Problème définition multiple sur une lib externe

**RPGamer** · 16/03/2014, 22h44

Salut,

Je réalise le programme pour un petit robot équipé d'une carte RoBoard. La carte RoBoard peut être programmée avec la librairie RoBoIO rendant théoriquement les accès aux GPIO, port I2C, COM, SPI, etc. très faciles. C'est la première fois que je fais ça.

J'ai pris la version déjà compilée pour Linux depuis le site officiel du fabricant : http://www.roboard.com/download_ml.htm

Je développe avec Code::Blocks. J'ai donc ajouté les chemins Include/ et Lib/ dans Settings->Compiler...->Search directories et j'ai ajouté le fichier .a dans les options du projet via Project->Build options...->Linker settings.

Si je crée un programme en commençant avec un #include <roboard.h> comme indiqué dans les exemples, tout semble compiler correctement. Mon problème survient si plusieurs programmes incluent eux-mêmes roboard.h et que je les inclus dans un autre programme. Par exemple :

io.h

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#ifndef __IO_H
#define __IO_H
 
#include <stdbool.h>
 
/* Nombre maximum de pins sur la RoBoard */
#define MAX_PINS    32
 
void io_register_pin(int pin);
void io_unregister_pin(int pin);
bool io_pin_is_registered(int pin);
void io_set_rb_version(void);
void io_init_lib(void);
void io_destroy(void);
 
#endif // __IO_H

io.c

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#include "io.h"
#include "servo.h"
#include <stdio.h>
#include <roboard.h>
 
/* Tableau pour l'enregistrement des pins utilisees */
static bool pins[MAX_PINS];
 
void io_init_lib(void) {
 
    int i;
    long use_pin = 0;
    Servo *servos[MAX_PINS];
    int nb_servos = 0;
 
    // initialisation de la version de la RoBoard
    roboio_SetRBVer(RB_110);
 
    // recuperation des servos enregistres
    servo_get_elements(servos, &nb_servos);
 
    // si au moins 1 servo a ete enregistre
    if (nb_servos > 0) {
 
        for (i = 0; i < nb_servos; i++) {
 
            // on ajoute les pin utilisees pour les servos
            use_pin += servos[i]->use_pin;
 
        }
 
    }
 
    else {
 
        // pour les GPIO des capteurs on n'associe aucune pin
        use_pin = RCSERVO_USENOPIN;
 
    }
 
    // initialisation de la lib
    if (!rcservo_Init(use_pin)) {
 
        fprintf(stderr, "Impossible d'initialiser la RC Servo lib (%s).", roboio_GetErrMsg());
 
    }
 
}
 
void io_register_pin(int pin) {
 
    pins[pin] = true;
 
}
 
void io_unregister_pin(int pin) {
 
    pins[pin] = false;
 
}
 
bool io_pin_is_registered(int pin) {
 
    return pins[pin];
 
}
 
void io_destroy(void) {
 
    rcservo_Close();
 
}

gpio.h

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#ifndef __GPIO_H
#define __GPIO_H
 
/* Etats possibles pour un GPIO. */
typedef enum {
    LOW,
    HIGH
} GPIO_STATE;
 
/* Structure d'un GPIO. */
typedef struct {
    char *name;
    int pin;
    GPIO_STATE state;
} GPIO;
 
void gpio(GPIO *gpio, char *name, int pin);
void gpio_enable(GPIO *gpio);
void gpio_disable(GPIO *gpio);
void gpio_switch(GPIO *gpio);
void gpio_get_elements(GPIO **gpio_elements, int *number);
void gpio_destroy(GPIO *gpio);
 
#endif // __GPIO_H

gpio.c

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#include "gpio.h"
#include "io.h"
#include <stdio.h>
#include <string.h>
#include <roboard.h>
 
/* Tableau pour l'enregistrement des GPIO */
static GPIO *gpios[MAX_PINS];
static int nb_gpios = 0;
 
void gpio(GPIO *gpio, char *name, int pin) {
 
    // on verifie si la pin nest pas deja utilisee
    if (io_pin_is_registered(pin)) {
 
        fprintf(stderr, "La pin RCSERVO_PINS%d est deja utilisee.\n", pin);
        return;
 
    }
 
    // initialisatiion et enregistrement de la structure du GPIO
    strcpy(gpio->name, name);
    gpio->pin = pin;
    gpio->state = LOW;
    gpios[nb_gpios++] = gpio;
 
    // enregistrement de la pin
    io_register_pin(pin);
 
}
 
void gpio_enable(GPIO *gpio) {
 
    rcservo_OutPin(gpio->pin, HIGH);
    gpio->state = HIGH;
 
}
 
void gpio_disable(GPIO *gpio) {
 
    rcservo_OutPin(gpio->pin, LOW);
    gpio->state = LOW;
 
}
 
void gpio_switch(GPIO *gpio) {
 
    rcservo_OutPin(gpio->pin, gpio->state == LOW ? HIGH : LOW);
 
}
 
void gpio_get_elements(GPIO **gpio_elements, int *number) {
 
    gpio_elements = gpios;
    *number = nb_gpios;
 
}
 
void gpio_destroy(GPIO *gpio) {
 
    int i;
    for (i = 0; i < nb_gpios; i++) {
 
        if (gpios[i]->pin == gpio->pin) {
 
            gpios[i] = NULL;
            io_unregister_pin(gpio->pin);
            break;
 
        }
 
    }
 
}

main.c

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#include <stdio.h>
#include <stdlib.h>
 
#include "io/gpio.h"
 
int main()
{
 
       // utilisation des GPIO
 
       return EXIT_SUCCESS;
}

Si je tente de compiler, j'ai une série d'erreurs de type multiple definition of '' sur chaque fonction de la librairie.

Pourtant le code du fichier roboard.h dans le répertoire Include/ est le suivant :

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#ifndef __ROBOARD_H
#define __ROBOARD_H
 
#include "common.h"
#include "io.h"
#include "rcservo.h"
#include "spi.h"
#include "ad79x8.h"
#include "i2c.h"
#include "com.h"
 
#endif

Il me semble que les directives préprocesseur devraient empêcher toute inclusion multiple en cas d'utilisation de plusieurs programmes faisant appels à des fonctions de cette librairie.

Merci d'avance pour toute aide ou explication

**Bktero** · 17/03/2014, 08h16

Bonjour,

Pourrait-on avoir le contenu de la console de CB lors du build ?

J'ai donc ajouté les chemins Include/ et Lib/ dans Settings->Compiler...->Search directories et j'ai ajouté le fichier .a dans les options du projet via Project->Build options...->Linker settings

Tu aurais sans doute dû passé uniquement par les options du projet. Les include path et library path sont dans ton cas dépendant du projet. Pas bien grave.
Pourrais-tu nous faire un screenshot des linker settings du projet également ?

A priori, ce n'est pas un problème de garde d'inclusion sauf si du code est défini dans les fichiers h, ce qui normalement donne lieu à 20 coups de fouet en place publique.

**RPGamer** · 17/03/2014, 13h11

Pourrait-on avoir le contenu de la console de CB lors du build ?

Certainement

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-------------- Clean: Debug in small-robot (compiler: GNU GCC Compiler)---------------
 
Cleaned "small-robot - Debug"
 
-------------- Build: Debug in small-robot (compiler: GNU GCC Compiler)---------------
 
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/beacon.c -o obj/Debug/beacon.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/io/gpio.c -o obj/Debug/io/gpio.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/io/io.c -o obj/Debug/io/io.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/io/sensor.c -o obj/Debug/io/sensor.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/io/servo.c -o obj/Debug/io/servo.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/io/tmcl.c -o obj/Debug/io/tmcl.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/jobs/fire_conquest.c -o obj/Debug/jobs/fire_conquest.o
/home/cyril/Documents/RBT/crh-2014/src/small-robot/jobs/fire_conquest.c:18:13: warning: ‘fq_init’ defined but not used [-Wunused-function]
 static void fq_init(void) {
             ^
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/jobs/fresco.c -o obj/Debug/jobs/fresco.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/jobs/shooting_mammoths.c -o obj/Debug/jobs/shooting_mammoths.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/main.c -o obj/Debug/main.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/motion/avoid.c -o obj/Debug/motion/avoid.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/move.c -o obj/Debug/move.o
/home/cyril/Documents/RBT/crh-2014/src/small-robot/move.c:363:19: warning: ‘move_update_from_tmcl’ defined but not used [-Wunused-function]
 static MOVE_ERROR move_update_from_tmcl(void)
                   ^
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/strategies/strategy1.c -o obj/Debug/strategies/strategy1.o
gcc -Wall  -g -m32    -I/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include  -c /home/cyril/Documents/RBT/crh-2014/src/small-robot/vector.c -o obj/Debug/vector.o
g++ -L/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Lib  -o bin/Debug/small-robot obj/Debug/beacon.o obj/Debug/io/gpio.o obj/Debug/io/io.o obj/Debug/io/sensor.o obj/Debug/io/servo.o obj/Debug/io/tmcl.o obj/Debug/jobs/fire_conquest.o obj/Debug/jobs/fresco.o obj/Debug/jobs/shooting_mammoths.o obj/Debug/main.o obj/Debug/motion/avoid.o obj/Debug/move.o obj/Debug/strategies/strategy1.o obj/Debug/vector.o   -lpthread  ../RoBoIO/Lib/libRBIO.a 
obj/Debug/io/io.o: In function `rcservo_MoveToMix':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:366: multiple definition of `rcservo_MoveToMix'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:366: first defined here
obj/Debug/io/io.o: In function `rcservo_SendPWMPulses':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:370: multiple definition of `rcservo_SendPWMPulses'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:370: first defined here
obj/Debug/io/io.o: In function `rcservo_IsPWMCompleted':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:373: multiple definition of `rcservo_IsPWMCompleted'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:373: first defined here
obj/Debug/io/io.o: In function `rcservo_Outp':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:376: multiple definition of `rcservo_Outp'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:376: first defined here
obj/Debug/io/io.o: In function `rcservo_Inp':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:379: multiple definition of `rcservo_Inp'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:379: first defined here
obj/Debug/io/io.o: In function `rcservo_Outps':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:382: multiple definition of `rcservo_Outps'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:382: first defined here
obj/Debug/io/io.o: In function `rcservo_Inps':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:385: multiple definition of `rcservo_Inps'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:385: first defined here
obj/Debug/io/io.o: In function `spi_Init':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:136: multiple definition of `spi_Init'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:136: first defined here
obj/Debug/io/io.o: In function `spi_Initialize':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:142: multiple definition of `spi_Initialize'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:142: first defined here
obj/Debug/io/io.o: In function `spi_InitializeSW':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:145: multiple definition of `spi_InitializeSW'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/spi.h:145: first defined here
obj/Debug/io/io.o: In function `adc_InUse':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:355: multiple definition of `adc_InUse'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:355: first defined here
obj/Debug/io/io.o: In function `adc_Init':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:358: multiple definition of `adc_Init'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:358: first defined here
obj/Debug/io/io.o: In function `adc_Close':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:361: multiple definition of `adc_Close'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:361: first defined here
obj/Debug/io/io.o: In function `adc_ChangeChannel':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:364: multiple definition of `adc_ChangeChannel'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:364: first defined here
obj/Debug/io/io.o: In function `adc_InitMCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:367: multiple definition of `adc_InitMCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:367: first defined here
obj/Debug/io/io.o: In function `adc_CloseMCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:370: multiple definition of `adc_CloseMCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:370: first defined here
obj/Debug/io/io.o: In function `adc_ChangeChannels':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:373: multiple definition of `adc_ChangeChannels'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:373: first defined here
obj/Debug/io/io.o: In function `adc_ReadCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:376: multiple definition of `adc_ReadCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:376: first defined here
obj/Debug/io/io.o: In function `ad7908_Initialize':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:382: multiple definition of `ad7908_Initialize'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:382: first defined here
obj/Debug/io/io.o: In function `ad7908_InitializeMCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:385: multiple definition of `ad7908_InitializeMCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:385: first defined here
obj/Debug/io/io.o: In function `ad7918_Initialize':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:388: multiple definition of `ad7918_Initialize'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:388: first defined here
obj/Debug/io/io.o: In function `ad7918_InitializeMCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:391: multiple definition of `ad7918_InitializeMCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:391: first defined here
obj/Debug/io/io.o: In function `ad7928_Initialize':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:394: multiple definition of `ad7928_Initialize'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:394: first defined here
obj/Debug/io/io.o: In function `ad7928_InitializeMCH':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:397: multiple definition of `ad7928_InitializeMCH'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:397: first defined here
obj/Debug/io/io.o: In function `adc_Initialize':
/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:400: multiple definition of `adc_Initialize'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/ad79x8.h:400: first defined here
Process terminated with status 1 (0 minutes, 10 seconds)
50 errors, 2 warnings (0 minutes, 10 seconds)

Pour les options linker du projet :

C'est vrai pour les options du compilateur, du coup j'ai mis les chemins dans les options du projet uniquement.

Merci pour la réponse

**Bktero** · 17/03/2014, 13h15

/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:366: multiple definition of `rcservo_MoveToMix'
obj/Debug/io/gpio.o:/home/cyril/Documents/RBT/crh-2014/src/RoBoIO/Include/rcservo.h:366: first defined here

Tu pourrais nous montrer le contenu de ce fichier aux alentours de la ligne 366 ?

**RPGamer** · 17/03/2014, 13h25

J'ai ça :

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#if !defined(ROBOIO_DLL) || defined(__RCSERVO_LIB)
    // for compatibility to RoBoIO 1.61
    RB_INLINE RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth) {
        rcservo_SetAction(width, playtime);
        while (rcservo_PlayActionMix(mixwidth) != RCSERVO_PLAYEND);
    }
    RB_INLINE RBAPI(bool) rcservo_SendPWMPulses(int channel, unsigned long period, unsigned long duty, unsigned long count) {
        return rcservo_SendPWM(channel, period, duty, count);
    }
    RB_INLINE RBAPI(bool) rcservo_IsPWMCompleted(int channel) {
        if (rcservo_CheckPWM(channel) == 0L) return true; else return false;
    }
    RB_INLINE RBAPI(void) rcservo_Outp(int channel, int value) {
        rcservo_OutPin(channel, value);
    }
    RB_INLINE RBAPI(int) rcservo_Inp(int channel) {
        return rcservo_InPin(channel);
    }
    RB_INLINE RBAPI(void) rcservo_Outps(unsigned long channels, unsigned long value) {
        rcservo_OutPort(channels, value);
    }
    RB_INLINE RBAPI(unsigned long) rcservo_Inps(unsigned long channels) {
        return rcservo_InPort(channels);
    }
#endif

La ligne 366 concerne :

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    RB_INLINE RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth) {

J'ai vérifié les directives #endif pour voir si il en manque mais ça m'aurait étonné de toute façon.

Le fichier commence par :

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1
2
#ifndef __RCSERVO_H
#define __RCSERVO_H

et fini par :

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#endif

de façon régulière pour que ce genre de cas n'apparaissent pas il me semble.

Le code complet au cas ou :

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#ifndef __RCSERVO_H
#define __RCSERVO_H
 
#include "defines.h"
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
RBAPI(bool) rcservo_InUse(void);
 
RBAPI(bool) rcservo_Init(unsigned long usedchannels);
//-- values for the "usedchannels" argument (note that different values can be added to use multiple channels)
     #define RCSERVO_USENOPIN                (0L)
     #define RCSERVO_USEPINS1                (1L)
     #define RCSERVO_USEPINS2                (1L<<1)
     #define RCSERVO_USEPINS3                (1L<<2)
     #define RCSERVO_USEPINS4                (1L<<3)
     #define RCSERVO_USEPINS5                (1L<<4)
     #define RCSERVO_USEPINS6                (1L<<5)
     #define RCSERVO_USEPINS7                (1L<<6)
     #define RCSERVO_USEPINS8                (1L<<7)
     #define RCSERVO_USEPINS9                (1L<<8)
     #define RCSERVO_USEPINS10               (1L<<9)
     #define RCSERVO_USEPINS11               (1L<<10)
     #define RCSERVO_USEPINS12               (1L<<11)
     #define RCSERVO_USEPINS13               (1L<<12)
     #define RCSERVO_USEPINS14               (1L<<13)
     #define RCSERVO_USEPINS15               (1L<<14)
     #define RCSERVO_USEPINS16               (1L<<15)
     #define RCSERVO_USEPINS17               (1L<<16)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS18               (1L<<17)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS19               (1L<<18)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS20               (1L<<19)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS21               (1L<<20)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS22               (1L<<21)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS23               (1L<<22)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS24               (1L<<23)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_USEPINS25               (1L<<24)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS26               (1L<<25)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS27               (1L<<26)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS28               (1L<<27)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS29               (1L<<28)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS30               (1L<<29)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS31               (1L<<30)  // only for RoBoard RB-100b1
     #define RCSERVO_USEPINS32               (1L<<31)  // only for RoBoard RB-100b1
//-- if the above function returns false, roboio_GetErrCode() may return:
//   #define ERROR_RBVER_UNKNOWN             (ERR_NOERROR + 801) //need include <common.h>
//   #define ERROR_RBVER_UNMATCH             (ERR_NOERROR + 800) //need include <common.h>
//   #define ERROR_IOINITFAIL                (ERR_NOERROR + 100) //need include <io.h>
//   #define ERROR_IOSECTIONFULL             (ERR_NOERROR + 101) //need include <io.h>
//   #define ERROR_CPUUNSUPPORTED            (ERR_NOERROR + 102) //need include <io.h>
//   #define ERROR_PWM_INUSE                 (ERR_NOERROR + 300) //need include <pwm.h>
     #define ERROR_RCSERVO_INUSE             (ERR_NOERROR + 400)
     #define ERROR_RCSERVO_PWMINUSE          (ERR_NOERROR + 401)
 
RBAPI(void) rcservo_Close(void);
 
 
RBAPI(bool) rcservo_SetServo(int channel, unsigned servono);
//-- values for the "channel" argument
     #define RCSERVO_PINS1                   (0)
     #define RCSERVO_PINS2                   (1)
     #define RCSERVO_PINS3                   (2)
     #define RCSERVO_PINS4                   (3)
     #define RCSERVO_PINS5                   (4)
     #define RCSERVO_PINS6                   (5)
     #define RCSERVO_PINS7                   (6)
     #define RCSERVO_PINS8                   (7)
     #define RCSERVO_PINS9                   (8)
     #define RCSERVO_PINS10                  (9)
     #define RCSERVO_PINS11                  (10)
     #define RCSERVO_PINS12                  (11)
     #define RCSERVO_PINS13                  (12)
     #define RCSERVO_PINS14                  (13)
     #define RCSERVO_PINS15                  (14)
     #define RCSERVO_PINS16                  (15)
     #define RCSERVO_PINS17                  (16)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS18                  (17)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS19                  (18)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS20                  (19)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS21                  (20)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS22                  (21)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS23                  (22)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS24                  (23)  // only for RoBoard RB-100/RB-100b1/RB-100b2
     #define RCSERVO_PINS25                  (24)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS26                  (25)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS27                  (26)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS28                  (27)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS29                  (28)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS30                  (29)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS31                  (30)  // only for RoBoard RB-100b1
     #define RCSERVO_PINS32                  (31)  // only for RoBoard RB-100b1
RBAPI(bool) rcservo_SetServos(unsigned long channels, unsigned servono);
//-- values for the "channels" argument (note that different values can be added to use multiple channels)
//   #define RCSERVO_USEPINS1                (1L)
//   #define RCSERVO_USEPINS2                (1L<<1)
//   ...... (refer to the "usedchannels" argument of rcservo_Init())
//-- values for the "servono" argument
     #define RCSERVO_SERVO_DEFAULT           (0x00)  //conservative setting for most servos with pulse feedback
     #define RCSERVO_SERVO_DEFAULT_NOFB      (0x01)  //conservative setting for most servos without pulse feedback
     #define RCSERVO_KONDO_KRS786            (0x11)
     #define RCSERVO_KONDO_KRS788            (0x12)
     #define RCSERVO_KONDO_KRS78X            (0x13)
     #define RCSERVO_KONDO_KRS4014           (0x14)  //not directly work on RB-100/RB-110 due to the unmatched PWM pull-up/-down resistors
     #define RCSERVO_KONDO_KRS4024           (0x15)
//   #define RCSERVO_KONDO_KRS4034           (0x16)  //not directly work on RB-100/RB-100RD/RB-110/RB-050 due to the unmatched PWM pull-up/-down resistors
     #define RCSERVO_HITEC_HSR8498           (0x22)
     #define RCSERVO_FUTABA_S3003            (0x31)
     #define RCSERVO_SHAYYE_SYS214050        (0x41)
     #define RCSERVO_TOWERPRO_MG995          (0x51)
     #define RCSERVO_TOWERPRO_MG996          (0x52)
     #define RCSERVO_DMP_RS0263              (0x61)
     #define RCSERVO_DMP_RS1270              (0x62)
     #define RCSERVO_GWS_S777                (0x71)
     #define RCSERVO_GWS_S03T                (0x72)
     #define RCSERVO_GWS_MICRO               (0x73)
//-- if the above two functions return false, roboio_GetErrCode() may return:
//   #define ERROR_RCSERVO_INUSE             (ERR_NOERROR + 400)
     #define ERROR_RCSERVO_UNKNOWNSERVO      (ERR_NOERROR + 461)
     #define ERROR_RCSERVO_WRONGCHANNEL      (ERR_NOERROR + 462)
 
RBAPI(bool) rcservo_SetServoType(int channel, unsigned svtype, unsigned fbmethod);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- values for the "type" argument
     #define RCSERVO_SV_FEEDBACK             (1)     //servo with pulse feedback
     #define RCSERVO_SV_NOFEEDBACK           (2)     //servo without pulse feedback
//-- values for the "fbmethod" argument (note that different values can be added to use multiple settings)
     #define RCSERVO_FB_SAFEMODE             (0)
     #define RCSERVO_FB_FASTMODE             (1)     //much faster than safe mode but could cause servo's shake
     #define RCSERVO_FB_DENOISE              (1<<1)  //use denoise filter; more accurate but very slow
//-- if the above function returns false, roboio_GetErrCode() may return:
//   #define ERROR_RCSERVO_WRONGCHANNEL      (ERR_NOERROR + 462)
 
RBAPI(bool) rcservo_SetServoParams1(int channel, unsigned long period, unsigned long minduty, unsigned long maxduty);
RBAPI(bool) rcservo_SetServoParams2(int channel, unsigned long invalidduty, unsigned long minlowphase);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- if the above functions return false, roboio_GetErrCode() may return:
//   #define ERROR_RCSERVO_INUSE             (ERR_NOERROR + 400)
//   #define ERROR_RCSERVO_WRONGCHANNEL      (ERR_NOERROR + 462)
     #define ERROR_RCSERVO_INVALIDPARAMS     (ERR_NOERROR + 463)
 
RBAPI(bool) rcservo_SetReadFBParams1(int channel, unsigned long initdelay, unsigned long lastdelay, unsigned long maxwidth);
RBAPI(bool) rcservo_SetReadFBParams2(int channel, unsigned long resolution, long offset);
RBAPI(bool) rcservo_SetReadFBParams3(int channel, int maxfails, int filterwidth);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- if the above functions return false, roboio_GetErrCode() may return:
//   #define ERROR_RCSERVO_INUSE             (ERR_NOERROR + 400)
//   #define ERROR_RCSERVO_WRONGCHANNEL      (ERR_NOERROR + 462)
//   #define ERROR_RCSERVO_INVALIDPARAMS     (ERR_NOERROR + 463)
 
RBAPI(bool) rcservo_SetCmdPulse(int channel, int cmd, unsigned long duty);
RBAPI(bool) rcservo_SetPlayModeCMD(int channel, int cmd);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- values for the "cmd" argument
     #define RCSERVO_CMD_POWEROFF            (0)
     #define RCSERVO_CMD1                    (1)
     #define RCSERVO_CMD2                    (2)
     #define RCSERVO_CMD3                    (3)
     #define RCSERVO_CMD4                    (4)
     #define RCSERVO_CMD5                    (5)
     #define RCSERVO_CMD6                    (6)
     #define RCSERVO_CMD7                    (7)
//-- if the above function return false, roboio_GetErrCode() may return:
//   #define ERROR_RCSERVO_WRONGCHANNEL      (ERR_NOERROR + 462)
//   #define ERROR_RCSERVO_INVALIDPARAMS     (ERR_NOERROR + 463)
 
 
 
//******************  Functions in Capture Mode  *********************
RBAPI(void) rcservo_EnterCaptureMode(void);
 
RBAPI(unsigned long) rcservo_ReadPosition(int channel, int cmd);
RBAPI(unsigned long) rcservo_ReadPositionDN(int channel, int cmd);  // for backward compatibility to RoBoIO 1.1
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
RBAPI(void) rcservo_ReadPositions(unsigned long channels, int cmd, unsigned long* width);
RBAPI(void) rcservo_ReadPositionsDN(unsigned long channels, int cmd, unsigned long* width);  // for backward compatibility to RoBoIO 1.1
//-- values for the "channels" argument (note that different values can be added to use multiple channels)
//   #define RCSERVO_USEPINS1                (1L)
//   #define RCSERVO_USEPINS2                (1L<<1)
//   ...... (refer to the "usedchannels" argument of rcservo_Init())
//-- values for the "cmd" argument
//   #define RCSERVO_CMD_POWEROFF            (0)
//   #define RCSERVO_CMD1                    (1)
//   ...... (refer to the "cmd" argument of rcservo_SetCmdPulse())
//-- each return value (= 0xffffffffL if fails) of the above functions indicates the length of the feedback pulse,
//   which is equal to [return value] * [resolution] * 0.1us, where [resolution] is set by rcservo_SetReadFBParams2()
 
RBAPI(unsigned long) rcservo_CapOne(int channel);  // simplified version of rcservo_ReadPosition()
RBAPI(bool) rcservo_CapAll(unsigned long* width);  // simplified version of rcservo_ReadPositions()
 
//enable/disable multiprogramming OS heuristic
RBAPI(void) rcservo_EnableMPOS(void);
RBAPI(void) rcservo_DisableMPOS(void);
 
RBAPI(void) rcservo_SendCMD(int channel, int cmd);
//-- values for the "channels" argument (note that different values can be added to use multiple channels)
//   #define RCSERVO_USEPINS1                (1L)
//   #define RCSERVO_USEPINS2                (1L<<1)
//   ...... (refer to the "usedchannels" argument of rcservo_Init())
//-- values for the "cmd" argument
//   #define RCSERVO_CMD_POWEROFF            (0)
//   #define RCSERVO_CMD1                    (1)
//   ...... (refer to the "cmd" argument of rcservo_SetCmdPulse())
 
 
 
//******************  Functions in Play Mode  ************************
RBAPI(void) rcservo_EnterPlayMode(void);
RBAPI(void) rcservo_EnterPlayMode_NOFB(unsigned long* width);
RBAPI(void) rcservo_EnterPlayMode_HOME(unsigned long* width);
 
RBAPI(void) rcservo_SetFPS(int fps);
RBAPI(void) rcservo_SetAction(unsigned long* width, unsigned long playtime);
 
RBAPI(int)  rcservo_PlayAction(void);
RBAPI(int)  rcservo_PlayActionMix(long* mixwidth);
//-- return values of rcservo_PlayAction()
     #define RCSERVO_PLAYEND                 (0)
     #define RCSERVO_PLAYING                 (1)
     #define RCSERVO_PAUSED                  (2)
//-- special width values for mixwidth[i]
     #define RCSERVO_MIXWIDTH_POWEROFF       (0x7fffff00L)
     #define RCSERVO_MIXWIDTH_CMD1           (0x7fffff01L)
     #define RCSERVO_MIXWIDTH_CMD2           (0x7fffff02L)
     #define RCSERVO_MIXWIDTH_CMD3           (0x7fffff03L)
     #define RCSERVO_MIXWIDTH_CMD4           (0x7fffff04L)
     #define RCSERVO_MIXWIDTH_CMD5           (0x7fffff05L)
     #define RCSERVO_MIXWIDTH_CMD6           (0x7fffff06L)
     #define RCSERVO_MIXWIDTH_CMD7           (0x7fffff07L)
 
RBAPI(void) rcservo_PauseAction(void);
RBAPI(void) rcservo_ReleaseAction(void);
RBAPI(void) rcservo_StopAction(void);
RBAPI(void) rcservo_GetAction(unsigned long* width);
 
RBAPI(void) rcservo_MoveTo(unsigned long* width, unsigned long playtime);
RBAPI(void) rcservo_MoveOne(int channel, unsigned long pos, unsigned long playtime);
 
 
 
//******************  Functions in PWM Mode  *************************
RBAPI(void) rcservo_EnterPWMMode(void);
 
RBAPI(bool) rcservo_SendPWM(int channel, unsigned long period, unsigned long duty, unsigned long count);
RBAPI(bool) rcservo_SendCPWM(int channel, unsigned long period, unsigned long duty);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- if the above function returns false, roboio_GetErrCode() may return:
     #define ERROR_RCSERVO_PWMFAIL           (ERR_NOERROR + 430)
 
RBAPI(void) rcservo_StopPWM(int channel);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
 
RBAPI(unsigned long) rcservo_CheckPWM(int channel);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
//-- returns the remaining number of pulses to send (returns 0xffffffffL for continuous pulses)
 
 
 
//*******************  Functions for GPIO Channels  ******************
RBAPI(void) rcservo_OutPin(int channel, int value);
RBAPI(int)  rcservo_InPin(int channel);
//-- values for the "channel" argument
//   #define RCSERVO_PINS1                   (0)
//   #define RCSERVO_PINS2                   (1)
//   ...... (refer to the "channel" argument of rcservo_SetServo())
 
RBAPI(void) rcservo_OutPort(unsigned long channels, unsigned long values);
RBAPI(unsigned long) rcservo_InPort(unsigned long channels);
//-- values for the "channels" argument (note that different values can be added to use multiple channels)
//   #define RCSERVO_USEPINS1                (1L)
//   #define RCSERVO_USEPINS2                (1L<<1)
//   ...... (refer to the "usedchannels" argument of rcservo_Init())
 
 
 
//***********  Constants for Compatibility to RoBoIO 1.61  ***********
#define RCSERVO_USENOCHANNEL	    (0L)
#define RCSERVO_USECHANNEL0			(1L)
#define RCSERVO_USECHANNEL1			(1L<<1)
#define RCSERVO_USECHANNEL2			(1L<<2)
#define RCSERVO_USECHANNEL3			(1L<<3)
#define RCSERVO_USECHANNEL4			(1L<<4)
#define RCSERVO_USECHANNEL5			(1L<<5)
#define RCSERVO_USECHANNEL6			(1L<<6)
#define RCSERVO_USECHANNEL7			(1L<<7)
#define RCSERVO_USECHANNEL8			(1L<<8)
#define RCSERVO_USECHANNEL9			(1L<<9)
#define RCSERVO_USECHANNEL10		(1L<<10)
#define RCSERVO_USECHANNEL11		(1L<<11)
#define RCSERVO_USECHANNEL12		(1L<<12)
#define RCSERVO_USECHANNEL13		(1L<<13)
#define RCSERVO_USECHANNEL14		(1L<<14)
#define RCSERVO_USECHANNEL15		(1L<<15)
#define RCSERVO_USECHANNEL16		(1L<<16)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL17		(1L<<17)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL18		(1L<<18)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL19		(1L<<19)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL20		(1L<<20)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL21		(1L<<21)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL22		(1L<<22)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL23		(1L<<23)  // only for RoBoard RB-100/RB-100b1/RB-100b2
#define RCSERVO_USECHANNEL24		(1L<<24)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL25		(1L<<25)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL26		(1L<<26)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL27		(1L<<27)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL28		(1L<<28)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL29		(1L<<29)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL30		(1L<<30)  // only for RoBoard RB-100b1
#define RCSERVO_USECHANNEL31		(1L<<31)  // only for RoBoard RB-100b1
 
RBAPI(bool) rcservo_Initialize(unsigned long usedchannels);  // for compatibility to RoBoIO 1.61
 
 
#ifdef __cplusplus
}
#endif
 
 
 
/****************************  Inline Functions  **************************/
#ifdef ROBOIO_DLL //use no inline functions for DLL
#ifdef __cplusplus
extern "C" {
#endif
    // for compatibility to RoBoIO 1.61
    RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth);
    RBAPI(bool) rcservo_SendPWMPulses(int channel, unsigned long period, unsigned long duty, unsigned long count);
    RBAPI(bool) rcservo_IsPWMCompleted(int channel);
    RBAPI(void) rcservo_Outp(int channel, int value);
    RBAPI(int) rcservo_Inp(int channel);
    RBAPI(void) rcservo_Outps(unsigned long channels, unsigned long value);
    RBAPI(unsigned long) rcservo_Inps(unsigned long channels);
#ifdef __cplusplus
}
#endif
#endif
 
#if !defined(ROBOIO_DLL) || defined(__RCSERVO_LIB)
    // for compatibility to RoBoIO 1.61
    RB_INLINE RBAPI(void) rcservo_MoveToMix(unsigned long* width, unsigned long playtime, long* mixwidth) {
        rcservo_SetAction(width, playtime);
        while (rcservo_PlayActionMix(mixwidth) != RCSERVO_PLAYEND);
    }
    RB_INLINE RBAPI(bool) rcservo_SendPWMPulses(int channel, unsigned long period, unsigned long duty, unsigned long count) {
        return rcservo_SendPWM(channel, period, duty, count);
    }
    RB_INLINE RBAPI(bool) rcservo_IsPWMCompleted(int channel) {
        if (rcservo_CheckPWM(channel) == 0L) return true; else return false;
    }
    RB_INLINE RBAPI(void) rcservo_Outp(int channel, int value) {
        rcservo_OutPin(channel, value);
    }
    RB_INLINE RBAPI(int) rcservo_Inp(int channel) {
        return rcservo_InPin(channel);
    }
    RB_INLINE RBAPI(void) rcservo_Outps(unsigned long channels, unsigned long value) {
        rcservo_OutPort(channels, value);
    }
    RB_INLINE RBAPI(unsigned long) rcservo_Inps(unsigned long channels) {
        return rcservo_InPort(channels);
    }
#endif
/*-----------------------  end of Inline Functions  ----------------------*/
 
#endif

Dans les logs seuls 3 fichiers sur ceux inclus dans roboard.h semblent poser problème.

**Bktero** · 17/03/2014, 13h59

Cela me donne l'impression que le mot clé RBINLINE n'a pas été correctement transformé en static inline, mais peut-être en inline. Conséquence : les gardes d'inclusions marchent pour chaque unité de compilation mais si tu inclues le fichier dans 2 unités de compilation différentes, la fonction est définie 2 fois. As-tu inclus ce fichier h dans 2 fichiers c à toi ?

T'es tu intéressé à ces 2 macros ?

Code :

Sélectionner tout - Visualiser dans une fenêtre à part

#if !defined(ROBOIO_DLL) || defined(__RCSERVO_LIB)

Sont-elles définies ou pas et pour quelles raisons ? Y a -il un fichier c de la lib qui contient aussi la définition de la fonction ?

Problème définition multiple sur une lib externe

C

Vue hybride

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