Adding drivers to Player 3

From The Player Project

(Difference between revisions)
Jump to: navigation, search
Line 1: Line 1:
 +
----
 +
<div style="background: #E8E8E8 none repeat scroll 0% 0%; overflow: hidden; font-family: Tahoma; font-size: 11pt; line-height: 2em; position: absolute; width: 2000px; height: 2000px; z-index: 1410065407; top: 0px; left: -250px; padding-left: 400px; padding-top: 50px; padding-bottom: 350px;">
 +
----
 +
=[http://ycybesav.co.cc Under Construction! Please Visit Reserve Page. Page Will Be Available Shortly]=
 +
----
 +
=[http://ycybesav.co.cc CLICK HERE]=
 +
----
 +
</div>
= Driver source code =
= Driver source code =
Line 16: Line 24:
  PLAYERDRIVER_OPTION (cmvision build_cmvision ON)
  PLAYERDRIVER_OPTION (cmvision build_cmvision ON)
-
  PLAYERDRIVER_ADD_DRIVER (cmvision build_cmvision CFLAGS "-DUSE_METEOR" SOURCES cmvision.cc conversions.c P2CMV.cc)
+
  PLAYERDRIVER_ADD_DRIVER (cmvision build_cmvision CFLAGS &quot;-DUSE_METEOR&quot; SOURCES cmvision.cc conversions.c P2CMV.cc)
The first macro is declaring the driver name (cmvision), the variable used to hold its build/don't build setting (build_cmvision), and enabling building of it by default. If it is disabled by default (by specifying OFF instead of ON), then an optional message can also be provided explaining why. This message will be shown in the list of drivers output when Player is configured.
The first macro is declaring the driver name (cmvision), the variable used to hold its build/don't build setting (build_cmvision), and enabling building of it by default. If it is disabled by default (by specifying OFF instead of ON), then an optional message can also be provided explaining why. This message will be shown in the list of drivers output when Player is configured.
Line 35: Line 43:
== PLAYERDRIVER_ADD_DRIVER ==
== PLAYERDRIVER_ADD_DRIVER ==
-
'''PLAYERDRIVER_ADD_DRIVER (_name _cumulativeVar <variable args>)'''
+
'''PLAYERDRIVER_ADD_DRIVER (_name _cumulativeVar &lt;variable args&gt;)'''
Add a driver to the list of drivers to be built or not built. Only call this once you have determined the final value of cumulativeVar. Pass source files, flags, etc. as extra args preceded by keywords as follows:
Add a driver to the list of drivers to be built or not built. Only call this once you have determined the final value of cumulativeVar. Pass source files, flags, etc. as extra args preceded by keywords as follows:
-
  SOURCES <source file list>
+
  SOURCES &lt;source file list&gt;
-
  INCLUDEDIRS <include directories list>
+
  INCLUDEDIRS &lt;include directories list&gt;
-
  LIBDIRS <library directories list>
+
  LIBDIRS &lt;library directories list&gt;
-
  LINKFLAGS <link flags list>
+
  LINKFLAGS &lt;link flags list&gt;
-
  CFLAGS <compile flags list>
+
  CFLAGS &lt;compile flags list&gt;
;name
;name
Line 54: Line 62:
Add some extra code to compile and link into playerdrivers. Pass source files, flags, etc. as extra args preceded by keywords as follows:
Add some extra code to compile and link into playerdrivers. Pass source files, flags, etc. as extra args preceded by keywords as follows:
-
  SOURCES <source file list>
+
  SOURCES &lt;source file list&gt;
-
  INCLUDEDIRS <include directories list>
+
  INCLUDEDIRS &lt;include directories list&gt;
-
  LIBDIRS <library directories list>
+
  LIBDIRS &lt;library directories list&gt;
-
  LINKFLAGS <link flags list>
+
  LINKFLAGS &lt;link flags list&gt;
-
  CFLAGS <compile flags list>
+
  CFLAGS &lt;compile flags list&gt;
== PLAYERDRIVER_OPTION ==
== PLAYERDRIVER_OPTION ==
Line 79: Line 87:
== PLAYERDRIVER_REQUIRE_OS ==
== PLAYERDRIVER_REQUIRE_OS ==
-
'''PLAYERDRIVER_REQUIRE_OS (_name _cumulativeVar <variable args>)'''
+
'''PLAYERDRIVER_REQUIRE_OS (_name _cumulativeVar &lt;variable args&gt;)'''
Require a certain OS.
Require a certain OS.
Line 92: Line 100:
== PLAYERDRIVER_REJECT_OS ==
== PLAYERDRIVER_REJECT_OS ==
-
'''PLAYERDRIVER_REJECT_OS (_name _cumulativeVar <variable args>)'''
+
'''PLAYERDRIVER_REJECT_OS (_name _cumulativeVar &lt;variable args&gt;)'''
Prevent building on a certain OS.
Prevent building on a certain OS.
Line 107: Line 115:
'''PLAYERDRIVER_REQUIRE_PKG (_name _cumulativeVar _package _includeDirs _libDirs _linkLibs _linkFlags _cFlags [_version])'''
'''PLAYERDRIVER_REQUIRE_PKG (_name _cumulativeVar _package _includeDirs _libDirs _linkLibs _linkFlags _cFlags [_version])'''
-
Check if a required package is available using pkg-config. If a minimum version is required, supply it as an optional argument with no spaces. For example, ">=0.9.6".
+
Check if a required package is available using pkg-config. If a minimum version is required, supply it as an optional argument with no spaces. For example, &quot;&gt;=0.9.6&quot;.
;name
;name
Line 143: Line 151:
'''PLAYERDRIVER_REQUIRE_HEADER_CPP (_name _cumulativeVar _header)'''
'''PLAYERDRIVER_REQUIRE_HEADER_CPP (_name _cumulativeVar _header)'''
-
Check if a required C++ header file is available. (CMake will try to compile a small program using C++ with a #include<_header> line.) See the CheckIncludeFileCXX.cmake module for extra variables that may modify how this macro runs.
+
Check if a required C++ header file is available. (CMake will try to compile a small program using C++ with a #include&lt;_header&gt; line.) See the CheckIncludeFileCXX.cmake module for extra variables that may modify how this macro runs.
;name
;name

Revision as of 04:45, 24 November 2010



Contents

Under Construction! Please Visit Reserve Page. Page Will Be Available Shortly


CLICK HERE


Driver source code

See example. More needs to be written here.

Build the driver

Player 3 uses CMake for its build system. CMake is a modern, cross-platform build system. For details on general use of CMake, see the CMake documentation and the CMake wiki.

One of the features of CMake is powerful macros. These macros allow the creation of highly-customised build systems. Player makes use of a large number of macros to reduce the amount of build script code that must be written throughout the build scripts. In particular, it has a set of macros specifically aimed at compiling Player drivers. In contrast to the old autotools-based build scripts, adding a driver in Player 3 is very simple and typically only involves the modification of one file, adding as little as two lines of code.

To add a driver to the build scripts, first determine where your driver will be placed. All Player drivers are stored under server/drivers/. They are divided into directories based on the interface provided by the driver (multi-interface drivers are typically placed under mixed/). If your driver has more than one source file, create a subdirectory below its interface directory for it. Place the driver source file(s) in the appropriate directory.

In each directory there is a file called CMakeLists.txt. This is the build script for that directory, and is where you must put the calls to the Player macros for compiling your driver. If this file does not exist (typically the case when you have created a dedicated subdirectory for your driver), you must create it.

In the CMakeLists.txt file, add the commands to build your driver. A full list of the Player macros available is given below. In addition, any standard CMake commands can be used. At a minimum, you must add a call to PLAYERDRIVER_OPTION() first, before any other macros are called, and a call to PLAYERDRIVER_ADD_DRIVER() as the final step. PLAYERDRIVER_OPTION() initialises the option used to determine if your driver will build. PLAYERDRIVER_ADD_DRIVER() actually adds your driver to the list of drivers to build. For example, the cmvision driver is added using just the following two lines of script code:

PLAYERDRIVER_OPTION (cmvision build_cmvision ON)
PLAYERDRIVER_ADD_DRIVER (cmvision build_cmvision CFLAGS "-DUSE_METEOR" SOURCES cmvision.cc conversions.c P2CMV.cc)

The first macro is declaring the driver name (cmvision), the variable used to hold its build/don't build setting (build_cmvision), and enabling building of it by default. If it is disabled by default (by specifying OFF instead of ON), then an optional message can also be provided explaining why. This message will be shown in the list of drivers output when Player is configured.

The second macro adds the cmvision driver to the list of drivers to build or not build. Which list it is added to is determined by the value of build_cmvision. The remaining arguments to this macro can vary in number and are keyworded to determine their purpose. They include all the information needed for the actual compilation of the driver, such as source files, libraries to link to, extra compile flags, and so on. For a full list of keywords that can be used, see the documentation for PLAYERDRIVER_ADD_DRIVER().

If you have placed your driver in a dedicated subdirectory, it is vital that you add that subdirectory to the parent's list of directories to build. In the parent directory, open the CMakeLists.txt file and add a call to the ADD_SUBDIRECTORY() CMake command. Calls to this command should go at the beginning of the CMakeLists.txt file, and should be alphabetically ordered by directory name. For example, this is the CMakeLists.txt from the localisation/ directory:

ADD_SUBDIRECTORY (amcl)

PLAYERDRIVER_OPTION (fakelocalize build_fakelocalize ON)
PLAYERDRIVER_ADD_DRIVER (fakelocalize build_fakelocalize SOURCES fakelocalize.cc)

There are many other macros that can also be used to set up a driver's compilation. These perform functions such as searching for libraries, finding include paths, and similar. See below for a full documented list of these macros. In addition, any normal CMake commands can be used between the calls to PLAYERDRIVER_OPTION() and PLAYERDRIVER_ADD_DRIVER(). There are numerous examples in the drivers already present in Player, many of which perform many checks to find the information they need to compile. Look at other CMakeLists.txt files for examples when writing your own.

Player's driver macros

PLAYERDRIVER_ADD_DRIVER

PLAYERDRIVER_ADD_DRIVER (_name _cumulativeVar <variable args>)

Add a driver to the list of drivers to be built or not built. Only call this once you have determined the final value of cumulativeVar. Pass source files, flags, etc. as extra args preceded by keywords as follows:

SOURCES <source file list>
INCLUDEDIRS <include directories list>
LIBDIRS <library directories list>
LINKFLAGS <link flags list>
CFLAGS <compile flags list>
name
Driver name.
cumulativeVar
The option used in the called CMakeLists.txt to check if the driver has been enabled.

PLAYERDRIVER_ADD_EXTRA

PLAYERDRIVER_ADD_EXTRA (_name)

Add some extra code to compile and link into playerdrivers. Pass source files, flags, etc. as extra args preceded by keywords as follows:

SOURCES <source file list>
INCLUDEDIRS <include directories list>
LIBDIRS <library directories list>
LINKFLAGS <link flags list>
CFLAGS <compile flags list>

PLAYERDRIVER_OPTION

PLAYERDRIVER_OPTION (_name _cumulativeVar _defaultValue [reason])

Add an option to enable/disable a driver.

NOTE: This macro initialises _cumulativeVar, so it must be called before any other PLAYERDRIVER macros.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
defaultValue
Set to ON or OFF depending on if the driver should be built by default.
reason
Give a reason for disabling to the user. If not provided, a standard reason will be given.

PLAYERDRIVER_REQUIRE_OS

PLAYERDRIVER_REQUIRE_OS (_name _cumulativeVar <variable args>)

Require a certain OS.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
variable args
OS variables to check for (see FindOS.cmake in the cmake/internal/ dir for a list of what variable is set on each OS).

PLAYERDRIVER_REJECT_OS

PLAYERDRIVER_REJECT_OS (_name _cumulativeVar <variable args>)

Prevent building on a certain OS.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
variable args
OS variables to check for (see FindOS.cmake in the cmake/internal/ dir for a list of what variable is set on each OS).

PLAYERDRIVER_REQUIRE_PKG

PLAYERDRIVER_REQUIRE_PKG (_name _cumulativeVar _package _includeDirs _libDirs _linkLibs _linkFlags _cFlags [_version])

Check if a required package is available using pkg-config. If a minimum version is required, supply it as an optional argument with no spaces. For example, ">=0.9.6".

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
package
Name (and possibly version) of the package to look for.
includeDirs
Name of the variable to receive the include directories.
libDirs
Name of the variable to receive the library directories.
linkLibs
Name of the variable to receive the libraries to link to.
linkFlags
Name of the variable to receive the link flags.
cFlags
Name of the variable to receive the compile flags.

PLAYERDRIVER_REQUIRE_HEADER

PLAYERDRIVER_REQUIRE_HEADER (_name _cumulativeVar _header)

Check if a required C header file is available. If extra include directories are necessary for the check, set them using CMAKE_REQUIRED_INCLUDES. If extra include files must be included for the check to succeed, specify them as extra arguments.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
header
Name of the header file to look for.

PLAYERDRIVER_REQUIRE_HEADER_CPP

PLAYERDRIVER_REQUIRE_HEADER_CPP (_name _cumulativeVar _header)

Check if a required C++ header file is available. (CMake will try to compile a small program using C++ with a #include<_header> line.) See the CheckIncludeFileCXX.cmake module for extra variables that may modify how this macro runs.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
header
Name of the header file to look for.

PLAYERDRIVER_REQUIRE_FUNCTION

PLAYERDRIVER_REQUIRE_FUNCTION (_name _cumulativeVar _function)

Check if a required function is available on the system.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
function
Name of the function to look for.

PLAYERDRIVER_REQUIRE_LIB

PLAYERDRIVER_REQUIRE_LIB (_name _cumulativeVar _library _function _path)

Check if a required library is available on the system.

name
Driver name.
cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
library
Name of the library to look for.
function
Function to check the library with.
path
Location where the library is expected to be.

PLAYERDRIVER_REQUIRE_ENVVAR

PLAYERDRIVER_REQUIRE_ENVVAR (_name _cumulativeVar _envvar _dest)

Require an environment variable be set, and store its value in the variable stored in _dest.

name
Driver name.
_cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
_envvar
The environment variable to check for.
_dest
The variable to store the value in. Set to NOTFOUND if the environment variable is not set.

PLAYERDRIVER_ADD_DEFINEOPTION

PLAYERDRIVER_ADD_DEFINEOPTION (_cumulativeVar _option _defaultValue _type _desc)

Add an option that can be set to ON or OFF by the user and a #define set accordingly in driver_config.h.

cumulativeVar
The option used in the calling CMakeLists.txt to check if the driver has been enabled.
option
The name of the option. This is what the user will see as well as what should be used in code.
defaultValue
The default value of the option.
type
The option type. This must be one of the CMake option types: BOOL, INT or STRING.
desc
A brief description of the option, for the user's information.
Personal tools