fedora $ cd brainstem
fedora $ ./build_basic.sh

fedora $ cd aGarcia/
fedora $ ./make_cs23_debug.sh

#!/bin/sh
# This is a fast tool to launch the building of a Garcia App..
make -f makeCS23.Linux CC=/net/wbc/src/gumstix/gumstix-oe/tmp/cross/bin/arm-angstrom-linux-gnueabi-gcc CCP=/net/wbc/src/gumstix/gumstix-oe/tmp/cross/bin/arm-angstrom-linux-gnueabi-g++ ARCH=ARM debug 

# makefile: host/aGarcia/makeapp.Linux

SHELL := /bin/sh
CC := gcc
CCP := g++

ROOT := ../
PROGNAME := cs23Garcia

INCLUDES := -IaCommon \
        -IaUnix \
        -IaGarcia \
        -IaGarciaApp \
        -I../aIO/aCommon \
        -I../aIO/aUnix \
        -I../aUI/aCommon \
        -I../aUI/aUnix \
        -I../aStem/aCommon \
        -I../aStem/aUnix \
        -I../aTEAvm/aCommon \
        -I../aTEAvm/aUnix \
        -I../aCommon \
        -I../aDebug/aUnix \
        -I../aDebug/aSystem \
        -I../aUnix

#don't include X11 libraries for ARM
ifeq ($(ARCH),ARM)
LIBRARIES := -laIO \
             -laUI \
             -laStem \
         -laGarcia \
             -lpthread \
         -lm
else
LIBRARIES := -laIO \
             -laUI \
             -laStem \
         -laGarcia \
             -lpthread \
         -lm \
         -L/usr/X11R6/lib \
         -lX11
endif

VPATH := aCommon:aUnix:cs23Garcia:../aCommon:../aTEAvm/aCommon:cs23Garcia/vidcat:cs23Garcia/sf

SOURCES := aAssert.c \
       aMemHandleDebug.c \
       aUtil.c \
       aGarciaGeom.c \
       v4l.c \
           simplevideo.c \
       main.c \
       common.c \
           socketclient.c 
 

CPPSOURCES := acpException.cpp \
          garcia.cpp 

include $(ROOT)make_program_cpp.Linux

#include "garcia.h"
...
...
// Move around with blocking API

float distance = 0.2;
int i = GarciaWalk(distance); // Walking forward for 20 centimeters
int j = GarciaTurn(20 / 180 * 3.14159);  // Turn right for 20 degrees
if ((!i)&&(!j))
    printf("Succeeded");

// Move around with non blocking API
int i = GarciaWalkN(distance); // Walking forward for 20 centimeters, non blocking
int j = GarciaTurnN(20 / 180 * 3.14159);  // Turn right for 20 degrees  non blocking
GarciaStop();


// Read in sensor data.
float d = GarciaRangeData(BATTERY);
// Read in battery voltage, BATTERY could be 
// FRONT_RANGE_LEFT, FRONT_RANGE_RIGHT......   see garcia.h for details

#ifndef GARCIA_UTIL_H
#define GARCIA_UTIL_H

/* This header file defines public interface to control the robot. */
/* The robot is controlled through acpGarcia class provided by */
/* acroname inside the Brainstem API. Here we use pure C function to */
/* take the place of the complicated acpGarcia class to do the same */
/* function. */

/* To use the Garcia robot, user should call init() first in the start */
/* of his code. When user's program is about to quit, user should call destroy() */
/* function. */

/* Any question related to Garcia.cpp and garcia.h should be reported to
   pway@cs.dartmouth.edu(Wei Pan)   */

#ifdef __cplusplus
extern "C" {
#endif

  // This is a blocking function, which means that the function
  // will not return before the robot finish the walk.
  // The float is the distance the user want to robots to move.
  // The unit of the distance is ADJUSTABLE, currently it is centimeter.
  //! param f  the distance to go, negative number for backward.
  //! return a status value, 0 means success, otherwise failure(may be robots are blocked by wall so they can't move)
  int GarciaWalk(float);

  // This is also a blocking function. The robot will turn acording to
  // the angle value the user pass in as a parameter. The current unit is
  // rad. So PI means turn 180 degrees.
  // param f the angel to turn, negative number for counter-clockwise
  // return a status value, 0 means success, otherwise failure(may be robots are blocked by wall so they can't move)
  int GarciaTurn(float);

  // The following two functions is the non-blocking version of the up two
  // functions, which means they will return immediately after you call them.
  // The robot will execute the movement concurrently.
  // If you call them multiple times, the robot will queue each movement and
  // execute them in FIFO order. 
  int GarciaTurnN(float);

  int GarciaWalkN(float);

  // This function is to stop all movements of the robot and clear the movement
  // queue. The robot stop immediately when you call it.
  void GarciaStop();
  
  // NOTICE: The upper two function will return a value indicating the status
  //         of the robots. 0 means works fine. Otherwise there is a problem.
  // The return value and problems has a relation:
  /*
     Please refer to
      brainstem/aCommon/aErr.h
     for full list of error codes meanings.
  */

  // Before the program, please call init(), and pass in the
  // laptop server address, so there is a heart beat thread which will
  // connect to the server address every certain time interval.
  // The two following constant defines the properties of the heart beat thread:  // the HEARTBEAT_PORT is the port for the server to receive the heart beat.
  
#define HEARTBEAT_INTERVAL 60
#define HEARTBEAT_PORT 5656

  //! param c the ip address of the server side code,
  //         ( this IP address will be used to send back a HEARTBEAT signal.)
  void init(char*);
  // Before your program quit, please call destroy()
  void destroy();
  
  // parameters for GarciaRangeData()
#define FRONT_RANGE_LEFT 1
#define FRONT_RANGE_RIGHT 2
#define SIDE_RANGE_LEFT 3
#define SIDE_RANGE_RIGHT 4
#define REAR_RANGE_LEFT 5
#define REAR_RANGE_RIGHT 6
#define BATTERY 7

  // Garcia has 8 rangers, however, we here only use 6 of them. Pass in which ranger
  // you want to set type to REAR_RANGE_LEFT or SIDE_RANGE_LEFT, it will return the range
  // information.
  //! param type see #define
  //! return a reading from sensors
  float GarciaRangeData (int type);  

#ifdef __cplusplus
}
#endif

#endif

#include "vidcat/simplevideo.h"
.....
......
//! param device usually is "/dev/video0"
//! param palette usually is VIDEO_PALETTE_YUV420
//  char* OpenDeviceGetImageAndClose(char* device, int palette); 
char* data = OpenDeviceGetImageAndClose("/dev/video0" , VIDEO_PALETTE_YUV420P); 

#include "sfsource.h"
...
...
//! \brief thread to keep listening to the robot sensor reading.
void* ReadSensorData(void* ptr) {
  int fd = open_sf_source(robot_ip, SENSOR_PORT);  // open a connection to the serial forwarder with the robot_ip and SENSOR_PORT
  while (fd < 0) {
    LOG("Couldn't open serial forwarder\n");
    sleep(5);
    fd = open_sf_source(robot_ip, SENSOR_PORT);
  }
  int i;
  while(1) {  //sniff for ever
    int key = HearKey(fd);
    if (key == -1) {
      //! we lost connection
      LOG("Error in reading sensor data!\n");
      break;
    }
    if (key > 0) {
      //! That's our treasure key.
    }
  }
   close(fd); // never reaches here
}

//! brief broadcast your packet to the sensor in a single thread
void* WriteSensorData(void* ptr) {
  sleep(2);
  int fd = open_sf_source(robot_ip, SENSOR_PORT);
  while (fd < 0) {
    LOG("Couldn't open serial forwarder\n");
    sleep(5);
    fd = open_sf_source(robot_ip, SENSOR_PORT);
  }
  for (;;) {
    BroadcastKey(fd, 10); // 10 is the key to send out
    sleep(5);
  }
}
    

# Simple makefile with GTK support
CC=gcc
CFLAGS=-g -ggdb -Wall -DPNG_NO_MMX_CODE -I/usr/include/gtk-2.0 -I/usr/lib/gtk-2.0/include -I/usr/include/atk-1.0 -I/usr/include/cairo -I/usr/include/pango-1.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/freetype2 -I/usr/include/libpng12 -lc -lgtk-x11-2.0 -lgdk-x11-2.0 -latk-1.0 -lgdk_pixbuf-2.0 -lm -lpangocairo-1.0 -lfontconfig -lXext -lXrender -lXinerama -lXi -lXrandr -lXcursor -lXcomposite -lXdamage -lpango-1.0 -lcairo -lX11 -lXfixes -lgobject-2.0 -lgmodule-2.0 -ldl -lglib-2.0 -lpthread 
SOURCES=src/interface.c src/support.c src/main.c src/callbacks.c src/interface.c
gtk:$(SOURCES)
        $(CC) $(CFLAGS) $(SOURCES) -o $@