head	1.20;
access;
symbols
	Hobson_Rock_14Dec2009:1.20
	HEAD_CTD_MERGE:1.18.0.4
	BEFORE_VCS_CHANGE:1.19.2.4
	Hobson_Rock_16Oct2009:1.19
	Hobson_Rock_29June2009:1.19
	Jun15_2009:1.19
	Apr_7_2009:1.19
	mar19_2009:1.19
	mar18_2009:1.19
	feb13_2009:1.19
	feb10-2009:1.19
	feb09-2009:1.19
	dec15_2008:1.19
	dec12_2008:1.19
	ST_10_5:1.19.2.2
	ST_10_4b:1.19.2.2
	ST_10_4:1.19.2.2
	ST_10_3:1.19.2.2
	ST10_HW:1.19.2.2
	ST_10_2:1.19
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	AUTONOMY_BRANCH:1.19.0.2
	AUTONOMY:1.19
	AUTONOMY-2008_07_30:1.19
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	RELEASE_27_April_2007_CTD_1:1.18.0.2
	Development_With_Wayne_060804:1.16
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	Rel-15Dec2003:1.16
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	Rel-26Nov2003:1.16
	OctansJune5:1.14
	Ver3-0:1.13
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	Ver1-3:1.4
	Ver1-2:1.4
	Ver1-1:1.4
	Validate1:1.4
	OdysseyMatch2:1.3;
locks; strict;
comment	@# @;


1.20
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desc
@@


1.20
log
@Added a new method to NavigationIF.idl, resetUTM().  This takes
delta-northing and delta-easting offsets as arguments, and adds them to the
propagated navigation state, _state.position.x and .y.  It also then
recomputes the latitude and longitude and resets those as well.
NavigationServer passes the offset to the driver using message passing,
instead of shared memory, which is contained in the new NavigatioInput class.
Message passing avoids the acknowledgement, and subsequent critical section,
necessary for shared memory, since message acceptance is atomic.  Also,
messages stack up in the queue and are not lost as they would (or could) be
with shared memory.
@
text
@##########################################################################
# Copyright 1999 MBARI                                             
##########################################################################
# Summary  : Makefile for Navigation
# Filename : Makefile
# Author   : Andrew Pearce
# Project  : 
# Version  : Version 1.0
# Created  : 12/06/99
# Modified : 12/06/99
# Archived :
##########################################################################
# Modification History:
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/Navigation/Makefile,v 1.19 2008/07/29 15:32:52 fpy Exp $
#
##########################################################################

CC	    = cc
CCPP	    = cc
LD	    = cc
AR 	    = wlib
DEPEND_TOOL = makedepend

DEBUG 	    = -g
EXCEPTION_HANDLING = -WC,-xs

## OPTIMIZE = -4 -Os
OPTIMIZE = 

## MAP_OUTPUT = -S -ms -M
MAP_OUTPUT =

AUV_BIN_DIR = ../bin

CFLAGS	    = -c $(DEBUG) $(MAP_OUTPUT) $(OPTIMIZE) -D_QNX -DUNIX  
CPPFLAGS    = -c $(DEBUG) $(MAP_OUTPUT) $(OPTIMIZE) -D_QNX -DUNIX \
	         $(EXCEPTION_HANDLING)
#
# Warning:  -I.\ was removed from the below include list to make room for the
# lbl stuff.  Qnx Makedepend is apparently limited to 12 include paths.
#
INCLUDES    = -I.. \
	      -I../utils \
	      -I../framework \
	      -I../DataLog \
	      -I../DynamicControl \
	      -I../LayeredControl \
	      -I../taskIF \
	      -I../gps \
	      -I../ins \
	      -I/usr/include\
              -I/usr/local/src/gctpc/source \
              -I./jerome
#              -I./bamdy \

LDFLAGS	    = -g -lmqueue
LIBPATH	    = /usr/lib:../lib

LIBS        =   ../utils/utils.lib \
		../taskIF/taskInterfaces.lib \
		../DataLog/dataLog.lib \
		../framework/auvFramework.lib \
		/usr/local/lib/gctpc/geolib.a
#		/usr/local/src/gctpc/source/geolib.a


OBJS	    = 	Ahrs.o \
		Altimeter.o \
		DepthSensor.o \
		Gps.o \
		Lbl.o \
		Dvl.o \
		Ins.o \
		Usbl.o \
		NavSensor.o \
		Navigation.o \
		NavigationLog.o \
		NavigationOutput.o \
		NavigationServer.o \
		NavigationInput.o \
		RangeFinder.o \
		TailCone.o \
		Velocimeter.o\
                jerome/lbl_goats2000_v3.o\
                jerome/kalman.o\
                jerome/lsq_fix.o\
                jerome/matrice.o\
                jerome/lbl_init.o\
                bamdy/lbl_goats98.o \
                bamdy/vehicle.o


TARGETS = 	navigation \
		navigationServer \
		jerome/jerome_standalone

ifeq ($(AUTONOMY), 1)
# Specific configuration for AUTONOMY group
# this allow to alter the value of the different variables
# used by make when AUTONOMY variable has been set to 1
# on the calling shell  
-include ../autonomy.make # this file contains the general
                       # modifications we want to apply to
                       # all the modules 

# following line are more specific to this file 

# end of AUTONOMY specific
endif 

all:		$(TARGETS)

navigation:  	 _navigation.o  $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _navigation.o $(OBJS) $(LIBS) -o $@@


navigationServer:  _navigationServer.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _navigationServer.o $(OBJS) $(LIBS) -o $@@

jerome/jerome_standalone: \
	jerome/kalman.o \
	jerome/lsq_fix.o \
	jerome/matrice.o \
	jerome/lbl_init.o \
	jerome/lbl_goats2000_v3.o
	$(CC) $(CFLAGS) -DREAL_DATA_POST_PROCESSING \
	-o jerome/jerome_standalone.o \
	jerome/lbl_goats2000_v3.c
	$(LD) $(LDFLAGS) jerome/jerome_standalone.o \
	jerome/kalman.o \
	jerome/lsq_fix.o \
	jerome/matrice.o \
	jerome/lbl_init.o \
	-o jerome/jerome_standalone

install:	$(TARGETS)
		cp -fnv $(TARGETS) 		$(AUV_BIN_DIR)/. 

##########################################################################
# Do not modify anything below this line unless absolutely necessary

.SUFFIXES:
.SUFFIXES:	.o .c .cc .d .idl

%.d: %.c
	    @@echo Generating dependencies for $?
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@

%.d: %.cc
	    @@echo Generating dependencies for $?
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@

%.o: %.c 
	    $(CC) $(CFLAGS) $(INCLUDES) $< -o $@@	
	    @@echo
%.o: %.cc
	    $(CCPP) $(CPPFLAGS) $(INCLUDES) $< -o $@@
	    @@echo

DEST	    = .

MAKEFILE    = Makefile

include       $(OBJS:.o=.d)

depend:	$(OBJS:.o=.d)

clean:
	rm -f core *.o $(OBJS:.o=.d) *.lib *.yy *.tab.* $(TARGETS)

update:
	cvs update $(CC_SRCS) $MAKEFILE

commit:
	cvs commit $(CC_SRCS) $MAKEFILE

##########################################################################

@


1.19
log
@added global configuration file for make under autonomy
@
text
@d14 1
a14 1
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/Navigation/Makefile,v 1.18 2005/12/08 03:18:10 rob Exp $
d56 1
a56 1
LDFLAGS	    = -g
d80 1
@


1.19.2.1
log
@compiled version on saumon
@
text
@d14 1
a14 1
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/Navigation/Makefile,v 1.19 2008/07/29 15:32:52 fpy Exp $
d50 1
d53 2
a54 2
              -I./jerome 
#              -I./bamdy
@


1.19.2.2
log
@rolled back Navigator and seabird to dmo version
@
text
@d14 1
a14 1
# $Header: /data/altex/Master/auv/altex/onboard/Navigation/yoerger/Makefile,v 1.1 2000/07/20 16:34:52 oreilly Exp $
d38 5
a42 3

INCLUDES    = -I.  \
	      -I.. \
d51 3
a53 1
              -I/usr/local/src/gctpc/source
d66 37
a102 1
OBJS	    = 	lbl.o nav.o
d104 1
d106 2
a107 1
TARGETS = 	test_lbl
d111 3
a113 2
test_lbl:  	 test_lbl.o  $(OBJS) 
	$(LD) $(LDFLAGS) test_lbl.o $(OBJS) -o $@@
d115 2
d118 18
a135 2
install:
		cp -f $(TARGETS) 		$(AUV_BIN_DIR)/. 
d145 2
a146 1
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@
d150 2
a151 1
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@ 
d166 1
a166 1
depend:	
a177 8








@


1.19.2.3
log
@rolled back to old Makefile it looks like there was an aggresiive commit probably from myself
@
text
@d14 1
a14 1
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/Navigation/Makefile,v 1.18 2005/12/08 03:18:10 rob Exp $
d38 3
a40 5
#
# Warning:  -I.\ was removed from the below include list to make room for the
# lbl stuff.  Qnx Makedepend is apparently limited to 12 include paths.
#
INCLUDES    = -I.. \
a47 1
	      -I../ins \
d49 1
a49 3
              -I/usr/local/src/gctpc/source \
              -I./jerome
#              -I./bamdy \
d62 1
a62 28
OBJS	    = 	Ahrs.o \
		Altimeter.o \
		DepthSensor.o \
		Gps.o \
		Lbl.o \
		Dvl.o \
		Ins.o \
		Usbl.o \
		NavSensor.o \
		Navigation.o \
		NavigationLog.o \
		NavigationOutput.o \
		NavigationServer.o \
		RangeFinder.o \
		TailCone.o \
		Velocimeter.o\
                jerome/lbl_goats2000_v3.o\
                jerome/kalman.o\
                jerome/lsq_fix.o\
                jerome/matrice.o\
                jerome/lbl_init.o\
                bamdy/lbl_goats98.o \
                bamdy/vehicle.o


TARGETS = 	navigation \
		navigationServer \
		jerome/jerome_standalone
a63 1
all:		$(TARGETS)
d65 1
a65 2
navigation:  	 _navigation.o  $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _navigation.o $(OBJS) $(LIBS) -o $@@
d67 1
d69 2
a70 2
navigationServer:  _navigationServer.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) _navigationServer.o $(OBJS) $(LIBS) -o $@@
a71 15
jerome/jerome_standalone: \
	jerome/kalman.o \
	jerome/lsq_fix.o \
	jerome/matrice.o \
	jerome/lbl_init.o \
	jerome/lbl_goats2000_v3.o
	$(CC) $(CFLAGS) -DREAL_DATA_POST_PROCESSING \
	-o jerome/jerome_standalone.o \
	jerome/lbl_goats2000_v3.c
	$(LD) $(LDFLAGS) jerome/jerome_standalone.o \
	jerome/kalman.o \
	jerome/lsq_fix.o \
	jerome/matrice.o \
	jerome/lbl_init.o \
	-o jerome/jerome_standalone
d73 2
a74 2
install:	$(TARGETS)
		cp -fnv $(TARGETS) 		$(AUV_BIN_DIR)/. 
d84 1
a84 2
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@
d88 1
a88 2
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@.tmp
	    @@mv $@@.tmp $@@
d103 1
a103 1
depend:	$(OBJS:.o=.d)
d115 8
@


1.19.2.4
log
@updated Makefile so it includes atonomy.make for autonomy mission
@
text
@d14 1
a14 1
# $Header: /home/cvs/auv-qnx/auv/altex/onboard/Navigation/Makefile,v 1.19.2.3 2009/04/23 20:35:55 fpy Exp $
d51 1
a51 1
#	      -I/usr/include\
a95 4
ifeq ($(AUTONOMY), 1)
-include ../autonomy.make
endif

d156 1
a156 1
	rm -f core */*.o *.o $(OBJS:.o=.d) *.lib *.yy *.tab.* $(TARGETS)
@


1.19.2.5
log
@patched Navigation
@
text
@@


1.18
log
@Added a Usbl NavSensor.  Navigation computes bearing, relative to the
vehicle, from the range vector measured by the Usbl.

Usbl.cc flags the Usbl data as good, and latches the range vector, until the
instrument times out waiting for a response, at which point it is marked
"Stale".  Bear in mind that the Usbl sampling rate is many times slower than
5 Hz, probably about a second.

The struct "Position" has been expanded to include Usbl data in the .idl
file.
@
text
@d14 1
a14 1
# $Header: /data/altex/Master/auv/altex/onboard/Navigation/Makefile,v 1.17 2004/11/16 22:13:10 rob Exp $
d95 14
@


1.17
log
@make install uses -fnv so that it only copies newer executables.
@
text
@d14 1
a14 1
# $Header: /data/altex/Master/auv/altex/onboard/Navigation/Makefile,v 1.16 2001/08/15 00:27:18 rob Exp $
d74 1
@


1.16
log
@Commented out -I./bamdy from the INCLUDES because Qnx Makedepend fails
for greater than 12 files, and Ins.h was added.
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.15 2001/07/13 12:59:21 hthomas Exp $
d121 1
a121 1
		cp -f $(TARGETS) 		$(AUV_BIN_DIR)/. 
@


1.15
log
@set up INS interface to feed into nav solution
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.14 2001/06/02 21:33:28 hthomas Exp $
a52 1
              -I./bamdy \
d54 1
@


1.14
log
@various changes; remove stale entries in root makefile, fixed file naming to allow for serving from windows, and fixed makefiles to avoid file linking/unlinking problem in makedepend when talking through samba to windows boxes
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.13 2001/04/02 18:52:15 rob Exp $
d50 1
d73 1
@


1.13
log
@Added Dvl.o to the OBJS list
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.12 2001/03/22 01:08:48 rob Exp $
d129 2
a130 1
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@
d134 2
a135 1
	    $(DEPEND_TOOL) $(INCLUDES) $? -f $@@ 
@


1.12
log
@Added the target jerome/jerome_standalone.  Now the makefile will
additionally build the stand-alone, post-processing lbl executable.
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.11 2000/08/19 01:00:45 rob Exp $
d71 1
@


1.11
log
@Added the lbl code.  It exists in subdirectories jerome and bamdy.
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.10 2000/06/21 21:15:57 rob Exp $
d89 2
a90 1
		navigationServer
d101 15
@


1.10
log
@Changed the gctpc pathname to be consistant with the Simulation and
Layered Control makefiles.
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.9 2000/04/07 17:43:45 rob Exp $
d38 5
a42 3

INCLUDES    = -I.  \
	      -I.. \
d51 3
a53 1
              -I/usr/local/src/gctpc/source
d78 8
a85 1
		Velocimeter.o
d101 1
a101 1
install:
d112 1
a112 1
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@
d116 1
a116 1
	    @@$(DEPEND_TOOL) $(INCLUDES) $? -f $@@ 
d131 1
a131 1
depend:	
a142 8








@


1.9
log
@Added calls to the gctp package, which converts geo to utm.
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.8 2000/03/21 21:57:31 oreilly Exp $
d58 2
a59 1
		/usr/local/src/gctpc/source/geolib.a
@


1.8
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.7 2000/03/20 19:36:31 oreilly Exp $
d47 3
a49 1
	      -I/usr/include           
d57 2
a58 1
		../framework/auvFramework.lib
@


1.7
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.6 2000/03/14 18:07:27 oreilly Exp $
d22 1
a22 1
DEPEND_TOOL = /usr/altex/bin/makedepend
@


1.6
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.5 2000/01/18 03:03:51 amarsh Exp $
d78 2
a79 2
navigation:  	 navigation.o  $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) navigation.o $(OBJS) $(LIBS) -o $@@
d82 2
a83 2
navigationServer:  navigationServer.o $(OBJS) $(LIBS) 
	$(LD) $(LDFLAGS) navigationServer.o $(OBJS) $(LIBS) -o $@@
d87 1
a87 2
		cp -f navigation 		$(AUV_BIN_DIR)/. 
		cp -f navigationServer 		$(AUV_BIN_DIR)/. 
@


1.5
log
@Modified makefiles to also delete executables and libraries
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.4 1999/12/27 19:11:01 oreilly Exp $
d58 7
a64 1
OBJS	    = 	Navigation.o \
d67 5
a71 1
		NavigationServer.o
@


1.4
log
@*** empty log message ***
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.3 1999/12/15 22:54:30 oreilly Exp $
d63 1
a63 1
all:		navigation \
d66 2
d110 1
a110 1
	rm -f core *.o $(OBJS:.o=.d) *.lib *.yy *.tab.* 
@


1.3
log
@Added target 'install'
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.2 1999/12/15 17:14:39 oreilly Exp $
d108 1
a108 1
	rm -f core $(OBJS) $(OBJS:.o=.d) *.lib *.yy *.tab.* 
@


1.2
log
@build executables properly
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/Navigation/Makefile,v 1.1 1999/12/14 00:10:05 pean Exp $
d33 2
d72 5
@


1.1
log
@Moved files to Navigation subdirectory
@
text
@d14 1
a14 1
# $Header: /usr/local/cvs/auv/altex/onboard/kvhCompass/Makefile,v 1.1 1999/12/08 16:56:23 pean Exp $
d62 1
a62 1
		navigationServer.o 
d64 2
a65 1
navigation:  	   $(OBJS) $(LIBS) 
d67 3
a69 1
navigationServer:  $(OBJS) $(LIBS) 
@
