[hrpiob] Upgrade for hrpsys 315.4.0 onward. #481
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Relevant PR fkanehiro/hrpsys-base#598 |
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better to have backward compatibility |
確認ですが，次のように理解しています．
上記の理解で正しいとすると，バージョン互換性を保つためのコードを加えるべきは，正論としては下流の hrpsys と思っています． |
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逆で、このコードがhrpsysにソースコードとしても作られたライブラリとしても依存しています．ソースコードとしては
```
#include <hrpsys/io/iob.h>
```
があるのと、ライブラリとしては、ｈｒｐｓｙｓが315.4.0
以前の環境だとread_batteryとかを定義した．.soでないとロードできないというこおとで、hrpsysのバージョンにおうじて、ここのソースの書き方が変わるので、このコードがhrpsysに依存しています．
fkanehiro/hrpsys-base#597
と表れ方は違いますが、原因はおなじです．
```
k-okada@p40-yoga:/tmp/rtmros_hironx/hironx_ros_bridge/robot/hrpiob$ cat
hoge.txt
diff --git a/hironx_ros_bridge/robot/hrpiob/CMakeLists.txt
b/hironx_ros_bridge/robot/hrpiob/CMakeLists.txt
index 7077046..3331d20 100644
--- a/hironx_ros_bridge/robot/hrpiob/CMakeLists.txt
+++ b/hironx_ros_bridge/robot/hrpiob/CMakeLists.txt
@@ -38,15 +38,29 @@ include_directories(/opt/jsk/include /usr/pkg/include)
link_directories(/opt/jsk/lib /usr/pkg/lib)
#endif()
-# hrpsys-base
-#include(FindPkgConfig)
+# Can not use this????
+# find_package(PkgConfig)
+# pkg_check_modules(HRPSYSBASE REQUIRED hrpsys-base)
+# include_directories(${HRPSYSBASE_INCLUDE_DIRS})
+# hrpsys-base
+include(FindPkgConfig)
execute_process(
COMMAND pkg-config --cflags-only-I hrpsys-base
OUTPUT_VARIABLE HRPSYSBASE_CXX_FLAGS
RESULT_VARIABLE RESULT)
+execute_process(
+ COMMAND pkg-config --modversion hrpsys-base
+ OUTPUT_VARIABLE HRPSYSBASE_VERSION
+ RESULT_VARIABLE RESULT)
message("HRPSYSBASE_CXX_FLAGS: ${HRPSYSBASE_CXX_FLAGS}")
+message("HRPSYSBASE_VERSION: ${HRPSYSBASE_VERSION}")
+if(NOT "${HRPSYSBASE_VERSION}" VERSION_LESS "315.4.0")
+ add_definitions(-DROBOT_IOB_VERSION=2)
+ message(STATUS "USE VERSION 2 OF IOB")
+ message(STATUS "ADD DEFINITION -DROBOT_IOB_VERSION=2")
+endif()
add_definitions(${HRPSYSBASE_CXX_FLAGS})
diff --git a/hironx_ros_bridge/robot/hrpiob/iob.cpp
b/hironx_ros_bridge/robot/hrpiob/iob.cpp
index 529c51c..931f596 100644
--- a/hironx_ros_bridge/robot/hrpiob/iob.cpp
+++ b/hironx_ros_bridge/robot/hrpiob/iob.cpp
@@ -734,6 +734,7 @@ int read_digital_output(char *doutput)
return FALSE;
}
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
/**
* @brief Needed for hrpsys 315.4.0 onward (added at
fkanehiro/hrpsys-base#598).
* TODO Implement if we want to utilize this.
@@ -763,3 +764,4 @@ int read_battery(char *battery)
std::fprintf(stdout, "read_battery not implemented. See
#481\n");
return 0;
}
+#endif
diff --git a/hironx_ros_bridge/robot/hrpiob/nextage-open.hpp
b/hironx_ros_bridge/robot/hrpiob/nextage-open.hpp
index c91e2e2..dce6744 100644
--- a/hironx_ros_bridge/robot/hrpiob/nextage-open.hpp
+++ b/hironx_ros_bridge/robot/hrpiob/nextage-open.hpp
@@ -68,9 +68,11 @@ namespace NEXTAGE_OPEN
virtual int length_digital_output(void) = 0;
virtual int read_digital_output(char *doutput) = 0;
+#if defined(ROBOT_IOB_VERSION) && ROBOT_IOB_VERSION >= 2
virtual int number_of_thermometers(void) = 0;
virtual int number_of_batteries(void) = 0;
virtual int read_battery(char *battery) = 0;
+#endif
};
}
```
ちなみに、iob.hは全体がextern "C"でかこまれていて、-DROBOT_IOB_VERSION>=2
をしなにと、number_of_batteiresとかの定義がされないから、できた．.soでC++スタイルの定義になっていて、
hrpsys側からloadした時にエラーになりますね．なので、nextage-open.hpp でこれらの関数を
定義しているのが間違いで、iob.hにちゃんと定義があるから、-D.. をつかってこれを利用できるようにする
というのが正解ですね．
参考：
http://stackoverflow.com/questions/1041866/in-c-source-what-is-the-effect-of-extern-c
http://www.tldp.org/HOWTO/C++-dlopen/thesolution.html
…--
◉ Kei Okada
2016年12月16日 11:43 Isaac I.Y. Saito <[email protected]>:
better to have backward compatibility
確認ですが，次のように理解しています．
- "backward compatibility" は hrpsys の古いバージョンのこと．
- hrpsys が hrpiob に依存する (つまり hrpiob が上流)．
上記の理解で正しいとすると，バージョン互換性を保つためのコードを加えるべきは，正論としては下流の hrpsys と思っています．
よくわかっていませんが，両者は密接な関係がある等の理由で，正論通りにはいかず，hrpiob 側に互換コードを入れるのがこの場合正しい，
という状況でしょうか？
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Thank you very much for the deep insight and a patch. Commits are now updated, and I'll test the .so with this change on the real robot.
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Trying the binary |
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Not sure if this is related, but in I assume the |
Looking at older ModelLoader log files, the less output started exactly when hrpsys was updated to 315.9.0. Now I also switched to hrpsys 315.7.0 but the symptom in both ModelLoader.log and rtcd.log remain the same.. |
Looks like this is also something that started with newer hrpsys (as you see below no rtcd-* from last month where the controller was still 315.1.8 has it). |
I found an old ticket start-jsk/rtmros_common#294 (comment) where I see the same |
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Switched back to |
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I've added a couple of commits, and now I'm able to build with I noticed, however, that cmake failed to find |
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Since hrpsys 315.4.0 with updated
RobotHardware, rtcd on QNX fails on NEXTAGE Open as follows.hrpiobwith this PR hopefully fixes the issue.Please review @534o @emijah