kni/kni-4.3.0.patch

   1 diff --git a/Makefile b/Makefile
   2 index 08e5db2..27235be 100644
   3 --- a/Makefile
   4 +++ b/Makefile
   5 @@ -4,7 +4,7 @@
   6  # Authors: see AUTHORS file
   7  #===========================================================================
   8
   9 -TARGETS                        =       lib/kinematics src/common src/Base src/InvKin src/LM src/kni_wrapper py demo
  10 +TARGETS                        =       lib/kinematics src/common src/Base src/InvKin src/LM src/kni_wrapper demo
  11  TARGETS_B              =       $(foreach target,$(TARGETS),$(target).build)
  12  TARGETS_C              =       $(foreach target,$(TARGETS),$(target).clean)
  13  NEURONICS_DOC_DIR      =       doc/neuronics-doc/source
  14 diff --git a/demo/Makefile b/demo/Makefile
  15 index df71b21..088b032 100644
  16 --- a/demo/Makefile
  17 +++ b/demo/Makefile
  18 @@ -37,7 +37,7 @@ $(CTARGETS_D):
  19
  20  $(TARGETS_D): $(CTARGETS_D)
  21         echo "Building: $@"
  22 -       $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -lpthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES}
  23 +       $(CXX) $(CXXFLAGS) -I$(INCLUDE_DIR) -pthread -o $(@:.demo=)/$(@:.demo=) $(wildcard $(@:.demo=)/*.cpp) ${AVAILABLE_LIBRARIES}
  24
  25
  26  $(TARGETS_D_C):
  27 diff --git a/lib/kinematics/Makefile b/lib/kinematics/Makefile
  28 index e05bd01..6c577d2 100644
  29 --- a/lib/kinematics/Makefile
  30 +++ b/lib/kinematics/Makefile
  31 @@ -4,7 +4,7 @@
  32  # Jonas Haller 2009
  33  #===========================================================================
  34  CXX                    =       g++
  35 -CXXFLAGS       +=      -c -Wall -D_REENTRANT -D__NO_MATH_INLINES -pthread  -I $(BOOST_INCLUDE_DIR)
  36 +CXXFLAGS       +=      -fPIC -c -Wall -D_REENTRANT -D__NO_MATH_INLINES -pthread  -I $(BOOST_INCLUDE_DIR)
  37  LD                     =       g++
  38  LDFLAGS                =       -shared -fPIC
  39  MAKE           =       make
  40 diff --git a/lib/kinematics/roboop/Makefile b/lib/kinematics/roboop/Makefile
  41 index 74cbf5d..8681d38 100644
  42 --- a/lib/kinematics/roboop/Makefile
  43 +++ b/lib/kinematics/roboop/Makefile
  44 @@ -7,7 +7,7 @@ CC = g++
  45  # edit the following to reflect the location of boost include files
  46  # if not in the defaut (/usr/include)
  47  BOOST_INCLUDE_DIR=/usr/include
  48 -CFLAGS = -O -I $(BOOST_INCLUDE_DIR) -I ./source -I ./newmat -Wall -D_REENTRANT -pthread #-Duse_namespace #-fno-const-strings
  49 +CFLAGS = -fPIC -O -I $(BOOST_INCLUDE_DIR) -I ./source -I ./newmat -Wall -D_REENTRANT -pthread #-Duse_namespace #-fno-const-strings
  50  LIBS = -L./ -lroboop -lnewmat -lm -pthread
  51  AR = ar
  52  RANLIB = ranlib
  53 diff --git a/src/Base/cdlSocket.cpp b/src/Base/cdlSocket.cpp
  54 index 2afc54e..9585ce9 100644
  55 --- a/src/Base/cdlSocket.cpp
  56 +++ b/src/Base/cdlSocket.cpp
  57 @@ -21,6 +21,7 @@
  58  /****************************************************************************/
  59  #include "KNI/cdlSocket.h"
  60  #include <iostream>
  61 +#include <sstream>
  62  /****************************************************************************/
  63  //test write:
  64  int writesz;
  65 @@ -91,8 +92,9 @@ CCdlSocket::CCdlSocket(char* ipAddr, int port): _ipAddr(ipAddr), _port(port){
  66         int res;
  67         _socketfd = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
  68         if(_socketfd == -1){
  69 -               std::cout << "socket could not be created"<<_ipAddr<<" port: "<< _port<<" \n";
  70 -               exit(1);
  71 +               std::ostringstream s;
  72 +               s << "socket could not be created"<<_ipAddr<<" port: "<< _port<<" \n";
  73 +               throw Exception( s.str().c_str(), 0 );
  74         }
  75         memset(&_socketAddr, 0, sizeof(_socketAddr));
  76         _socketAddr.sin_family = AF_INET;
  77 @@ -102,14 +104,16 @@ CCdlSocket::CCdlSocket(char* ipAddr, int port): _ipAddr(ipAddr), _port(port){
  78         //connect to the server
  79         res = inet_pton ( AF_INET, _ipAddr, &_socketAddr.sin_addr );
  80         if ( errno == EAFNOSUPPORT ){
  81 -               std::cout << "inet_pton failed, try again "<<_ipAddr<<" port: "<< _port<<" \n";
  82 -               exit(1);
  83 +               std::ostringstream s;
  84 +               s << "inet_pton failed, try again "<<_ipAddr<<" port: "<< _port<<" \n";
  85 +               throw Exception( s.str().c_str(), 0 );
  86         }
  87  //     std::cout << "trying to connect to server...\n";
  88         res = connect(_socketfd, (struct sockaddr *) &_socketAddr, _len);
  89         if(res != 0){
  90 -               std::cout << "client could not connect, check if server is running on ip "<<_ipAddr<<" port: "<< _port<<" \n";
  91 -               exit(1);
  92 +               std::ostringstream s;
  93 +               s << "client could not connect, check if server is running on ip "<<_ipAddr<<" port: "<< _port<<" \n";
  94 +               throw Exception( s.str().c_str(), 0 );
  95         }
  96         else{
  97  //             std::cout << "client connected to ip "<<_ipAddr<<", port: "<< _port<<" \n";
  98 diff --git a/src/common/Makefile b/src/common/Makefile
  99 index 8ec540c..c7460b5 100644
 100 --- a/src/common/Makefile
 101 +++ b/src/common/Makefile
 102 @@ -5,7 +5,7 @@
 103  #===========================================================================
 104
 105  CXX            =       g++
 106 -CXXFLAGS       +=      -g -O2 -Wall
 107 +CXXFLAGS       +=      -g -O2 -Wall  -fPIC
 108
 109  TARGETS                =       alib
 110