forked from Archive/PX4-Autopilot
Linux build support for some libs
The following libs can now be built under Linux: lib/mathlib lib/geo lib/geo_lookup The constants used for ROS are now shared with Linux in px4_defines.h Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
e3f152b5c1
commit
62f8bd6679
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@ -45,11 +45,10 @@
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#
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# Libraries
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#
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#MODULES += lib/mathlib
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#MODULES += lib/geo
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#MODULES += lib/geo_lookup
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MODULES += lib/mathlib
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MODULES += lib/geo
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MODULES += lib/geo_lookup
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#MODULES += lib/conversion
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#MODULES += lib/utils
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#
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# Linux port
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@ -274,17 +274,17 @@ __EXPORT int globallocalconverter_getref(double *lat_0, double *lon_0, float *al
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__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
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{
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double lat_now_rad = lat_now / 180.0d * M_PI;
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double lon_now_rad = lon_now / 180.0d * M_PI;
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double lat_next_rad = lat_next / 180.0d * M_PI;
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double lon_next_rad = lon_next / 180.0d * M_PI;
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double lat_now_rad = lat_now / (double)180.0 * M_PI;
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double lon_now_rad = lon_now / (double)180.0 * M_PI;
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double lat_next_rad = lat_next / (double)180.0 * M_PI;
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double lon_next_rad = lon_next / (double)180.0 * M_PI;
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double d_lat = lat_next_rad - lat_now_rad;
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double d_lon = lon_next_rad - lon_now_rad;
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double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0d) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
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double c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a));
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double a = sin(d_lat / (double)2.0) * sin(d_lat / (double)2.0) + sin(d_lon / (double)2.0) * sin(d_lon / (double)2.0) * cos(lat_now_rad) * cos(lat_next_rad);
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double c = (double)2.0 * atan2(sqrt(a), sqrt((double)1.0 - a));
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return CONSTANTS_RADIUS_OF_EARTH * c;
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}
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@ -47,7 +47,7 @@
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namespace math
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{
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#ifndef CONFIG_ARCH_ARM
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#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_LINUX)
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#define M_PI_F 3.14159265358979323846f
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#endif
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@ -0,0 +1,143 @@
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/************************************************************************
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* include/queue.h
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*
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* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************/
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#ifndef __INCLUDE_QUEUE_H
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#define __INCLUDE_QUEUE_H
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/************************************************************************
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* Included Files
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************************************************************************/
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#include <sys/types.h>
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/************************************************************************
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* Pre-processor Definitions
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************************************************************************/
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#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
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#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
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#define sq_next(p) ((p)->flink)
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#define dq_next(p) ((p)->flink)
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#define dq_prev(p) ((p)->blink)
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#define sq_empty(q) ((q)->head == NULL)
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#define dq_empty(q) ((q)->head == NULL)
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#define sq_peek(q) ((q)->head)
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#define dq_peek(q) ((q)->head)
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// Required for Linux
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#define FAR
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#ifndef NULL
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#define NULL (void *)0
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#endif
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/************************************************************************
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* Global Type Declarations
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************************************************************************/
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struct sq_entry_s
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{
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FAR struct sq_entry_s *flink;
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};
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typedef struct sq_entry_s sq_entry_t;
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struct dq_entry_s
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{
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FAR struct dq_entry_s *flink;
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FAR struct dq_entry_s *blink;
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};
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typedef struct dq_entry_s dq_entry_t;
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struct sq_queue_s
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{
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FAR sq_entry_t *head;
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FAR sq_entry_t *tail;
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};
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typedef struct sq_queue_s sq_queue_t;
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struct dq_queue_s
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{
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FAR dq_entry_t *head;
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FAR dq_entry_t *tail;
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};
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typedef struct dq_queue_s dq_queue_t;
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// FIXME - hack for mavlink until kernel work queue can be removed
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#define LPWORK 1
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typedef struct {
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dq_entry_t dq;
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} work_s;
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inline void work_queue(int worktype, work_s *dummy, void (*_worker_trampoline)(void *arg), void *req, int dummy2);
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inline void work_queue(int worktype, work_s *dummy, void (*_worker_trampoline)(void *arg), void *req, int dummy2) {}
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/************************************************************************
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* Global Function Prototypes
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************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C" {
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#else
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#define EXTERN extern
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#endif
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EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
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EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
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EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
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EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
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EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
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sq_queue_t *queue);
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EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
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dq_queue_t *queue);
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EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
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dq_queue_t *queue);
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EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
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EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
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EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
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EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
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EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
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EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
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EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_QUEUE_H_ */
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@ -65,41 +65,7 @@
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/* Get value of parameter by name, which is equal to the handle for ros */
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#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
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#define OK 0
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#define ERROR -1
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//XXX hack to be able to use isfinte from math.h, -D_GLIBCXX_USE_C99_MATH seems not to work
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#define isfinite(_value) std::isfinite(_value)
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/* Useful constants. */
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#define M_E_F 2.7182818284590452354f
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#define M_LOG2E_F 1.4426950408889634074f
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#define M_LOG10E_F 0.43429448190325182765f
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#define M_LN2_F _M_LN2_F
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#define M_LN10_F 2.30258509299404568402f
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#define M_PI_F 3.14159265358979323846f
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#define M_TWOPI_F (M_PI_F * 2.0f)
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#define M_PI_2_F 1.57079632679489661923f
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#define M_PI_4_F 0.78539816339744830962f
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#define M_3PI_4_F 2.3561944901923448370E0f
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#define M_SQRTPI_F 1.77245385090551602792981f
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#define M_1_PI_F 0.31830988618379067154f
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#define M_2_PI_F 0.63661977236758134308f
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#define M_2_SQRTPI_F 1.12837916709551257390f
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#define M_DEG_TO_RAD_F 0.01745329251994f
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#define M_RAD_TO_DEG_F 57.2957795130823f
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#define M_SQRT2_F 1.41421356237309504880f
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#define M_SQRT1_2_F 0.70710678118654752440f
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#define M_LN2LO_F 1.9082149292705877000E-10f
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#define M_LN2HI_F 6.9314718036912381649E-1f
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#define M_SQRT3_F 1.73205080756887719000f
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#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */
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#define M_LOG2_E_F _M_LN2_F
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#define M_INVLN2_F 1.4426950408889633870E0f /* 1 / log(2) */
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#define M_DEG_TO_RAD 0.01745329251994
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#define M_RAD_TO_DEG 57.2957795130823
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#else
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#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX)
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/*
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* Building for NuttX
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*/
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@ -118,6 +84,13 @@ typedef param_t px4_param_t;
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/* Get value of parameter by name */
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#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
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#else
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#error "No target OS defined"
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#endif
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/* NuttX Specific defines */
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#if defined(__PX4_NUTTX)
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/* XXX this is a hack to resolve conflicts with NuttX headers */
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#if !defined(__PX4_TESTS)
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#define isspace(c) \
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@ -125,6 +98,49 @@ typedef param_t px4_param_t;
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(c) == '\r' || (c) == '\f' || c== '\v')
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#endif
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/* Linux Specific defines */
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#elif defined(__PX4_LINUX)
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// Flag is meaningless on Linux
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#define O_BINARY 0
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#endif
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/* Defines for ROS and Linux */
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#if defined(__PX4_ROS) || defined(__PX4_LINUX)
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#define OK 0
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#define ERROR -1
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#include <math.h>
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/* Float defines of the standard double length constants */
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#define M_E_F (float)M_E
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#define M_LOG2E_F (float)M_LOG2E
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#define M_LOG10E_F (float)M_LOG10E
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#define M_LN2_F (float)M_LN2
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#define M_LN10_F (float)M_LN10
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#define M_PI_F (float)M_PI
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#define M_TWOPI_F (M_PI_F * 2.0f)
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#define M_PI_2_F (float)M_PI_2
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#define M_PI_4_F (float)M_PI_4
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#define M_3PI_4_F (float)2.3561944901923448370E0f
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#define M_SQRTPI_F (float)1.77245385090551602792981f
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#define M_1_PI_F (float)M_1_PI
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#define M_2_PI_F (float)M_2_PI
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#define M_2_SQRTPI_F 1.12837916709551257390f
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#define M_DEG_TO_RAD_F 0.01745329251994f
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#define M_RAD_TO_DEG_F 57.2957795130823f
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#define M_SQRT2_F (float)M_SQRT2
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#define M_SQRT1_2_F (float)M_SQRT1_2
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#define M_LN2LO_F 1.9082149292705877000E-10f
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#define M_LN2HI_F 6.9314718036912381649E-1f
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#define M_SQRT3_F 1.73205080756887719000f
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#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */
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#define M_LOG2_E_F _M_LN2_F
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#define M_INVLN2_F 1.4426950408889633870E0f/* 1 / log(2) */
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#define M_DEG_TO_RAD 0.01745329251994
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#define M_RAD_TO_DEG 57.2957795130823
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#endif
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/* Defines for all platforms */
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