Неопределенное (Ссылка на обоих переменных объекта и базовых переменных), C++, AVR

Question

IntermediateRobotFunctions.cpp:

/* 
* IntermediateRobotFunctions.cpp 
* 
* Created on: 27 Mar 2015 
*  Author: Edward 
*/ 

#include "IntermediateRobotFunctions.hpp" 

IntermediateRobotFunctions::IntermediateRobotFunctions() { 
    block = Block::Block(); 
    robot = Robot::Robot(); 
    basic = BasicRobotFunctions::BasicRobotFunctions(); 
    carrying = false; 
} 

IntermediateRobotFunctions::IntermediateRobotFunctions(Robot R,Block B) { 
    block = B; 
    robot = R; 
    basic = BasicRobotFunctions::BasicRobotFunctions(R); 
    carrying = false; 
} 

IntermediateRobotFunctions::~IntermediateRobotFunctions() {} 

void IntermediateRobotFunctions::PickUp(Robot R, Block B){ 
    if(R.getCarrying()==false){ 
     Walk(R); 
     basic.MoveChest(); 
     basic.MoveArm(1); 
     basic.MoveArm(2); 
     basic.MoveChest(); 
     R.setCarrying(true); 
     carrying = true; 
    } 
    else{ 
     PutDown(R); 
     PickUp(R,B); 
    } 
} 

void IntermediateRobotFunctions::PutDown(Robot R){ 
    if(R.getCarrying()==true){ 
     basic.MoveChest(); 
     basic.MoveArm(1); 
     basic.MoveArm(2); 
     basic.MoveChest(); 
     R.setCarrying(false); 
     carrying = false; 
    } 
} 

//TODO to test 
Block IntermediateRobotFunctions::newNearest(){ 
    Block B,B1; 
    B1 = Block::Block(); 
    for(int i = 0; i<360; i++){ 
     basic.Turn(1); 
     if(dxl_read_word(100,32)>0){ 
      B = Block::Block(); 
      B.setDistance(dxl_read_word(100,27)); 
      B.setBrightness(dxl_read_word(100,30)); 
      B.setGrounded(true); 
     } 
     if(B.getDistance() <= B1.getDistance()){ 
      B1 = B; 
     } 
    } 
    return B1; 
} 

Robot IntermediateRobotFunctions::updateRobotData(){ 
    Block block; 
    bool carry = carrying; 
    block = newNearest(robot); 
    Robot R = Robot(block,carry); 
    return R; 
} 

//TODO to test 
void IntermediateRobotFunctions::Walk(Robot R){ 
    int steps = basic.CalculateSteps(); 
    while(dxl_read_word(100,32)<=0) 
     basic.Turn(1); 
    for(int i =0;i<steps;i++){ 
     basic.Step(1); 
     basic.Step(2); 
    } 
} 

IntermediateRobotFunctions.hpp:

/* 
* IntermediateRobotFunctions.hpp 
* 
* Created on: 27 Mar 2015 
*  Author: Edward 
*/ 

#ifndef INTERMEDIATEROBOTFUNCTIONS_HPP_ 
#define INTERMEDIATEROBOTFUNCTIONS_HPP_ 

#include "typedefinitions.h" 
#include "Robot.hpp" 
#include "Block.hpp" 
#include "BasicRobotFunctions.hpp" 

class IntermediateRobotFunctions { 
public: 
    static Block block; 
    static Robot robot; 
    static BasicRobotFunctions basic; 
    static bool carrying; 
    //pos position; 
    static void PickUp(Robot R, Block B); 
    static void PutDown(Robot R); 
    static void Walk(Robot R); 
    static Block newNearest(Robot R); 
    static Block newNearest(); 
    static Robot updateRobotData(); 
    IntermediateRobotFunctions(); 
    IntermediateRobotFunctions(Robot R,Block B); 
    virtual ~IntermediateRobotFunctions(); 
}; 

#endif /* INTERMEDIATEROBOTFUNCTIONS_HPP_ */ 

Makefile:

# Hey Emacs, this is a -*- makefile -*- 
#---------------------------------------------------------------------------- 
# WinAVR Makefile Template written by Eric B. Weddington, Jörg Wunsch, et al. 
# 
# Released to the Public Domain 
# 
# Additional material for this makefile was written by: 
# Peter Fleury 
# Tim Henigan 
# Colin O'Flynn 
# Reiner Patommel 
# Markus Pfaff 
# Sander Pool 
# Frederik Rouleau 
# Carlos Lamas 
# 
#---------------------------------------------------------------------------- 
# On command line: 
# 
# make all = Make software. 
# 
# make clean = Clean out built project files. 
# 
# make coff = Convert ELF to AVR COFF. 
# 
# make extcoff = Convert ELF to AVR Extended COFF. 
# 
# make program = Download the hex file to the device, using avrdude. 
#    Please customize the avrdude settings below first! 
# 
# make debug = Start either simulavr or avarice as specified for debugging, 
#    with avr-gdb or avr-insight as the front end for debugging. 
# 
# make filename.s = Just compile filename.c into the assembler code only. 
# 
# make filename.i = Create a preprocessed source file for use in submitting 
#     bug reports to the GCC project. 
# 
# To rebuild project do "make clean" then "make all". 
#---------------------------------------------------------------------------- 


# MCU name 
MCU = atmega128 


# Processor frequency. 
#  This will define a symbol, F_CPU, in all source code files equal to the 
#  processor frequency. You can then use this symbol in your source code to 
#  calculate timings. Do NOT tack on a 'UL' at the end, this will be done 
#  automatically to create a 32-bit value in your source code. 
#  Typical values are: 
#   F_CPU = 1000000 
#   F_CPU = 1843200 
#   F_CPU = 2000000 
#   F_CPU = 3686400 
#   F_CPU = 4000000 
#   F_CPU = 7372800 
#   F_CPU = 8000000 
#   F_CPU = 11059200 
#   F_CPU = 14745600 
#   F_CPU = 16000000 
#   F_CPU = 18432000 
#   F_CPU = 20000000 
F_CPU = 16000000 


# Output format. (can be srec, ihex, binary) 
FORMAT = ihex 


# Target file name (without extension). 
TARGET = main 


# Object files directory 
#  To put object files in current directory, use a dot (.), do NOT make 
#  this an empty or blank macro! 
OBJDIR = . 


# List C source files here. (C dependencies are automatically generated.) 
SRC = 


# List C++ source files here. (C dependencies are automatically generated.) 
CPPSRC = $(TARGET).cpp AdvancedRobotFunctions.cpp IntermediateRobotFunctions.cpp BasicRobotFunctions.cpp Robot.cpp Block.cpp Structure.cpp 


# List Assembler source files here. 
#  Make them always end in a capital .S. Files ending in a lowercase .s 
#  will not be considered source files but generated files (assembler 
#  output from the compiler), and will be deleted upon "make clean"! 
#  Even though the DOS/Win* filesystem matches both .s and .S the same, 
#  it will preserve the spelling of the filenames, and gcc itself does 
#  care about how the name is spelled on its command-line. 
ASRC = 


# Optimization level, can be [0, 1, 2, 3, s]. 
#  0 = turn off optimization. s = optimize for size. 
#  (Note: 3 is not always the best optimization level. See avr-libc FAQ.) 
OPT = s 


# Debugging format. 
#  Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. 
#  AVR Studio 4.10 requires dwarf-2. 
#  AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. 
DEBUG = dwarf-2 


# List any extra directories to look for include files here. 
#  Each directory must be seperated by a space. 
#  Use forward slashes for directory separators. 
#  For a directory that has spaces, enclose it in quotes. 
EXTRAINCDIRS = 


# Compiler flag to set the C Standard level. 
#  c89 = "ANSI" C 
#  gnu89 = c89 plus GCC extensions 
#  c99 = ISO C99 standard (not yet fully implemented) 
#  gnu99 = c99 plus GCC extensions 
CSTANDARD = -std=gnu99 


# Place -D or -U options here for C sources 
CDEFS = -DF_CPU=$(F_CPU)UL 


# Place -D or -U options here for ASM sources 
ADEFS = -DF_CPU=$(F_CPU) 


# Place -D or -U options here for C++ sources 
CPPDEFS = -DF_CPU=$(F_CPU)UL 
#CPPDEFS += -D__STDC_LIMIT_MACROS 
#CPPDEFS += -D__STDC_CONSTANT_MACROS 



#---------------- Compiler Options C ---------------- 
# -g*:   generate debugging information 
# -O*:   optimization level 
# -f...:  tuning, see GCC manual and avr-libc documentation 
# -Wall...:  warning level 
# -Wa,...:  tell GCC to pass this to the assembler. 
# -adhlns...: create assembler listing 
CFLAGS = -g$(DEBUG) 
CFLAGS += $(CDEFS) 
CFLAGS += -O$(OPT) 
CFLAGS += -funsigned-char 
CFLAGS += -funsigned-bitfields 
CFLAGS += -fpack-struct 
CFLAGS += -fshort-enums 
CFLAGS += -Wall 
CFLAGS += -Wstrict-prototypes 
#CFLAGS += -mshort-calls 
#CFLAGS += -fno-unit-at-a-time 
#CFLAGS += -Wundef 
#CFLAGS += -Wunreachable-code 
#CFLAGS += -Wsign-compare 
CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst) 
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) 
CFLAGS += $(CSTANDARD) 


#---------------- Compiler Options C++ ---------------- 
# -g*:   generate debugging information 
# -O*:   optimization level 
# -f...:  tuning, see GCC manual and avr-libc documentation 
# -Wall...:  warning level 
# -Wa,...:  tell GCC to pass this to the assembler. 
# -adhlns...: create assembler listing 
CPPFLAGS = -g$(DEBUG) 
CPPFLAGS += $(CPPDEFS) 
CPPFLAGS += -O$(OPT) 
CPPFLAGS += -funsigned-char 
CPPFLAGS += -funsigned-bitfields 
CPPFLAGS += -fpack-struct 
CPPFLAGS += -fshort-enums 
CPPFLAGS += -fno-exceptions 
CPPFLAGS += -Wall 
CPPFLAGS += -Wundef 
#CPPFLAGS += -mshort-calls 
#CPPFLAGS += -fno-unit-at-a-time 
#CPPFLAGS += -Wstrict-prototypes 
#CPPFLAGS += -Wunreachable-code 
#CPPFLAGS += -Wsign-compare 
CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst) 
CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) 
CPPFLAGS += $(CSTANDARD) 


#---------------- Assembler Options ---------------- 
# -Wa,...: tell GCC to pass this to the assembler. 
# -adhlns: create listing 
# -gstabs: have the assembler create line number information; note that 
#    for use in COFF files, additional information about filenames 
#    and function names needs to be present in the assembler source 
#    files -- see avr-libc docs [FIXME: not yet described there] 
# -listing-cont-lines: Sets the maximum number of continuation lines of hex 
#  dump that will be displayed for a given single line of source input. 
ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100 


#---------------- Library Options ---------------- 
# Minimalistic printf version 
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min 

# Floating point printf version (requires MATH_LIB = -lm below) 
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt 

# If this is left blank, then it will use the Standard printf version. 
PRINTF_LIB = 
#PRINTF_LIB = $(PRINTF_LIB_MIN) 
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) 


# Minimalistic scanf version 
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min 

# Floating point + %[ scanf version (requires MATH_LIB = -lm below) 
SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt 

# If this is left blank, then it will use the Standard scanf version. 
SCANF_LIB = 
#SCANF_LIB = $(SCANF_LIB_MIN) 
#SCANF_LIB = $(SCANF_LIB_FLOAT) 


MATH_LIB = -lm 


# List any extra directories to look for libraries here. 
#  Each directory must be seperated by a space. 
#  Use forward slashes for directory separators. 
#  For a directory that has spaces, enclose it in quotes. 
EXTRALIBDIRS = 



#---------------- External Memory Options ---------------- 

# 64 KB of external RAM, starting after internal RAM (ATmega128!), 
# used for variables (.data/.bss) and heap (malloc()). 
#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff 

# 64 KB of external RAM, starting after internal RAM (ATmega128!), 
# only used for heap (malloc()). 
#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff 

EXTMEMOPTS = 



#---------------- Linker Options ---------------- 
# -Wl,...:  tell GCC to pass this to linker. 
# -Map:  create map file 
# --cref: add cross reference to map file 
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref 
LDFLAGS += $(EXTMEMOPTS) 
LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS)) 
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) 
#LDFLAGS += -T linker_script.x 



#---------------- Programming Options (avrdude) ---------------- 

# Programming hardware 
# Type: avrdude -c ? 
# to get a full listing. 
# 
AVRDUDE_PROGRAMMER = stk500v2 

# com1 = serial port. Use lpt1 to connect to parallel port. 
AVRDUDE_PORT = com3 # programmer connected to serial device 

AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex 
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep 


# Uncomment the following if you want avrdude's erase cycle counter. 
# Note that this counter needs to be initialized first using -Yn, 
# see avrdude manual. 
#AVRDUDE_ERASE_COUNTER = -y 

# Uncomment the following if you do /not/ wish a verification to be 
# performed after programming the device. 
#AVRDUDE_NO_VERIFY = -V 

# Increase verbosity level. Please use this when submitting bug 
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> 
# to submit bug reports. 
#AVRDUDE_VERBOSE = -v -v 

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) 
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) 
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) 
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) 



#---------------- Debugging Options ---------------- 

# For simulavr only - target MCU frequency. 
DEBUG_MFREQ = $(F_CPU) 

# Set the DEBUG_UI to either gdb or insight. 
# DEBUG_UI = gdb 
DEBUG_UI = insight 

# Set the debugging back-end to either avarice, simulavr. 
DEBUG_BACKEND = avarice 
#DEBUG_BACKEND = simulavr 

# GDB Init Filename. 
GDBINIT_FILE = __avr_gdbinit 

# When using avarice settings for the JTAG 
JTAG_DEV = /dev/com1 

# Debugging port used to communicate between GDB/avarice/simulavr. 
DEBUG_PORT = 4242 

# Debugging host used to communicate between GDB/avarice/simulavr, normally 
#  just set to localhost unless doing some sort of crazy debugging when 
#  avarice is running on a different computer. 
DEBUG_HOST = localhost 



#============================================================================ 


# Define programs and commands. 
SHELL = sh 
CC = avr-gcc 
OBJCOPY = avr-objcopy 
OBJDUMP = avr-objdump 
SIZE = avr-size 
AR = avr-ar rcs 
NM = avr-nm 
AVRDUDE = avrdude 
REMOVE = rm -f 
REMOVEDIR = rm -rf 
COPY = cp 
WINSHELL = cmd 


# Define Messages 
# English 
MSG_ERRORS_NONE = Errors: none 
MSG_BEGIN = -------- begin -------- 
MSG_END = -------- end -------- 
MSG_SIZE_BEFORE = Size before: 
MSG_SIZE_AFTER = Size after: 
MSG_COFF = Converting to AVR COFF: 
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: 
MSG_FLASH = Creating load file for Flash: 
MSG_EEPROM = Creating load file for EEPROM: 
MSG_EXTENDED_LISTING = Creating Extended Listing: 
MSG_SYMBOL_TABLE = Creating Symbol Table: 
MSG_LINKING = Linking: 
MSG_COMPILING = Compiling C: 
MSG_COMPILING_CPP = Compiling C++: 
MSG_ASSEMBLING = Assembling: 
MSG_CLEANING = Cleaning project: 
MSG_CREATING_LIBRARY = Creating library: 




# Define all object files. 
OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o) 

# Define all listing files. 
LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst) 


# Compiler flags to generate dependency files. 
GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d 


# Combine all necessary flags and optional flags. 
# Add target processor to flags. 
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) 
ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS) 
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) 





# Default target. 
all: begin gccversion sizebefore build sizeafter end 

# Change the build target to build a HEX file or a library. 
build: elf hex eep lss sym 
#build: lib 


elf: $(TARGET).elf 
hex: $(TARGET).hex 
eep: $(TARGET).eep 
lss: $(TARGET).lss 
sym: $(TARGET).sym 
LIBNAME=lib$(TARGET).a 
lib: $(LIBNAME) 



# Eye candy. 
# AVR Studio 3.x does not check make's exit code but relies on 
# the following magic strings to be generated by the compile job. 
begin: 
    @echo 
    @echo $(MSG_BEGIN) 

end: 
    @echo $(MSG_END) 
    @echo 


# Display size of file. 
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex 
ELFSIZE = $(SIZE) --mcu=$(MCU) --format=avr $(TARGET).elf 

sizebefore: 
    @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ 
    2>/dev/null; echo; fi 

sizeafter: 
    @if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ 
    2>/dev/null; echo; fi 



# Display compiler version information. 
gccversion : 
    @$(CC) --version 



# Program the device. 
program: $(TARGET).hex $(TARGET).eep 
    $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) 


# Generate avr-gdb config/init file which does the following: 
#  define the reset signal, load the target file, connect to target, and set 
#  a breakpoint at main(). 
gdb-config: 
    @$(REMOVE) $(GDBINIT_FILE) 
    @echo define reset >> $(GDBINIT_FILE) 
    @echo SIGNAL SIGHUP >> $(GDBINIT_FILE) 
    @echo end >> $(GDBINIT_FILE) 
    @echo file $(TARGET).elf >> $(GDBINIT_FILE) 
    @echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) 
ifeq ($(DEBUG_BACKEND),simulavr) 
    @echo load >> $(GDBINIT_FILE) 
endif 
    @echo break main >> $(GDBINIT_FILE) 

debug: gdb-config $(TARGET).elf 
ifeq ($(DEBUG_BACKEND), avarice) 
    @echo Starting AVaRICE - Press enter when "waiting to connect" message displays. 
    @$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ 
    $(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) 
    @$(WINSHELL) /c pause 

else 
    @$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ 
    $(DEBUG_MFREQ) --port $(DEBUG_PORT) 
endif 
    @$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) 




# Convert ELF to COFF for use in debugging/simulating in AVR Studio or VMLAB. 
COFFCONVERT = $(OBJCOPY) --debugging 
COFFCONVERT += --change-section-address .data-0x800000 
COFFCONVERT += --change-section-address .bss-0x800000 
COFFCONVERT += --change-section-address .noinit-0x800000 
COFFCONVERT += --change-section-address .eeprom-0x810000 



coff: $(TARGET).elf 
    @echo 
    @echo $(MSG_COFF) $(TARGET).cof 
    $(COFFCONVERT) -O coff-avr $< $(TARGET).cof 


extcoff: $(TARGET).elf 
    @echo 
    @echo $(MSG_EXTENDED_COFF) $(TARGET).cof 
    $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof 



# Create final output files (.hex, .eep) from ELF output file. 
%.hex: %.elf 
    @echo 
    @echo $(MSG_FLASH) $@ 
    $(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock $< $@ 

%.eep: %.elf 
    @echo 
    @echo $(MSG_EEPROM) $@ 
    -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ 
    --change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0 

# Create extended listing file from ELF output file. 
%.lss: %.elf 
    @echo 
    @echo $(MSG_EXTENDED_LISTING) $@ 
    $(OBJDUMP) -h -S -z $< > $@ 

# Create a symbol table from ELF output file. 
%.sym: %.elf 
    @echo 
    @echo $(MSG_SYMBOL_TABLE) $@ 
    $(NM) -n $< > $@ 



# Create library from object files. 
.SECONDARY : $(TARGET).a 
.PRECIOUS : $(OBJ) 
%.a: $(OBJ) 
    @echo 
    @echo $@ 
    @echo $(MSG_CREATING_LIBRARY) $@ 
    $(AR) $@ $(OBJ) 


# Link: create ELF output file from object files. 
.SECONDARY : $(TARGET).elf 
.PRECIOUS : $(OBJ) 
%.elf: $(OBJ) 
    @echo 
    @echo $(MSG_LINKING) $@ 
    $(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) 


# Compile: create object files from C source files. 
$(OBJDIR)/%.o : %.c 
    @echo 
    @echo $(MSG_COMPILING) $< 
    $(CC) -c $(ALL_CFLAGS) $< -o $@ 


# Compile: create object files from C++ source files. 
$(OBJDIR)/%.o : %.cpp 
    @echo 
    @echo $(MSG_COMPILING_CPP) $< 
    $(CC) -c $(ALL_CPPFLAGS) $< -o $@ 


# Compile: create assembler files from C source files. 
%.s : %.c 
    $(CC) -S $(ALL_CFLAGS) $< -o $@ 


# Compile: create assembler files from C++ source files. 
%.s : %.cpp 
    $(CC) -S $(ALL_CPPFLAGS) $< -o $@ 


# Assemble: create object files from assembler source files. 
$(OBJDIR)/%.o : %.S 
    @echo 
    @echo $(MSG_ASSEMBLING) $< 
    $(CC) -c $(ALL_ASFLAGS) $< -o $@ 


# Create preprocessed source for use in sending a bug report. 
%.i : %.c 
    $(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ 


# Target: clean project. 
clean: begin clean_list end 

clean_list : 
    @echo 
    @echo $(MSG_CLEANING) 
    $(REMOVE) $(TARGET).hex 
    $(REMOVE) $(TARGET).eep 
    $(REMOVE) $(TARGET).cof 
    $(REMOVE) $(TARGET).elf 
    $(REMOVE) $(TARGET).map 
    $(REMOVE) $(TARGET).sym 
    $(REMOVE) $(TARGET).lss 
    $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o) 
    $(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst) 
    $(REMOVE) $(SRC:.c=.s) 
    $(REMOVE) $(SRC:.c=.d) 
    $(REMOVE) $(SRC:.c=.i) 
    $(REMOVEDIR) .dep 


# Create object files directory 
$(shell mkdir $(OBJDIR) 2>/dev/null) 


# Include the dependency files. 
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) 


# Listing of phony targets. 
.PHONY : all begin finish end sizebefore sizeafter gccversion \ 
build elf hex eep lss sym coff extcoff \ 
clean clean_list program debug gdb-config 

Во-первых все, что я хотел бы извиниться за длину кода.

Я получаю ошибки в своем Makefile, заявляя, что переменные «block», «robot», «basic» и «carry», вызываемые в конструкторах и в различных методах в этом исходном файле, имеют неопределенные ссылки на их определения файлов заголовка ошибки заключаются в следующем:

IntermediateRobotFunctions.o: In function `IntermediateRobotFunctions::updateRobotData()': 
C:\Users\Edward\CWork\BioloidAVR_/IntermediateRobotFunctions.cpp:74: undefined reference to `IntermediateRobotFunctions::carrying' 
C:\Users\Edward\CWork\BioloidAVR_/IntermediateRobotFunctions.cpp:75: undefined reference to `IntermediateRobotFunctions::robot' 
C:\Users\Edward\CWork\BioloidAVR_/IntermediateRobotFunctions.cpp:75: undefined reference to `IntermediateRobotFunctions::robot' 
C:\Users\Edward\CWork\BioloidAVR_/IntermediateRobotFunctions.cpp:75: undefined reference to `IntermediateRobotFunctions::newNearest(Robot)' 

где вышеуказанные ошибки повторяются для всех переменных в каждом методе всех следующих классов:

• BasicRobotFunctions
• IntermediateRobotFunctions
• AdvancedRobotFunctions
• Робот
• Блок
• Структура

в том числе по переменным и методам, полученных от готовых исходных файлов и файлов заголовка, импортируемых из Bioloid Embedded C API.

Снова извиняется за длинный пост, возможно, включая небольшую нерелевантную информацию, но я хотел дать полную картину; может кто-нибудь, пожалуйста, скажите мне, что случилось, и как я должен это исправить?

Answer 1

У вас есть это:

class IntermediateRobotFunctions { 
public: 
    static Block block; 
    static Robot robot; 
    static BasicRobotFunctions basic; 
    static bool carrying; 

где вы объявили эти переменные, чтобы быть static, но вы не поставили так:

Block IntermediateRobotFunctions::block; 
Robot IntermediateRobotFunctions::robot; 
BasicRobotFunctions IntermediateRobotFunctions::basic; 
bool IntermediateRobotFunctions::carrying; 

любое место в ваших .cpp файлов, а это значит, у вас есть фактически не определяемые (отменяющие фактическую память) для этих переменных в любом месте. Вот что сообщают вам сообщения компилятора - переменные не могут быть найдены, когда они пытаются исправить все различные адресные ссылки ...