 96, last line of 
the typedef enum command
2.2. server/drivers/map/mapcspace.cc about line 100, last line of 
robot_shape_t enum

3. Unexpected semicolons:
3.1. client_libs/libplayerc/dev_speech_recognition line 73 (after 
playerc_speech_recognition_putmsg() function)
3.2. client_libs/libplayerc/dev_vectormap about line 71 (after geosprint() 
function)
    (one more thing: this geosprint() function is declared inline, later 
the pointer to this inline is taken, what ta hell?!)

(I'm sure there was more places with unexpected semicolons, I can't find 
it in my notes... or maybe it is my impression; fortunately, I'm doing 
fresh build from time to time and bugs are shwoing their faces then)

4. Missing 'unsigned':
4.1. utils/playerv/playerv.h about line 659: 'char *img_buffer;' should be 
'unsigned char *img_buffer;'
4.2. rtk2/rtk_canvas.c about line 674, 'char * pixel;' should be 'unsigned 
char * pixel;'
4.3. server/drivers/mixed/nomad/Nclient.c: 'short' should be changed to 
'unsinged short' in variables definitions about lines: 3613, 3630, 3668

5. Missing 'const':
5.1. server/drivers/position/ascension/flockofbirds.cc:
5.1.1. about line 98: constructor parameter 'char * port = 
FOB_DEFAULT_PORT' should be 'const char * port = FOB_DEFAULT_PORT';
5.1.2. the same in line 135 where constructor body is implemented: 'char * 
port' should bd 'const char * port'
5.2. server/drivers/mixed/p2os/robot_params.h: all 'char *' in 
RobotParams_t shoult be 'const char *', strangely, erratic driver also 
have such a file and I see it has those pointers properly defined as 
const. I don't remember I'd ever changed this file, someone must had done 
the same previously, but why only to erratic files, leaving p2os buggy?!

6. Missing 'return':
6.1. server/drivers/planner/wavefront about line 524 should be 'return 0;' 
- the end of MainSetup() method (I guess Toby has fixed that already)
6.2. server/drivers/sonar/aitosonar.cc about line 283 should be 'return 
0;' - the end of MainSetup() method
6.3. rtk2/rtk_menu.c about line 171 should be 'return 0;' - the end of 
rtk_menuitem_enable() function

erratic.cc creates additional threads, is it safe?

Cheers,
Paul