New PiCameraServer Driver and fixed Logging of slice executables error cmake

[vinay0410]

While building from source especially in Raspberry Pi, if Ice executables are not added in path. Cmake configuring is completed, whereas make fails throwing an error Cannot determine Link language in jderobotInterfaces
This pull request will generate an error if slice2cpp, slice2py or slice2java is not present in path while running cmake.

[fqez]

Hi @vinay0410 I've detected a couple of issues while testing this PR:

1- slice2java building by default

You fixed the logging really well in this one! :) But while making the cmake configuring, it shows the following error:

-- Building ICE Interfaces for:
-- 	CPP
-- 	Java
-- 	Python
CMake Error at src/interfaces/CMakeLists.txt:114 (MESSAGE):
  slice2java executable not present in path! Please Install Ice first and add
  its executables in path.


-- Configuring incomplete, errors occurred!

You made the java interfaces building mandatory but we have no java code in our project, therefore we do not install the slice2java program by default. Could you please make this optional by turning off the build_interfaces_java OFF by default? It is totally our fault for not controlling this things from happening, so thanks for fixing it, though!

2- Harcoded paths in CMakeLists.txt

We are trying to remove as much harcoded paths as we can, because it's usually the origin of thousands of headaches :( so are those hardcoded paths in the piCamServer driver needed?

The rest of the PR seems to be ok, good job! I haven't a raspberry pi to test it properly, but if you solve those issues this is good to go!

Thanks a lot for contributing!

[vinay0410]

Hi @fqez ,
Thanks for updating on the issues. About the hardcoded paths, I was thinking of writing a Findmmal.cmake file as an alternative.
So, I am currently testing the same on my RPi3 and will update about the same soon.

[vinay0410]

Hi @fqez ,
Default Java build is now off, as you said.

Also, I am now using a FindMMAL.cmake file to find mmal library, and it is installed by default in the raspberry pi in the /opt/vc/ directory.
And if this library is present then only picamserver is built, therefore it will be built automatically in raspberry pi.

Also, you would understand, that installing JdeRobot is very painstaking in Raspberry Pi. So, it would be better if we could create packages for the same.
So, I get this output while running cmake

deps-dev
dpkg-deb: building package 'jderobot-deps-dev' in '.dpkg_pkgs/jderobot-deps-dev_5.6.3_all.deb'.
drivers
dpkg-deb: building package 'jderobot-drivers' in '.dpkg_pkgs/jderobot-drivers_5.6.3_all.deb'.
examples
dpkg-deb: building package 'jderobot-examples' in '.dpkg_pkgs/jderobot-examples_5.6.3_all.deb'.
libs
dpkg-deb: building package 'jderobot-libs' in '.dpkg_pkgs/jderobot-libs_5.6.3_all.deb'.
tools
dpkg-deb: building package 'jderobot-tools' in '.dpkg_pkgs/jderobot-tools_5.6.3_all.deb'.
zeroc-ice-python
cp: cannot create regular file '.dpkg_pkgs/jderobot-zeroc-ice-python_5.6.3_all/DEBIAN/postinst': Permission denied
cp: cannot create regular file '.dpkg_pkgs/jderobot-zeroc-ice-python_5.6.3_all/DEBIAN/postrm': Permission denied
dpkg-deb: building package 'jderobot-zeroc-ice-python' in '.dpkg_pkgs/jderobot-zeroc-ice-python_5.6.3_all.deb'.
jderobot
dpkg-deb: building package 'jderobot' in '.dpkg_pkgs/jderobot_5.6.3_all.deb'.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vinay/JdeRobot/build

So, are these debain packages being created for raspberry pi, if yes, then can we use them directly to install JdeRobot on raspberry pi.

[fqez]

Hi @vinay0410 thanks a lot for the patch :) It looks good to me now, nonetheless I will test the compilation tomorrow. Nice job!

[fqez]

About the package you mention, yes. We have been thinking about supporting installation from debian repositories for ARM architectures. But nowadays we have tons of work to do, so we can't focus on giving support to ARM right now (but it will come for sure!) Those generated packages, by the way, are empty metapackages that gather only dependencies of other packages to be installed.
As a workaround, you can create an image of your current installation in ARM and share it, to make the installation of jderobot more bearable. If you don't feel like so, we can do it when we are more idle.

Again, thanks for the patch and sorry for the poor support we are giving for ARM right now.