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Release version 1.0.0
Signed-off-by: Shahbaz Youssefi <[email protected]>
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‎.gitignore

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# build files
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*.o
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*.cmd
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*.mod.c
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*.ko
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*.a
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*.so
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*.so.*
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modules.order
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Module.symvers
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.tmp_versions
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# executables
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docthis
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increase_build
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calibrate
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regionalize
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visualize
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kconfig/mconf
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kconfig/qconf
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kconfig/gconf
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kconfig/lxdialog/lxdialog
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initialize
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generate
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motion_detect
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user-side-lib/tools/test
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load_*
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user-side-lib/services/test/test_*
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# temp files
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*.swp
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# autogenerated files
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cache/
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generated/
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kernel-module/skink_config.h
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user-side-lib/skin_config.h
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kernel-module/skink_version.h
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user-side-lib/skin_version.h
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Makefile.config.old
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kconfig/lex.zconf.c
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kconfig/zconf.tab.c
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kconfig/.ncurses
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# user files
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Makefile.config
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blacklist
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# output
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*.log
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*.out
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*.cache
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# Python related
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user-side-lib/pyskin/build
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user-side-lib/pyskin/service/test
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# ROS related
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.rosinstall
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.rosinstall.bak
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setup.*
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!setup.py
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user-side-lib/rosskin/rosskin/src/rosskin
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user-side-lib/rosskin/rosskin/bin
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user-side-lib/rosskin/rosskin/build
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user-side-lib/rosskin/rosskin/lib
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user-side-lib/rosskin/rosskin/srv_gen
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user-side-lib/rosskin/rosskin/msg_gen
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extra.cmake
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config.cmake

‎COPYING

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‎INSTALL

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Building and Installation of Skinware
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=====================================
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0. Overview
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-----------
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See README for prerequisites of building Skinware. Then proceed with
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configuration, build and installation of Skinware as instructed in this file.
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See section 3 (Usage) of README for instructions on how Skinware should be set
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up and how it can be used.
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Table of contents:
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1) Configuration
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2) Build
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3) Installation
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1. Configuration
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----------------
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The configuration of Skinware is similar to that of the Linux kernel. You can
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configure Skinware with any of the following methods:
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$ make oldconfig
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$ make config
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$ make menuconfig
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$ make gconfig
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$ make xconfig
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Each option in the configuration has an associated help messages. The
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following are some of the most important options:
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- Developer mode: If you are not a developer of Skinware, simply turn this
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option off.
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- General/Installation directory: Where Skinware will be installed.
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- General/RTAI configuration tool: Path to rtai-config of RTAI package.
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- General/Documentation: If you need to build the documentation yourself.
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- Modules/Drivers: Which drivers to build.
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2. Build
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--------
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After configuration, simply write
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$ make
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At this stage, there should be no error if all prerequisites have been
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installed. If there was an error, it means that you are missing some
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prerequisite, which you can double check with README. Unfortunately, I'm
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not yet proficient enough to write an autoconfig script (I would when I find
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the time), so for now, bare with me.
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3. Installation
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---------------
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As root, simply write
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$ make install
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to install Skinware at the configured location. A link to skin-config script
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will be made in `/usr/bin`, hopefully in your PATH so it can be accessed from
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anywhere.
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If at any point you needed to uninstall Skinware, again as root, execute
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$ make uninstall
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which removes all installed files. If you have created any files in the
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installation directory, they will be left intact.

‎Makefile

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# Targets:
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# all: makes the skin kernel, its drivers and services, skin library, its calibrator, regionalizer,
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# and visualizer and Skinware's general and developer documentations
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# kernel: makes only the skin kernel
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# drivers: makes the skin kernel and its drivers
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# services: makes the skin kernel and its services
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# library: makes the skin library, its calibrator and regionalizer
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# doc: makes Skinware's general documentation as well as developer documentation
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# install: installs the software
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# uninstall: uninstalls the software
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#
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# Note: all of these targets only build the parts that have been configured for build
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NO_CONFIG_ERROR := $(subst \n ,\n,"You need to configure Skinware first.\nOptions are:\n\
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\tmake oldconfig\n\
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\tmake config\n\
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\tmake menuconfig (needs ncurses)\n\
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\tmake gconfig (needs GTK+ 2.0)\n\
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\tmake xconfig (needs QT)\n\n")
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.PHONY: all
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all:
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@test -r Makefile.config || (printf $(NO_CONFIG_ERROR) && exit 1)
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@$(MAKE) --no-print-directory regenerate_on_reconfig
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@$(MAKE) --no-print-directory kernel-full library-full doc
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.PHONY: regenerate_on_reconfig
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regenerate_on_reconfig: Makefile.common
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Makefile.common: Makefile.config Makefile.generate
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@$(MAKE) --no-print-directory -f Makefile.generate all
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@touch Makefile.common
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.PHONY: xconfig gconfig menuconfig mconfig config oldconfig
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xconfig gconfig menuconfig mconfig config oldconfig:
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@$(MAKE) --no-print-directory -C kconfig $@
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@$(MAKE) --no-print-directory -f Makefile.generate
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-@$(MAKE) --no-print-directory -C kernel-module clean # Make sure they rebuild Skinware after configuration is redone
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-@$(MAKE) --no-print-directory -C user-side-lib clean
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.PHONY: kernel-full kernel drivers services
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kernel-full:
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@$(MAKE) --no-print-directory -C kernel-module
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kernel:
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@$(MAKE) --no-print-directory -C kernel-module module
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drivers:
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@$(MAKE) --no-print-directory -C kernel-module drivers
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services:
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@$(MAKE) --no-print-directory -C kernel-module services
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.PHONY: library-full library
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library-full:
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@$(MAKE) --no-print-directory -C user-side-lib
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library:
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@$(MAKE) --no-print-directory -C user-side-lib library calibrator regionalizer
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.PHONY: doc
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doc:
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@$(MAKE) --no-print-directory -C doc
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.PHONY: install uninstall
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install uninstall:
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@$(MAKE) --no-print-directory -f Makefile.install $@
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.PHONY: clean
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clean:
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-@$(MAKE) --no-print-directory -f Makefile.generate clean
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-@$(MAKE) --no-print-directory -C kernel-module clean
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-@$(MAKE) --no-print-directory -C user-side-lib clean
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# -@$(MAKE) --no-print-directory -C doc clean

‎Makefile.common

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# include Makefile.config or define IGNORE_BUILD_OPTIONS before including this Makefile
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SHELL := /bin/bash
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KERNEL_VERSION_MAJOR := 1
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KERNEL_VERSION_MINOR := 0
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KERNEL_VERSION_REVISION := 0
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KERNEL_VERSION := $(KERNEL_VERSION_MAJOR).$(KERNEL_VERSION_MINOR).$(KERNEL_VERSION_REVISION)
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USER_VERSION_MAJOR := 1
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USER_VERSION_MINOR := 0
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USER_VERSION_REVISION := 0
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USER_VERSION := $(USER_VERSION_MAJOR).$(USER_VERSION_MINOR).$(USER_VERSION_REVISION)
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# If IGNORE_BUILD_OPTIONS is defined, ignore this section. This is useful for having the other part of the file defined, while skipping this part
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ifndef IGNORE_BUILD_OPTIONS
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# If CONFIG_SKIN_RTAI_CONFIG_TOOL is not defined, then Makefile.config is not included
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ifdef CONFIG_SKIN_RTAI_CONFIG_TOOL
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ifneq ($(CONFIG_SKIN_ROSSKIN_LIB_ONLY), y)
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RTAI_HOME := $(shell $(CONFIG_SKIN_RTAI_CONFIG_TOOL) --prefix)
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KERNEL_EXTRA_CFLAGS += $(shell $(CONFIG_SKIN_RTAI_CONFIG_TOOL) --module-cflags)
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RTAI_MODULE_SYMBOLS := $(RTAI_HOME)/modules/Module.symvers
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USER_EXTRA_CFLAGS += $(shell $(CONFIG_SKIN_RTAI_CONFIG_TOOL) --lxrt-cflags)
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USER_EXTRA_CXXFLAGS += $(subst -Wstrict-prototypes,,$(shell $(CONFIG_SKIN_RTAI_CONFIG_TOOL) --lxrt-cflags))
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USER_EXTRA_LDFLAGS += $(shell $(CONFIG_SKIN_RTAI_CONFIG_TOOL) --lxrt-ldflags)
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endif
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endif
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ifeq ($(CONFIG_SKIN_DEBUG), y)
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KERNEL_EXTRA_CFLAGS += -O0 -g
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USER_EXTRA_CFLAGS += -O0 -g
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USER_EXTRA_CXXFLAGS += -O0 -g
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else
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KERNEL_EXTRA_CFLAGS += -O2 -DNDEBUG
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USER_EXTRA_CFLAGS += -O2 -DNDEBUG
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USER_EXTRA_CXXFLAGS += -O2 -DNDEBUG
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endif
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KERNEL_EXTRA_CFLAGS += -Wall
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USER_EXTRA_CFLAGS += -Wall
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USER_EXTRA_CXXFLAGS += -Wall
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LIB_SHARED_CFLAGS := -fPIC
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LIB_SHARED_CXXFLAGS := -fPIC
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LIB_SHARED_LDFLAGS := -shared -fPIC
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endif
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# Disable colors if called from vim
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ifneq ($(VIMRUNTIME),)
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CONFIG_SKIN_COLOR_BUILD =
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endif
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PRINTF := printf --
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ifeq ($(CONFIG_SKIN_COLOR_BUILD), y)
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# colors when used with sed
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STATUS_COLOR_ := \x1b[1;33m
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SUB_STATUS_COLOR_ := \x1b[1;36m
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DEFAULT_COLOR_ := \x1b[m
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ERROR_COLOR_ := \x1b[1;31m
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WARNING_COLOR_ := \x1b[1;35m
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# colors when used with printf
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STATUS_COLOR := \$(STATUS_COLOR_)
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SUB_STATUS_COLOR := \$(SUB_STATUS_COLOR_)
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DEFAULT_COLOR := \$(DEFAULT_COLOR_)
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ERROR_COLOR := \$(ERROR_COLOR_)
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WARNING_COLOR := \$(WARNING_COLOR_)
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HIGHLIGHT := 2>&1 | sed -e '/\<error\>/Is%.*%$(ERROR_COLOR_)&$(DEFAULT_COLOR_)%g' -e '/\<warning\>/Is%.*%$(WARNING_COLOR_)&$(DEFAULT_COLOR_)%g' ; exit $${PIPESTATUS[0]}
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else
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STATUS_COLOR :=
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SUB_STATUS_COLOR :=
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DEFAULT_COLOR :=
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ERROR_COLOR :=
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WARNING_COLOR :=
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HIGHLIGHT :=
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endif
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RM := rm -f
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MKDIR := mkdir
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CC := gcc
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CXX := g++
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LD := g++
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# for static lib:
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AR := ar rcs
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# for shared lib:
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SHARED_LD := gcc

‎Makefile.generate

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include Makefile.config
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include Makefile.common
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.PHONY: all
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all: config_headers version_headers cmake_files
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SKIN_TOP := $(abspath $(dir $(lastword $(MAKEFILE_LIST))))
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ifeq ($(CONFIG_SKIN_LARGE), y)
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LARGE_SKIN = 1
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else
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LARGE_SKIN = 0
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endif
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ifeq ($(CONFIG_SKIN_DEBUG), y)
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DEBUG = 1
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else
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DEBUG = 0
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endif
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.PHONY: config_headers
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config_headers:
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@sed -e 's;@SKINK_TICK_PERIOD@;$(CONFIG_SKIN_KERNEL_TICK_PERIOD);g' \
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-e 's;@SKINK_ACQ_PRIORITY@;$(CONFIG_SKIN_KERNEL_ACQ_PRIORITY);g' \
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-e 's;@SKINK_SERVICE_ACQ_PRIORITY@;$(CONFIG_SKIN_SERVICE_ACQ_PRIORITY);g' \
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-e 's;@SKINK_SERVICE_KERNEL_PRIORITY@;$(CONFIG_SKIN_SERVICE_KERNEL_PRIORITY);g' \
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-e 's;@SKINK_DEVICE_MAX_DEVICES@;$(CONFIG_SKIN_DEVICE_MAX_DEVICES);g' \
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-e 's;@SKINK_SERVICE_MAX_SERVICES@;$(CONFIG_SKIN_SERVICE_MAX_SERVICES);g' \
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-e 's;@SKINK_TASK_STACK_SIZE@;$(CONFIG_SKIN_TASK_STACK_SIZE);g' \
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-e 's;@SKINK_THREAD_MAX_DELAY@;$(CONFIG_SKIN_THREAD_MAX_DELAY);g' \
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-e 's;@SKINK_MAX_BUFFERS@;$(CONFIG_SKIN_KERNEL_MAX_BUFFERS);g' \
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-e 's;@SKINK_MAX_LAYERS@;$(CONFIG_SKIN_KERNEL_MAX_LAYERS);g' \
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-e 's;@SKINK_MAX_NAME_LENGTH@;$(CONFIG_SKIN_KERNEL_MAX_NAME_LENGTH);g' \
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-e 's;@SKINK_LARGE_SKIN@;$(LARGE_SKIN);g' \
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-e 's;@SKINK_DEBUG@;$(DEBUG);g' \
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< templates/skink_config.h > kernel-module/skink_config.h
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@sed -e 's;@SKIN_USER_ACQ_PRIORITY@;$(CONFIG_SKIN_USER_ACQ_PRIORITY);g' \
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-e 's;@SKIN_SERVICE_USER_PRIORITY@;$(CONFIG_SKIN_SERVICE_USER_PRIORITY);g' \
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-e 's;@SKIN_SERVICE_MAX_SERVICES@;$(CONFIG_SKIN_SERVICE_MAX_SERVICES);g' \
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-e 's;@SKIN_THREAD_MAX_DELAY@;$(CONFIG_SKIN_THREAD_MAX_DELAY);g' \
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-e 's;@SKIN_TASK_STACK_SIZE@;$(CONFIG_SKIN_TASK_STACK_SIZE);g' \
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-e 's;@SKIN_DEBUG@;$(DEBUG);g' \
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< templates/skin_config.h > user-side-lib/skin_config.h
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KERNEL_VERSION_BUILD := $(shell wc -l kernel-module/build.txt 2>&1 | cut -d " " -f 1)
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USER_VERSION_BUILD := $(shell wc -l user-side-lib/build.txt 2>&1 | cut -d " " -f 1)
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.PHONY: version_headers
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version_headers:
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@sed -e 's;@SKINK_VERSION_MAJOR@;$(KERNEL_VERSION_MAJOR);g' \
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-e 's;@SKINK_VERSION_MINOR@;$(KERNEL_VERSION_MINOR);g' \
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-e 's;@SKINK_VERSION_REVISION@;$(KERNEL_VERSION_REVISION);g' \
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-e 's;@SKINK_VERSION_BUILD@;$(KERNEL_VERSION_BUILD);g' \
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< templates/skink_version.h > kernel-module/skink_version.h
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@sed -e 's;@SKIN_VERSION_MAJOR@;$(USER_VERSION_MAJOR);g' \
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-e 's;@SKIN_VERSION_MINOR@;$(USER_VERSION_MINOR);g' \
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-e 's;@SKIN_VERSION_REVISION@;$(USER_VERSION_REVISION);g' \
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-e 's;@SKIN_VERSION_BUILD@;$(USER_VERSION_BUILD);g' \
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< templates/skin_version.h > user-side-lib/skin_version.h
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ifeq ($(CONFIG_SKIN_ROSSKIN_LIB_ONLY), y)
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ROSSKIN_LIB_ONLY := true
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else
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ROSSKIN_LIB_ONLY := false
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endif
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.PHONY: cmake_files
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cmake_files:
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ifeq ($(CONFIG_SKIN_ROSSKIN), y)
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@sed -e 's;@ROSSKIN_LIB_ONLY@;$(ROSSKIN_LIB_ONLY);g' \
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-e 's;@SKIN_TOP@;$(SKIN_TOP);g' \
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< templates/rosskin_config.cmake > user-side-lib/rosskin/rosskin/config.cmake
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@sed -e 's;@USER_EXTRA_CXXFLAGS@;$(USER_EXTRA_CXXFLAGS);g' \
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< templates/rosskin_extra.cmake > user-side-lib/rosskin/rosskin/extra.cmake
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endif
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.PHONY: clean
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-$(RM) kernel-module/skink_config.h user-side-lib/skin_config.h
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-$(RM) kernel-module/skink_version.h user-side-lib/skin_version.h
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-$(RM) user-side-lib/rosskin/rosskin/config.cmake user-side-lib/rosskin/rosskin/extra.cmake

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