Revision b74d5ee3
| README.txt | ||
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CONTENTS: |
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1 Required software |
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3 Building and flashing
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2 Folder structure
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================================================================================ |
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|
| ... | ... | |
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2 - BUILDING AND FLASHING |
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------------------------- |
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For building and flashing a specific setup, you must first define a |
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configuration in the ./configurations folder (e.g. ./configurations/MyConf). |
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Such a configuration must consist of a Makefile and a C header file with the |
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name "osconf.h". Please copy the provided template files from the |
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./configurations/template directory and modify them as required in order to |
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minimize the risk of errors and for the sake of consistency. As a result you can |
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build and flash all software using the Makefile. |
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2 - FOLDER STRUCTURE |
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-------------------- |
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At its root, the AMiRo-Apps projects has six folders to distiquish between the |
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most fundamental parts: |
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. |
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├── apps |
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│ This folder includes individual applications, which can used by |
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│ configigurations. Apps will usually be implemented as nodes for the |
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│ middleware and provide acording interfaces via some message type(s). |
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├── configurations |
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│ Each configuration combines multiple apps and distributes them among any |
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│ supported modules. Furthermore, configurations may modify parameters for |
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│ each module individually. Finally, each configuration should come with a |
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│ makefile, so a user can just use this to build and flash the whole setup. |
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│ For better understanding, have a look at this example: |
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│ - module A: using apps 1, 2 and 3 with parameters X and Y. |
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│ - module B: using apps 1 and 4 with parameter X. |
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│ - module C: using apps 1, 5, 6 and 7 with parameters X and Z. |
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│ - Makefile: set and build everything. |
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│ Note that each configuration needs to explicitely support a module and |
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│ that there can never be an implicit default configuration. |
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├── messagetypes |
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│ Apps shoud take advantage of the middleware and thus implement nodes, |
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│ which communicate via messages. Such messages may have payloads of |
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│ arbitrary types, which can be defined in this folder. |
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├── middleware |
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│ This folder contains the µRtWare submodule and interface files. |
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├── os |
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│ This folder contains the AMiRo-OS submodule and interface files. |
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└── tools |
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Usable tools can be found in this dirctory. |
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================================================================================ |
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|
| apps/HelloWorld/HelloWorld.mk | ||
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################################################################################ |
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# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2018..2018 Thomas Schöpping et al. # |
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# # |
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# This program is free software: you can redistribute it and/or modify # |
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# it under the terms of the GNU General Public License as published by # |
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# the Free Software Foundation, either version 3 of the License, or # |
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# (at your option) any later version. # |
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# # |
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# This program is distributed in the hope that it will be useful, # |
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# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
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# GNU General Public License for more details. # |
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# # |
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# You should have received a copy of the GNU General Public License # |
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# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
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# # |
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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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# absolue path to this directory |
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HelloWorldAPP_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) |
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# include path |
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HelloWorldAPP_INC = $(HelloWorldAPP_DIR) |
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# C source files |
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HelloWorldAPP_CSRC = |
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# C++ source files |
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HelloWorldAPP_CPPSRC = |
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| configurations/HelloWorld/Makefile | ||
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################################################################################ |
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# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2018..2018 Thomas Schöpping et al. # |
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# # |
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# This program is free software: you can redistribute it and/or modify # |
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# it under the terms of the GNU General Public License as published by # |
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# the Free Software Foundation, either version 3 of the License, or # |
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# (at your option) any later version. # |
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# # |
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# This program is distributed in the hope that it will be useful, # |
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# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
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# GNU General Public License for more details. # |
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# # |
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# You should have received a copy of the GNU General Public License # |
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# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
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# # |
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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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# absolue path to this directory |
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HelloWorldCONF_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) |
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ifneq ($(BUILDDIR),) |
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export BUILDDIR |
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endif |
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# list of available modules |
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HelloWorldCONF_MODULES = $(patsubst $(HelloWorldCONF_DIR)/modules/%/,%,$(sort $(dir $(wildcard $(HelloWorldCONF_DIR)/modules/*/*)))) |
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CLEANTRGS = $(HelloWorldCONF_MODULES:%=clean_%) |
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FLASHTRGS = $(HelloWorldCONF_MODULES:%=flash_%) |
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.PHONY: all $(MODULES) $(FLASHTRGS) clean $(CLEANTRGS) |
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all: $(HelloWorldCONF_MODULES) |
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$(HelloWorldCONF_MODULES): |
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$(MAKE) -C $(HelloWorldCONF_DIR)/modules/$@ |
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$(FLASHTRGS): |
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$(MAKE) -C $(HelloWorldCONF_DIR)/modules/$(@:flash_%=%) flash |
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clean: $(CLEANTRGS) |
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$(CLEANTRGS): |
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$(MAKE) -C $(HelloWorldCONF_DIR)/modules/$(@:clean_%=%) clean |
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| configurations/HelloWorld/modules/DiWheelDrive_1-1/Makefile | ||
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################################################################################ |
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# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
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# (AMiRo) platform. # |
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# Copyright (C) 2018..2018 Thomas Schöpping et al. # |
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# # |
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# This program is free software: you can redistribute it and/or modify # |
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# it under the terms of the GNU General Public License as published by # |
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# the Free Software Foundation, either version 3 of the License, or # |
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# (at your option) any later version. # |
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# # |
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# This program is distributed in the hope that it will be useful, # |
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# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
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# GNU General Public License for more details. # |
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# # |
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# You should have received a copy of the GNU General Public License # |
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# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
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# # |
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# This research/work was supported by the Cluster of Excellence Cognitive # |
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# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
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# funded by the German Research Foundation (DFG). # |
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################################################################################ |
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# absolue path to this directory |
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APPCONFIG_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST)))) |
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# AMiRo-Apps root directory |
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AMIROAPPS_DIR = $(realpath $(APPCONFIG_DIR)/../../../..) |
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# path to the middleware |
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MIDDLEWARE_DIR = $(AMIROAPPS_DIR)/middleware |
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# path to the operating system |
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OS_DIR = $(AMIROAPPS_DIR)/os |
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# include environments |
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include $(MIDDLEWARE_DIR)/middleware.mk |
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include $(OS_DIR)/os.mk |
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# include directories for configurations |
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APPSINC = $(APPCONFIG_DIR)/../ \ |
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$(APPCONFIG_DIR) |
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# call DiWHeelDrive Makefile module from OS |
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export |
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all: |
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$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/DiWheelDrive_1-1/ |
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clean: |
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$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/DiWheelDrive_1-1/ clean |
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flash: |
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$(MAKE) -C $(OS_DIR)/AMiRo-OS/modules/DiWheelDrive_1-1/ flash |
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| configurations/HelloWorld/modules/DiWheelDrive_1-1/mainincludes.hpp | ||
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/* |
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| 2 |
AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
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Copyright (C) 2018..2018 Thomas Schöpping et al. |
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| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
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| 7 |
the Free Software Foundation, either version 3 of the License, or |
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| 8 |
(at your option) any later version. |
|
| 9 |
|
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| 10 |
This program is distributed in the hope that it will be useful, |
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| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 13 |
GNU General Public License for more details. |
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| 14 |
|
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| 15 |
You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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|
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#ifndef _MAININCLUDES_HPP_ |
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#define _HAININCLUDES_HPP_ |
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#endif /* _MAININCLUDES_HPP_ */ |
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| configurations/HelloWorld/modules/DiWheelDrive_1-1/osconf.h | ||
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/* |
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AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
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Copyright (C) 2018..2018 Thomas Schöpping et al. |
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|
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This program is free software: you can redistribute it and/or modify |
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| 6 |
it under the terms of the GNU General Public License as published by |
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| 7 |
the Free Software Foundation, either version 3 of the License, or |
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| 8 |
(at your option) any later version. |
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| 9 |
|
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| 10 |
This program is distributed in the hope that it will be useful, |
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| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
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| 14 |
|
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| 15 |
You should have received a copy of the GNU General Public License |
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| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#ifndef _OSCONF_H_ |
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#define _OSCONF_H_ |
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#include <HelloWorld_osconf.h> |
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#endif /* _OSCONF_H_ */ |
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| configurations/HelloWorld/modules/DiWheelDrive_1-1/urtwareconf.h | ||
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/* |
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| 2 |
AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
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| 3 |
Copyright (C) 2018..2018 Thomas Schöpping et al. |
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| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
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| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
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| 14 |
|
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| 15 |
You should have received a copy of the GNU General Public License |
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| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 17 |
*/ |
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#ifndef _URTWARECONF_H_ |
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#define _URTWARECONF_H_ |
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#include <HelloWorld_urtwareconf.h> |
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#endif /* _URTWARECONF_H_ */ |
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| configurations/HelloWorld/modules/HelloWorld_osconf.h | ||
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/* |
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| 2 |
AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2018..2018 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
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| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 17 |
*/ |
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#ifndef _HELLOWORLD_OSCONF_H_ |
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#define _HELLOWORLD_OSCONF_H_ |
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#endif /* _HELLOWORLD_OSCONF_H_ */ |
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| configurations/HelloWorld/modules/HelloWorld_urtwareconf.h | ||
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| 1 |
/* |
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| 2 |
AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2018..2018 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 17 |
*/ |
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|
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#ifndef _HELLOWORLD_URTWARECONF_H_ |
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#define _HELLOWORLD_URTWARECONF_H_ |
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#endif /* _HELLOWORLD_URTWARECONF_H_ */ |
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| messagetypes/todo.txt | ||
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| 1 |
TODO |
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| middleware/middleware.mk | ||
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| 24 | 24 |
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| 25 | 25 |
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| 26 | 26 |
# absolute path to this directory |
| 27 |
MIDDLEWARE_DIR := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
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MIDDLEWARE_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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include $(MIDDLEWARE_DIR)uRtWare/Makefile |
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include $(MIDDLEWARE_DIR)/uRtWare/Makefile
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# include paths |
| 32 |
MIDDLEWAREINC = $(URTWARE_INC) |
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| 32 |
MIDDLEWAREINC = $(URTWARE_INC) \ |
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$(MIDDLEWARE_DIR) |
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| 33 | 34 |
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# C source files |
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MIDDLEWARECSRC = $(URTWARE_CSRC) |
| middleware/uRtWare | ||
|---|---|---|
| 1 |
Subproject commit 5cf365321c98e5f66cb49f4e38bd5de1d6d3ba3b |
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| 1 |
Subproject commit 35c9457fb41618bf9aa02bf2eda7ea355bea78bf |
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| middleware/urtware_osal.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2018..2018 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
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| 18 |
|
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| 19 |
#ifndef _URTWARE_OSAL_H_ |
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#define _URTWARE_OSAL_H_ |
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#endif /* _URTWARE_OSAL_H_ */ |
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| os/AMiRo-OS | ||
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| 1 |
Subproject commit e34c46f0d4b743db0d93f806a1c8395a16a71414 |
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| 1 |
Subproject commit 47680f674f68f7631607c72b2b6c004f2cb3a532 |
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| os/os.mk | ||
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| 1 | 1 |
################################################################################ |
| 2 | 2 |
# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
| 3 | 3 |
# (AMiRo) platform. # |
| 4 |
# Copyright (C) 2016..2018 Thomas Schöpping et al. #
|
|
| 4 |
# Copyright (C) 2018..2018 Thomas Schöpping et al. #
|
|
| 5 | 5 |
# # |
| 6 | 6 |
# This program is free software: you can redistribute it and/or modify # |
| 7 | 7 |
# it under the terms of the GNU General Public License as published by # |
| ... | ... | |
| 24 | 24 |
|
| 25 | 25 |
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| 26 | 26 |
# absolute path to this directory |
| 27 |
OS_DIR := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
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| 27 |
OS_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
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| 28 | 28 |
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| 29 | 29 |
# define to signal that this is an application build |
| 30 | 30 |
# (no standalone os-only build) |
| 31 | 31 |
UDEFS += -DAMIRO_APPS=true |
| 32 | 32 |
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| 33 |
# setup all variables for the LightRing |
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| 34 |
include $(LIGHTRING_APPS) |
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INCDIR += $(CONFIG_DIR) |
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| 36 |
APPSINC_LIGHTRING := $(INCDIR) |
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| 37 |
APPSCSRC_LIGHTRING := $(CSRC) |
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| 38 |
APPSCPPSRC_LIGHTRING := $(CPPSRC) |
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| 39 |
INCDIR := |
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| 40 |
CSRC := |
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| 41 |
CPPSRC := |
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| 42 |
|
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| 43 |
# setup all variables for the PowerManagement |
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| 44 |
include $(POWERMANAGEMENT_APPS) |
|
| 45 |
INCDIR += $(CONFIG_DIR) |
|
| 46 |
APPSINC_POWERMANAGEMENT := $(INCDIR) |
|
| 47 |
APPSCSRC_POWERMANAGEMENT := $(CSRC) |
|
| 48 |
APPSCPPSRC_POWERMANAGEMENT := $(CPPSRC) |
|
| 49 |
INCDIR := |
|
| 50 |
CSRC := |
|
| 51 |
CPPSRC := |
|
| 52 |
|
|
| 53 |
# setup all variables for the DiWheelDrive |
|
| 54 |
include $(DIWHEELDRIVE_APPS) |
|
| 55 |
INCDIR += $(CONFIG_DIR) |
|
| 56 |
APPSINC_DIWHEELDRIVE := $(INCDIR) |
|
| 57 |
APPSCSRC_DIWHEELDRIVE := $(CSRC) |
|
| 58 |
APPSCPPSRC_DIWHEELDRIVE := $(CPPSRC) |
|
| 59 |
INCDIR := |
|
| 60 |
CSRC := |
|
| 61 |
CPPSRC := |
|
| 62 |
|
|
| 63 | 33 |
# make all variables that have been set so far available to all other makefiles |
| 64 | 34 |
export |
| 65 | 35 |
|
| 66 |
include $(OS_DIR)AMiRo-OS/Makefile |
|
| 36 |
OS_MODULES_DIR := $(realpath $(OS_DIR)/AMiRo-OS/modules) |
|
| 37 |
|
|
| os/ossetup.sh | ||
|---|---|---|
| 1 | 1 |
################################################################################ |
| 2 | 2 |
# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
| 3 | 3 |
# (AMiRo) platform. # |
| 4 |
# Copyright (C) 2016..2018 Thomas Schöpping et al. #
|
|
| 4 |
# Copyright (C) 2018..2018 Thomas Schöpping et al. #
|
|
| 5 | 5 |
# # |
| 6 | 6 |
# This program is free software: you can redistribute it and/or modify # |
| 7 | 7 |
# it under the terms of the GNU General Public License as published by # |
| ... | ... | |
| 281 | 281 |
printf "# #\n" |
| 282 | 282 |
printf "######################################################################\n" |
| 283 | 283 |
printf "# #\n" |
| 284 |
printf "# Copyright (c) 2016..2018 Thomas Schöpping #\n"
|
|
| 284 |
printf "# Copyright (c) 2018..2018 Thomas Schöpping #\n"
|
|
| 285 | 285 |
printf "# #\n" |
| 286 | 286 |
printf "# This is free software; see the source for copying conditions. #\n" |
| 287 | 287 |
printf "# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n" |
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