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Fix for oldubuntu compile #854

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merged 2 commits into from
Oct 12, 2015
Merged

Fix for oldubuntu compile #854

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727d33c
[rtc/ServoController/ServoSerial.h, CMakeLists.txt] Check gcc version…
snozawa Oct 11, 2015
c70c464
[python/rtm.py] Add try&except for import CORBA failing on old python…
snozawa Oct 11, 2015
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5 changes: 4 additions & 1 deletion python/rtm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -391,7 +391,10 @@ def getManagerDirectly(hostname, mgr=None):
mgr = None
return mgr

import CORBA
try:
import CORBA
except:
print('import CORBA failed in findRTCmanager and neglect it for old python environment.')
# fqdn
mgr = None
hostnames = [hostname, hostname.split(".")[0],
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15 changes: 15 additions & 0 deletions rtc/ServoController/CMakeLists.txt
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@@ -1,5 +1,20 @@
set(comp_sources ServoController.cpp ServoControllerService_impl.cpp)
set(libs hrpModel-3.1 hrpCollision-3.1 hrpUtil-3.1 hrpsysBaseStub)
if (CMAKE_COMPILER_IS_GNUCC)
execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion
OUTPUT_VARIABLE GCC_VERSION)
string(REGEX MATCHALL "[0-9]+" GCC_VERSION_COMPONENTS
${GCC_VERSION})
list(GET GCC_VERSION_COMPONENTS 0 GCC_MAJOR)
list(GET GCC_VERSION_COMPONENTS 1 GCC_MINOR)
if (GCC_VERSION VERSION_LESS 4.3)
message(STATUS "GCC version (${GCC_MAJOR}.${GCC_MINOR}) must be at least 4.3 for binary format in ServoSerial.h!")
# else()
# message(STATUS "HOGE GCC version must be at least 4.3 for binary format in ServoSerial.h! ${GCC_MAJOR} ${GCC_MINOR}")
endif()
add_definitions(-DDONOT_USE_BINARY_FORMAT)
endif()

add_library(ServoController SHARED ${comp_sources})
target_link_libraries(ServoController ${libs})
set_target_properties(ServoController PROPERTIES PREFIX "")
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16 changes: 16 additions & 0 deletions rtc/ServoController/ServoSerial.h
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Expand Up @@ -290,22 +290,38 @@ class ServoSerial {
ret = -1;
}

#ifdef DONOT_USE_BINARY_FORMAT
if ( flags & 0x0002 ) {
#else
if ( flags & 0b00000010 ) {
#endif
fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) Fail to process received packet\n", id);
ret = -1;
}

#ifdef DONOT_USE_BINARY_FORMAT
if ( flags & 0x0008 ) {
#else
if ( flags & 0b00001000 ) {
#endif
fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) fail to write Flash ROM\n", id);
ret = -1;
}

#ifdef DONOT_USE_BINARY_FORMAT
if ( flags & 0x0020 ) {
#else
if ( flags & 0b00100000 ) {
#endif
fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) temperature limit warning\n", id);
ret = -1;
}

#ifdef DONOT_USE_BINARY_FORMAT
if ( flags & 0x0080 ) {
#else
if ( flags & 0b10000000 ) {
#endif
fprintf(stderr, "[ServoSerial] Failed to receive packet from servo(id:%d) Temperature limit error\n", id);
ret = -1;
}
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