20151209宿題

.travis.yml

@@ -21,13 +21,17 @@ install:
   - sudo apt-get update -qq
   - sudo apt-get install -qq -y ros-hydro-desktop ros-hydro-roscpp-tutorials ros-hydro-rostest ros-hydro-catkin python-catkin-tools
   - sudo apt-get install -qq -y ros-hydro-roseus
+  - sudo apt-get install -qq -y liborbit2 liborbit2-dev
+  - sudo apt-get install -qq -y ros-hydro-move-base-msgs
+  - sudo apt-get install -qq -y swi-prolog
   - source /opt/ros/hydro/setup.bash
 before_script:
   - ls
-  - for dir in 20*; do echo "checking $dir"; pkg_dir=`catkin_topological_order $dir`; pkg="${pkg_dir% *}"; src="${pkg_dir##* }"; if [ -e "$dir/$src" ] ; then cp $dir/check*.* $dir/$src; fi; done;
+  - for dir in 20*; do echo "checking $dir"; pkg_dir=`catkin_topological_order $dir`; pkg="${pkg_dir% *}"; src="${pkg_dir##* }"; check=`ls $dir/check*.* 2>/dev/null`; if [ -e "$dir/$src" -a "$check" ] ; then cp $dir/check*.* $dir/$src; fi; done;
+  - find . -iname *.test
   - rdir=`pwd`
 script:
-  - for dir in 20*; do echo "checking $dir"; pkg_dir=`catkin_topological_order $dir`; pkg="${pkg_dir% *}"; src="${pkg_dir##* }"; if [ -e "$dir/$src" ] ; then source /opt/ros/hydro/setup.bash; cd $dir; catkin build -v -i; source devel/setup.bash; rospack list; cd $src; EXIT_STATUS=0; for test_file in check*.test; do rostest $pkg $test_file || EXIT_STATUS=1; done; cd $rdir; fi; done; [ $EXIT_STATUS == 0 ]
+  - for dir in 20*; do echo "checking $dir"; pkg_dir=`catkin_topological_order $dir`; pkg="${pkg_dir% *}"; src="${pkg_dir##* }"; check=`ls $dir/check*.* 2>/dev/null`; if [ -e "$dir/$src" -a "$check" ] ; then source /opt/ros/hydro/setup.bash; cd $dir; catkin build -v -i; source devel/setup.bash; rospack list; cd $src; EXIT_STATUS=0; for test_file in check*.test; do rostest $pkg $test_file || EXIT_STATUS=1; done; cd $rdir; fi; done; [ $EXIT_STATUS == 0 ]
 after_failure:
   - find src/ -type d -name .git -prune -o -type f -exec ls -l {} \;
   - rostest -t beginner_tutorials check1.test

20151111/src/enshu_20151111/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(enshu_20151111)
+
+find_package(catkin REQUIRED COMPONENTS)
+catkin_package()
+
+execute_process(COMMAND make -C ${PROJECT_SOURCE_DIR})
+
+
+

20151111/src/enshu_20151111/ExampleMain.java

@@ -0,0 +1,8 @@
+public class ExampleMain {
+    public static void main(String[] args) {
+        System.loadLibrary("ffi-class_wrap");
+        Example e = new Example();
+        e.Hello("world");
+        e.Sinc(1.0);
+    }
+}

20151111/src/enshu_20151111/ExampleMain2.java

@@ -0,0 +1,16 @@
+import com.sun.jna.Library;
+import com.sun.jna.Native;
+
+public class ExampleMain2 {
+    public interface CLibrary extends Library {
+        CLibrary INSTANCE = (CLibrary)
+            Native.loadLibrary("ffi-c", CLibrary.class);
+        void hello(String str);
+        double sinc(double x);
+    }
+
+    public static void main( String[] args) {
+        CLibrary.INSTANCE.hello("world");
+        System.out.println("sinc(1.0) = " + CLibrary.INSTANCE.sinc(1.0));
+    }
+}

20151111/src/enshu_20151111/Makefile

@@ -0,0 +1,63 @@
+all: ffi-c libffiJava.so ffi-c.so callc.so
+
+ffi-c++.o: ffi-c++.cpp
+	gcc -c ffi-c++.cpp
+
+ffi-c++-main.o: ffi-c++-main.c
+	gcc -c ffi-c++-main.c
+
+ffi-c: ffi-c++.o ffi-c++-main.o
+	gcc -o ffi-c $^ -lm
+
+ffiJava.class:
+	javac ffiJava.java
+
+ffiJava.h: ffiJava.class
+	javah -jni ffiJava
+
+JAVA_HOME=/usr/lib/jvm/java-6-openjdk-amd64/
+libffiJava.so: ffiJava.h
+	gcc -shared -fPIC -I${JAVA_HOME}/include -o libffiJava.so ffiJava.c
+	LD_LIBRARY_PATH=./:${LD_LIBRARY_PATH} java ffiJava
+
+ffi-c.so: ffi-c.c
+	gcc -shared -fPIC -o ffi-c.so ffi-c.c -lm
+	python ffi_python.py
+	eusgl ffi.l
+
+callc.so: callc.c
+	gcc -fPIC -shared -o callc.so callc.c
+	eusgl callc.l
+
+_ffi_c.so:
+	swig -python ffi-c.i
+	gcc -I/usr/include/python2.7 -shared -fPIC -o _ffi_c.so ffi-c.c ffi-c_wrap.c
+	python -c 'import ffi_c; ffi_c.hello("hello"); print ffi_c.sinc(1.0)'
+
+ffi_c.java:
+	swig -java ffi-c.i
+	gcc -shared -fPIC -I${JAVA_HOME}/include -o libffi-c_wrap.so ffi-c_wrap.c ffi-c.c
+	javac ffi_c.java
+	javac ffi_main.java
+	LD_LIBRARY_PATH=./:${LD_LIBRARY_PATH} java ffi_main
+
+libffi-class_wrap.so:
+	swig -c++ -java ffi-class.i
+	g++ -shared -fPIC -I ./ -I${JAVA_HOME}/include -o libffi-class_wrap.so ffi-class_wrap.cxx ffi-class.cpp -lm -lstdc++
+	javac ffi_class.java ffi_classJNI.java
+	javac ExampleMain.java
+	LD_LIBRARY_PATH=./:${LD_LIBRARY_PATH} java  ExampleMain
+
+libffi-c.so:
+	gcc -shared -fPIC -o libffi-c.so ffi-c.c -lm
+	javac -classpath .:/usr/share/java/jna-3.2.7.jar ExampleMain2.java
+	LD_LIBRARY_PATH=./:${LD_LIBRARY_PATH} java -classpath .:/usr/share/java/jna-3.2.7.jar ExampleMain2
+
+ffi_cython.so:
+	python setup.py build_ext --inplace
+	python -c 'import ffi_cython; ffi_cython.hello2("world"); ffi_cython.sinc2(1.0)'
+
+.PHONY: callc.c
+
+clean:
+	rm *.so *.o *.class ffi_c.java ffiJava.h ffi-c_wrap.c ffi_c.java ffi_cJNI.java ffi_class.java ffi_classJNI.java Example.java libffi-c.so ffi_cython.so ffi-c ffi-class_wrap.cxx ffi_c.py ffi_c.pyc ffi_cython.c

20151111/src/enshu_20151111/callc.c

@@ -0,0 +1,10 @@
+static int (*g)();
+
+int setlfunc(int (*f)()) {
+    g = f;
+}
+
+int callfunc(x)
+{
+    return ((*g)(x));
+}

20151111/src/enshu_20151111/callc.l

@@ -0,0 +1,12 @@
+(setq m (load-foreign "./callc.so"))
+
+(defforeign setlfunc m "setlfunc" (:integer) :integer)
+(defforeign callfunc m "callfunc" (:integer) :integer)
+
+(defun-c-callable TEST ((a :integer)) :integer
+  (format t "TEST is called, arg is ~A~%" a)
+  (* a a))
+
+(setlfunc (pod-address (intern "TEST")))
+(callfunc 12)
+(exit)

20151111/src/enshu_20151111/ffi-c++-main.c

@@ -0,0 +1,9 @@
+#include <stdio.h>
+
+double sinc(double x);
+
+int main () {
+    double f = 1.0;
+    fprintf(stderr, "sinc(%f) = %f\n", f, sinc(f));
+    return 0;
+}

20151111/src/enshu_20151111/ffi-c++.cpp

@@ -0,0 +1,11 @@
+#include <math.h>
+
+int f (int)  { return 0; }
+int f (void) { return 1; }
+int g (void) { int i = f(), j = f(0); }
+
+extern "C" {
+    double sinc(double x) {
+        return(sin(x)/x);
+    }
+}

20151111/src/enshu_20151111/ffi-c.c

@@ -0,0 +1,10 @@
+#include <math.h>
+#include <stdio.h>
+
+void hello(char *str) {
+    fprintf(stdout, "%s !!\n", str);
+}
+
+double sinc(double x) {
+    return(sin(x)/x);
+}

20151111/src/enshu_20151111/ffi-c.i

@@ -0,0 +1,7 @@
+%module ffi_c
+%{
+    extern void hello(char *str);
+    extern double sinc(double x);
+%} 
+%include "ffi-c.c"
+

20151111/src/enshu_20151111/ffi-class.cpp

@@ -0,0 +1,18 @@
+/* ffi-class.cpp */
+#include <iostream>
+#include <string>
+#include <math.h>
+
+class Example
+{
+public:
+    Example(void) {};
+    ~Example(void) {};
+
+    void Hello(char *str) {
+        std::cerr << "hello " << str << "!!" << std::endl;
+    }
+    void Sinc(double x){
+        std::cerr << "sinc = " << sin(x)/x << std::endl;
+    }
+};

20151111/src/enshu_20151111/ffi-class.i

@@ -0,0 +1,5 @@
+%module ffi_class
+%{
+    #include "ffi-class.cpp"
+%}
+%include "ffi-class.cpp"

20151111/src/enshu_20151111/ffi.l

@@ -0,0 +1,10 @@
+#!/usr/bin/env eusgl
+
+(setq m (load-foreign "./ffi-c.so"))
+(defforeign sinc m "sinc" (:float) :float)
+(defforeign hello m "hello" (:string) :integer)
+(format t "sinc=~A~%" (sinc 1.0))
+(format t "hello ")(finish-output t)
+(hello "world")
+(exit)
+

20151111/src/enshu_20151111/ffiJava.c

@@ -0,0 +1,15 @@
+#include "ffiJava.h"
+#include <math.h>
+
+JNIEXPORT jdouble JNICALL Java_ffiJava_sinc
+(JNIEnv * env, jobject obj, jdouble d) {
+    d = sin(d)/d;
+    return d;
+}
+
+JNIEXPORT void JNICALL Java_ffiJava_hello
+(JNIEnv *env, jobject obj, jstring s) {
+    const char *str = (*env)->GetStringUTFChars(env, s, 0);
+    fprintf(stdout, "%s !\n", str);
+    (*env)->ReleaseStringUTFChars(env, s, str);
+}

20151111/src/enshu_20151111/ffiJava.java

@@ -0,0 +1,13 @@
+import java.io.*;
+
+public class ffiJava {
+    private native double sinc(double d);
+    private native void hello(String str);
+
+    public static void main(String argv[]){
+        ffiJava t = new ffiJava();
+        System.loadLibrary("ffiJava");
+        System.out.print("hello "); t.hello("world");
+        System.out.println("sinc(1) = " + t.sinc(1.0f));
+    }
+}

20151111/src/enshu_20151111/ffi_cython.pyx

@@ -0,0 +1,11 @@
+cdef extern int hello( char *)
+cdef extern double sinc(double)
+
+def hello2(name):
+    bname = name.encode("utf-8")
+    cdef char * cname = bname
+    hello(cname)
+
+
+def sinc2(x):
+    return sinc(x)

20151111/src/enshu_20151111/ffi_euslisp.l

@@ -0,0 +1,6 @@
+(setq m (load-foreign "./ffi-c.so"))
+(defforeign sinc m "sinc" (:float) :float)
+(defforeign hello m "hello" (:string) :integer)
+(format t "sinc~A~%" (sinc 1.0))
+(format t "hello ")
+(hello "world")

20151111/src/enshu_20151111/ffi_main.java

@@ -0,0 +1,8 @@
+// ffi_main.java
+public class ffi_main {
+  public static void main(String[] args) {
+    System.loadLibrary("ffi-c_wrap");
+    ffi_c.hello("world");
+    System.out.println("sinc(1) = " + ffi_c.sinc(1.0));
+  }
+}

20151111/src/enshu_20151111/ffi_python.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+
+import ctypes
+ffi = ctypes.CDLL('./ffi-c.so')
+print "hello ",
+ffi.hello("world")
+
+ffi.sinc.argtypes = [ctypes.c_double]
+ffi.sinc.restype = ctypes.c_double
+print ffi.sinc(1.0)

20151111/src/enshu_20151111/glut/Makefile

@@ -0,0 +1,34 @@
+.SUFFIXES: .c .exe
+
+OS = $(shell /bin/uname | sed s/-.*//)
+
+ifeq ($(OS),Cygwin)
+CFLAGS = -I/usr/X11R6/include
+LIBDIR = -L/usr/X11R6/lib
+GLLIBS = -lX11 -L/usr/X11R6/lib -lgl -lglu -lglut
+else
+CFLAGS = -I/usr/X11R6/include
+LIBDIR = -L/usr/X11R6/lib
+GLLIBS = -lX11 -L/usr/X11R6/lib -lGL -lGLU -lglut -lm
+endif
+
+all: auxdemo.exe auxdemo-offline.exe cube.exe scube.exe dinoshade.exe
+
+.l.c:
+	@echo "";
+
+.c.exe:
+	gcc -g -o $@ $(CFLAGS) $< $(LIBDIR) $(GLLIBS)
+
+auxdemo-offline.exe: auxdemo.c
+	gcc -g -o $@ -DOFFLINE_RENDERING $(CFLAGS) $< $(LIBDIR) $(GLLIBS)
+auxdemo.exe: auxdemo.c
+cube.exe: cube.c
+scube.exe: scube.c
+dinoshade.exe: dinoshade.c
+screendoor.exe: screendoor.c
+molehil.exe: molehil.c
+
+clean:
+	rm -f *~ *.exe *.exe.stackdump *.ppm
+	chmod a-x *