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Other versions of the make program are still active, such as the bmake program used by most modern BSD-inspired versions of Unix (for example, FreeBSD and NetBSD), and the imake program used by the X Window System project; but GNU make is probably the most common version of the program used today Subsequent references to the make program throughout this chapter therefore refer to GNU make The rules used by any make program are stored in text files named Makefile, which contain dependency rules and the commands necessary to satisfy them As you might expect, the Makefiles for complex applications are themselves extremely complex as well as platform-specific, since they need to invoke platform-specific libraries and utilities that may be located in different directories or have different names on different systems.

{ private ArrayList _projects; // remaining code omitted } Figure 4-11 shows the object graph for an example of a many-to-many relationship with inverse relationships, while Figure 4-12 shows the contents of a db4o database with these objects stored. There are two Employees, both of whom are assigned to the same two Projects. Each Employee object stores the OID of an ArrayList, which in turn stores the OIDs of the two Projects. Similarly, each Project stores the OID of an ArrayList, which stores the OIDs of these two Employees. There are thus four separate ArrayList objects.

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To simplify creating Makefiles, David MacKenzie also developed the automake program, which uses a simple description of the build process that is employed to generate Makefiles The automake program was quickly rewritten in Perl by Tom Tromey, who still maintains and enhances it The automake program generates a Makefile for an application from an application-specific input file named makefileam A makefileam file contains sets of make macros and rules that are expanded into a file called makefilein, which is then processed by the autoconf program to produce a Makefile that is tailored for a specific system Like the autoconf program s configureac files, a complex application that uses automake may have multiple makefileam files in various subdirectories and reflect specific requirements for the Makefile used to compile the library or distinct functionality provided by the source code located in that directory.

This layer represents the third-party controllers. These controllers allow you to communicate in both the language of a robot and the language of a computer. Parallax Stamp MiniSSC-II Servo Controller Microcontroller

The Makefiles produced by the automake program are fully compliant with the Free Software Foundation s GNU Makefile conventions, though these files are only readable by experts or people who do not get migraine headaches For complete information about the GNU Makefile conventions, see http://wwwgnuorg/prep/standards/html_node/Makefile-Conventionshtml, which is a portion of the larger GNU Coding Standards document at http://wwwgnuorg/prep/ standardshtml The last component of a truly platform-independent compilation, build, and execution environment is a tool that facilitates linking to libraries of functions, such as the generic C language.

Figure 4-12. Many-to-many relationship using inverse relationships As was the case for simple inverse relationships, it is the responsibility of the application to ensure that the relationships are correctly maintained. Note that the object graph contains circular references. In fact, you can traverse relationships starting from any object on this graph to reach any object, including the one you started with. The implication of this is that you only need to select one object to store in the database, and the entire object graph will be stored! Figure 4-13 shows the contents of a database that is similar, except that the class definition for Employee does not contain a collection of Projects. The Employee objects do not therefore store any OIDs of Projects. The information stored here is exactly the same as in Figure 4-12: it is just the navigability that is more restricted.

libraries, that are standard on a given platform and are also external to the application you are building. Linking is fairly simple when static libraries are actually linked to the executable you are compiling, but becomes complex when shared libraries are being used. The GNU libtool application automatically handles identifying and resolving library names and dependencies when compiling an application that uses shared libraries. We will cross that bridge when we come to it 8 explains the use of this application during the compilation and build process. The remainder of this chapter shows you how to compile and install autoconf and automake, and how to create the configuration files required to use them to create portable, flexible distributions of your applications that can quickly and easily be compiled on a variety of platforms.

Once you organize the components you have to work with, it s time to create some soft models of those hardware components. Pick a name (for example, PanTiltCamera). Model what you want it to do (move up/down, move left/right, take a picture, and so on). Stub out your class. Plan what can go wrong and how you want to deal with it. After you ve modeled your hardware and behavior, you should be ready to calculate the synchronization between the two.

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