Re: Compiling Plugin Driver

Toby Collett-3 wrote:

sounds like a standard missing function error. Have you defined a function
and then not implemented it, or possibly differing function signatures. Try
running ldd on your library and see what methods its missing. Also you could
try adding a main method to your driver temporarily and see if you can get
it to link, or link it with an object with just a main method in it.

Toby

On 24/10/2007, AASS <bananen_6@hotmail.com> wrote:
>
>
> Thanks for your help. I have now been able to compile it and "insert it"
> into
> player as a plugin driver using the example Makefile as suggested.
>
> My makefile looks like this:
>
> // ------------------------------------- Beginning of Makefile
> ----------------------------------------//
> CXX = g++
> CXXLD = g++
> LIBTOOL = libtool
> PLAYER_CFLAGS = `pkg-config --cflags playercore`
> INSTALL_DIR = /home/jakob/PSG/PSG_Source/player/plugins/vmc
>
> all: libvmc.la
>
> libvmc.la: vmc.lo vmc_serial.lo
>         $(LIBTOOL) --mode=link $(CXXLD) -rpath $(INSTALL_DIR) -module
> -export-dynamic -version-info 0:0:0 $< -o $@
>
> %.lo: %.cc
>         $(LIBTOOL) --mode=compile $(CXX) -c $(PLAYER_CFLAGS) $<
>
> clean:
>         rm -rf *.o *.lo *.la .libs
> // ------------------------------------- End of Makefile
> ----------------------------------------//
>
> I am now getting the following output when running player with a file
> called
> vmc.cfg:
> // ------------------------------------- Beginning of output
> ----------------------------------------//
> ...
> trying to load /home/jakob/PSG/PSG_Source/player/plugins/vmc/./libvmc...
> success
> invoking player_driver_init()...
> VMC driver initializing
> VMC driver done
> success
> Maximum velocity is: 0.500 m/s
> listening on 6665
> Listening on ports: 6665
> // ------------------------------------- End of output
> -----------------------------------------------//
>
> The .cfg file looks like this:
> // ------------------------------------- Beginning of cfg
> --------------------------------------------//
> driver
> (
>     name "vmc"
>     plugin "libvmc"
>     provides ["position3d:0"]
>     # port "/dev/ttyS1"
> )
> // ------------------------------------- End of cfg
> ---------------------------------------------------//
>
> I then run a test program which tries to connect to the position3d
> interface
> provided by the driver.
> The file looks like this:
>
> // ------------------------------------- Beginning of file
> -------------------------------------------//
> #include "args.h"
>
> using namespace PlayerCc;
> using namespace std;
>
> // Main function controlling the behaviour of the master robot
> int main(int argc, char **argv)
> {
>     // We throw exceptions on creation if we fail
>     try
>     {
>         PlayerClient robot(gHostname, 6665);
>         std::cout << "Robot: " << robot << std::endl;
>         Position3dProxy pp3(&robot, 0);
>         std::cout << "Pos: " << pp3 << std::endl;
>
>         // Infinite loop
>         while(1)
>         {
>             robot.Read();
>         }
>     }
>     catch (PlayerCc::PlayerError e)
>     {
>         std::cerr << e << std::endl;
>         return -1;
>     }
> }
> // ------------------------------------- End of File
> --------------------------------------------------//
>
> However, when I run the test program I get the following output in the
> player window:
> // ------------------------------------- Beginning of output
> ----------------------------------------//
>
> accepted TCP client 0 on port 6665, fd 6
> Trying to subscribe
> VMC driver initialising
>
> player: symbol lookup error:
> /home/jakob/PSG/PSG_Source/player/plugins/vmc/./.libs/libvmc.so.0:
> undefined
> symbol: _ZN9VMCSerialC1EPci
>
> // ------------------------------------- End of output
> -----------------------------------------------//
>
>
> Any ideas what could be wrong?
>
>
> because your original makefile is trying to build an executable it is
> requiring all symbols to be bound, and also requiring the start up method,
> i.e. main to be present. You should build plugins as .so's not as an
> application.
>
> Toby
>
> On 19/10/2007, AASS <bananen_6@hotmail.com> wrote:
> >
> >
> > As I understand it, this creates an .so file using the available .o
> file.
> > However, I am unable to get a .o file since I get the errors mentioned
> in
> > the previous post.
> >
> > I get the following:
> > make: *** No rule to make target `vmc_driver.o', needed by
> > `vmc_driver.so'.
> > Stop.
> >
> >
> >
> > Toby Collett-3 wrote:
> > >
> > > try looking at the Makefile.example which is included with the example
> > > plugin...
> > >
> > > # Desc: Example plugin makefile
> > > # CVS: $Id: Makefile.example,v 1.6 2005/08/17 23:55:59 gerkey Exp $
> > >
> > > all: libexampledriver.so
> > >
> > > %.o: %.cc
> > >     $(CXX) -Wall -fpic -g3 `pkg-config --cflags playercore` -c $<
> > >
> > > libexampledriver.so: exampledriver.o
> > >     $(CXX) -shared -nostartfiles -o $@ $<
> > >
> > > clean:
> > >     rm -f *.o *.so
> > >
> > >
> > > On 19/10/2007, AASS <bananen_6@hotmail.com> wrote:
> > >>
> > >>
> > >> I'm having problems compiling a driver I have written.
> > >>
> > >> I have read several posts regarding how to get the driver into the
> > plugin
> > >> drivers but I am having problems even compiling to get the .o files.
> I
> > >> get
> > >> the following error:
> > >>
> > >> /usr/lib/gcc/i486-linux-gnu/4.1.2/../../../../lib/crt1.o: In function
> > >> `_start':
> > >> (.text+0x18): undefined reference to `main'
> > >> /tmp/ccrhEQex.o: In function `Alfred::Alfred(ConfigFile*, int)':
> > >> alfred_driver.cc:(.text+0x77): undefined reference to
> > >> `Driver::Driver(ConfigFile*, int, bool, unsigned int, int)'
> > >> /tmp/ccrhEQex.o: In function `Alfred::Alfred(ConfigFile*, int)':
> > >> alfred_driver.cc:(.text+0xbb): undefined reference to
> > >> `Driver::Driver(ConfigFile*, int, bool, unsigned int, int)'
> > >> /tmp/ccrhEQex.o: In function `Driver::Update()':
> > >> alfred_driver.cc:(.text._ZN6Driver6UpdateEv[Driver::Update()]+0x17):
> > >> undefined reference to `Driver::ProcessMessages()'
> > >> /tmp/ccrhEQex.o: In function `Alfred::~Alfred()':
> > >> alfred_driver.cc:(.text._ZN6AlfredD0Ev[Alfred::~Alfred()]+0x17):
> > >> undefined
> > >> reference to `Driver::~Driver()'
> > >> /tmp/ccrhEQex.o: In function `Alfred::~Alfred()':
> > >> alfred_driver.cc:(.text._ZN6AlfredD1Ev[Alfred::~Alfred()]+0x17):
> > >> undefined
> > >> reference to `Driver::~Driver()'
> > >> /tmp/ccrhEQex.o:(.rodata._ZTV6Alfred[vtable for Alfred]+0x8):
> undefined
> > >> reference to `Driver::StartThread()'
> > >> /tmp/ccrhEQex.o:(.rodata._ZTV6Alfred[vtable for Alfred]+0xc):
> undefined
> > >> reference to `Driver::StopThread()'
> > >> ...
> > >> (and a lot more undefined reference errors)
> > >>
> > >> I even tried compiling exampledriver.cc found in
> > player/examples/plugins/
> > >> but I get the same results. I suspect it is the makefile I am using,
> > >> (which
> > >> is my own as I cannot really understand the provided makefile in the
> > >> example). It looks like this:
> > >>
> > >> // ---- Start of Makefile ------///
> > >>
> > >> all: clean driver serial
> > >>
> > >> clean:
> > >>         \rm -f *.o *~ vmc_serial vmc_driver
> > >>
> > >> serial: vmc_serial.cc
> > >>         g++ -Wall `pkg-config --cflags playerc++` -o vmc_serial
> > >> vmc_serial.cc `pkg-config --libs playerc++`
> > >>
> > >> driver: vmc_driver.cc
> > >>         g++ -Wall `pkg-config --cflags playerc++` -o vmc_driver
> > >> vmc_driver.cc `pkg-config --libs playerc++`
> > >>
> > >> // ---- End of Makefile ------///
> > >>
> > >> Any help would be greatly appreciated.
> > >>
> --
> View this message in context:
> http://www.nabble.com/Compiling-Plugin-Driver-tf4648834.html#a13362258
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
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