On Saturday 04 December 2010 17:24:48 gprizzi [..] ... wrote:
> Dear sirs,
>
> I am trying to create a component using orogen.
> I followed the SimpleNonPeriodicClient example provided for RTT
>
> The orogen file I wrote for the project is the following
> ame 'tcpconnection'
> version '0.1'
>
> #using_library "qtnetwork"
>
> # import of user defined types
> import_types_from "posizione.h"
>
> # non periodic client reading from TCP connection
> task_context "TCPClient" do
> # richiedo la lettura dei parametri di configurazione
> needs_configuration
> output_port("desiredP", "/posizione/pos").
> doc("set point di posizione")
> property("hostName","string").
> doc('name of the host')
> property("hostPort","int").
> doc('port of the host - integer (1024-65535 inclusive)')
> property("conTimeOut","int").
> doc('Timeout in seconds, when waiting for connection - integer ')
> property("readTimeOut","int").
> doc('Timeout in seconds, when waiting for read - integer')
> end
>
> #
> task_context "interpolator" do
> input_port("inDesiredP", "/posizione/pos").
> doc("set point da microinterpolare")
> output_port("outDesiredP", "/posizione/pos").
> doc("set point filtrati da inviare al robot")
>
> port_driven "inDesiredP"
> end
>
>
> # deployment
>
> deployment "TCPMonitor" do
> hmi = task("clientTCP", "TCPClient").
> start
>
> interp = task("interpolatore", "interpolator").
> realtime.
> periodic(0.5).
> start
>
> connect(hmi.desiredP, interp.inDesiredP)
> end
>
> Since I want to read component properties from a cpf file, I declared in my
> component the following service
>
> Marshalling *m;
>
> after that I put in the constructor of my component the instruction
>
> m = new Marshalling( this );
>
> and then I use the marhalling service in configureHook
>
> bool TCPClient::configureHook()
>
> {
> m->writeProperties( "TCPClient.cpf" );
>
> return true;
>
> }
>
> Since I use QT socket I modified the CMakeList.txt generated by orogen as
> you can see belowPROJECT(tcpconnection) cmake_minimum_required(VERSION
> 2.6)
>
> SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/.orogen/config")
> INCLUDE(tcpconnectionBase)
>
> # find and use QT4
> SET(QT_USE_QTNETWORK 1)
> FIND_PACKAGE(Qt4)
> INCLUDE(${QT_USE_FILE})
>
> #adding QTNetwort library
> target_link_libraries(TCPMonitor QtNetwork)
> target_link_libraries(rviewer QtNetwork)
>
> when I run make the component is successfully compiled but the linker ends
> with an
>
> undefined reference for Marshalling(RTT:TaskContext *)
>
> as yo can see belowroot@UBU1004:~/EsempiOrocos/OrogenTCPViever3/build# make
> [ 9%] Built target tcpconnection-typekit-gnulinux
> [ 40%] Built target tcpconnection-tasks-gnulinux
> [ 45%] Built target check-uptodate
> [ 59%] Built target tcpconnection-transport-typelib-gnulinux
> [ 86%] Built target tcpconnection-transport-corba-gnulinux
> Linking CXX executable TCPMonitor
> tasks/libtcpconnection-tasks-gnulinux.so: undefined reference to
> `RTT::Marshalling::Marshalling(RTT::TaskContext*)' collect2: ld returned 1
> exit status
> make[2]: *** [TCPMonitor] Error 1
> make[1]: *** [CMakeFiles/TCPMonitor.dir/all] Error 2
> make: *** [all] Error 2
>
> Then I tried to modify CMakeList file adding a reference to
> librtt-marshalling-gnulinux as you can see below
>
> PROJECT(tcpconnection)
> cmake_minimum_required(VERSION 2.6)
>
> SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/.orogen/config")
> INCLUDE(tcpconnectionBase)
>
> # find and use QT4
> SET(QT_USE_QTNETWORK 1)
> FIND_PACKAGE(Qt4)
> INCLUDE(${QT_USE_FILE})
>
> #adding QTNetwort library
> target_link_libraries(TCPMonitor QtNetwork rtt-marshalling-gnulinux)
> target_link_libraries(rviewer QtNetwork rtt-marshalling-gnulinux)
>
> Running make with this new configuration I get an error from lìnker
> stating that rtt-marshalling-gnulinux can not be found, as you can se in
> the following output.
>
> root@UBU1004:~/EsempiOrocos/OrogenTCPViever3/build# make
> [ 9%] Built target tcpconnection-typekit-gnulinux
> [ 36%] Built target tcpconnection-transport-corba-gnulinux
> [ 40%] Built target check-uptodate
> [ 72%] Built target tcpconnection-tasks-gnulinux
> [ 86%] Built target tcpconnection-transport-typelib-gnulinux
> Linking CXX executable TCPMonitor
> /usr/bin/ld: cannot find -lrtt-marshalling-gnulinux
> collect2: ld returned 1 exit status
> make[2]: *** [TCPMonitor] Error 1
> make[1]: *** [CMakeFiles/TCPMonitor.dir/all] Error 2
> make: *** [all] Error 2
>
>
> I cant figure out why mashalling service cant be used.
> Have I missed some library configuration variable?
>
>
> Please can you help me in understanding my error?
>
> Tank you in advance for you kind support.

Services like marshalling are installed in the lib/orocos/plugins directory.
If you wish to link against them, you should use the FindRTTPlugin.cmake macro
in your project and use it like the OCL uses it:

# Modules path (for searching FindXXX.cmake files)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/config")
find_package(RTTPlugin REQUIRED rtt-scripting)
target_link_libraries( TCPMonitor ${RTT_PLUGIN_rtt-scripting_LIBRARIES} )

Another issue you might have then is that the RPATH must be set to this
lib/orocos/plugins directory. This is best solved by using the
orocos_component macro in hand-written cmake files. I don't know if orogen
generated cmakefiles include this RPATH setting.

Peter