This directory contains the Barobo robot communications software suite.
It is organized into several submodules:

  - BaroboLink : a user-level application to control Barobo robots

  - libbarobo  : a robot communications library used by BaroboLink

  - libsfp     : a reliable link-layer protocol library used by libbarobo


Building
--------

The entire project may be built altogether, or each submodule may be built
individually. Building the project altogether is easier, and will be
described first.

  Linux
  -----

  In the simplest case, you can configure, build out-of-source, and install
  to /usr/local like so (but please read on before executing these commands):

    mkdir build && cd build
    cmake ..
    make
    sudo make install
    sudo ldconfig

  You should be able to run BaroboLink and BaroboFirmwareUpdate now.
  However, I do not recommend this, as /usr/local should be reserved for
  software that installs a fairly stable set of files -- this software suite
  is not one of them.

  You can change the installation location with the -DCMAKE_INSTALL_PREFIX
  option to CMake (analogous to autotools' --prefix option). It is also a
  good idea to specify the build type (debug, release, etc.). These things
  are accomplished like so:

    mkdir stage build-debug && cd build-debug
    cmake .. -DCMAKE_INSTALL_PREFIX=../stage -DCMAKE_BUILD_TYPE=debug
    make && make install

  Although that cmake command line is fairly uncomfortable, you should only
  have to run it once.

  Before you can run BaroboLink, you'll need to make sure your installation
  location is in your path-related environment variables. The required ones
  are LD_LIBRARY_PATH (for dynamic linking) and XDG_DATA_DIRS (for
  BaroboLink's interface files). You may also wish to modify your PATH.
  Assuming the absolute path of your installation prefix is in the STAGE
  environment variable, you would execute these commands:

    export PATH=$STAGE/bin:$PATH
    export LD_LIBRARY_PATH=$STAGE/lib:$LD_LIBRARY_PATH
    export XDG_DATA_DIRS=$STAGE/share:$XDG_DATA_DIRS
    BaroboLink

  You might want to put those export lines in your .bashrc. Alternatively,
  you can enter a separate shell set up for this development environment by
  executing `bash --rcfile util/devenv.rc`.

  It is not strictly necessary to install BaroboLink to run it, as long as
  it can find its libraries and interface files in some way.


  Win32 (MinGW)
  -------------

  Build instructions for MinGW are nearly identical to those for Linux, with
  a few changed details. Follow the Linux instructions, but be aware:

    - there is no LD_LIBRARY_PATH environment variable. Use PATH instead, or
      make sure DLLs live in the same directory as the EXE which requires
      them.

    - there is no XDG_DATA_DIRS environment variable. BaroboLink will search
      some hardcoded paths for its interface files -- see the source code.

    - spaces in directory names are more common in Windows. Use quotes in
      your command line arguments as necessary.


  OS X
  ----

  Build instructions for OS X are nearly identical to those for Linux, with
  the exception that there is no LD_LIBRARY_PATH. Use DYLD_FALLBACK_LIBRARY_PATH
  instead.