First, big import of ARGoS code to form the ARGoS codebase.

Compilation works, but many things are missing:

1 - only the core was imported, no plugins
2 - dynamic linking manager was purged, need a new way to create controllers and loop functions
3 - visitor was purged, need a new way to manage actions on entities
4 - registration of actuators and sensors missing
5 - querying of plugins to be redone

src/.emacs.desktop.lock

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+22449

src/CMakeLists.txt

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+#
+# Set minimum required version
+#
+cmake_minimum_required(VERSION 2.8)
+
+#
+# Set the path additional cmake files must be searched for
+#
+set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+
+#
+# Make sure we are under unix
+#
+if(NOT UNIX)
+  message(FATAL_ERROR "ARGoS compiles only under UNIX, sorry!")
+endif(NOT UNIX)
+
+#
+# Check for GCC version >= 4.2
+#
+execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
+if (GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+  message(STATUS "GCC/G++ version >= 4.2")
+else(GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+  message(FATAL_ERROR "You need to have at least GCC/G++ version 4.2!")
+endif(GCC_VERSION VERSION_GREATER 4.2 OR GCC_VERSION VERSION_EQUAL 4.2)
+
+#
+# Set compiler flags
+#
+include(${CMAKE_SOURCE_DIR}/cmake/ARGoSBuildFlags.cmake)
+
+#
+# Set build options
+#
+include(${CMAKE_SOURCE_DIR}/cmake/ARGoSBuildOptions.cmake)
+
+#
+# Check for GSL
+# It is required only when compiling the simulator
+#
+find_package(GSL)
+if(GSL_FOUND)
+  add_definitions(${CMAKE_GSL_CXX_FLAGS})
+  include_directories(${GSL_INCLUDE_DIR})
+  link_directories(${GSL_LINK_DIRECTORIES})
+else(GSL_FOUND)
+  if(ARGOS_BUILD_FOR STREQUAL "SIMULATOR")
+    message(FATAL_ERROR "When compiling the ARGoS simulator, GSL is required")
+  endif(ARGOS_BUILD_FOR STREQUAL "SIMULATOR")
+endif(GSL_FOUND)
+
+#
+# Compile stuff
+#
+add_subdirectory(core)
+#add_subdirectory(plugins)

src/argos3

@@ -0,0 +1 @@
+.

src/cmake/ARGoSBuildFlags.cmake

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+#
+# General compilation flags
+#
+set(CMAKE_C_FLAGS                "-Wall")
+set(CMAKE_C_FLAGS_RELEASE        "-Os -DNDEBUG")
+set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -ggdb3 -DNDEBUG")
+set(CMAKE_C_FLAGS_DEBUG          "-ggdb3")
+
+set(CMAKE_CXX_FLAGS                "-Wall")
+set(CMAKE_CXX_FLAGS_RELEASE        "-Os -DNDEBUG")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -ggdb3 -DNDEBUG")
+set(CMAKE_CXX_FLAGS_DEBUG          "-ggdb3")
+
+if(APPLE)
+  # MAC OSX
+  # Allow for dynamic lookup of undefined symbols
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -undefined dynamic_lookup")
+else(APPLE)
+  # Linux
+  # Avoid discarding unused symbols to allow plugins to work
+  set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-as-needed")
+endif(APPLE)
+
+#
+# This is required for TinyXML++ to work
+#
+add_definitions(-DTIXML_USE_TICPP)

src/cmake/ARGoSBuildOptions.cmake

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+#
+# What is ARGoS being built for?
+# Accepted values: "SIMULATOR" or a robot name (uppercase)
+#
+if(NOT DEFINED ARGOS_BUILD_FOR)
+  # Variable was not set, set to default value
+  set(ARGOS_BUILD_FOR "SIMULATOR" CACHE STRING "What is ARGoS being built for? \"Simulator\" or a robot name (uppercase)")
+endif(NOT DEFINED ARGOS_BUILD_FOR)
+# Set the macro according to value set in ARGOS_BUILD_FOR
+add_definitions(-DARGOS_${ARGOS_BUILD_FOR}_BUILD)
+
+#
+# Compile thread-safe or thread-unsafe log
+# By default, use the thread-safe version
+# When compiling for the simulator, the thread-safe version is mandatory
+#
+if(NOT DEFINED ARGOS_THREADSAFE_LOG)
+  set(ARGOS_THREADSAFE_LOG TRUE CACHE BOOL "ON -> compile thread-safe version of log, OFF -> compile thread-unsafe version of log")
+endif(NOT DEFINED ARGOS_THREADSAFE_LOG)
+if((NOT ARGOS_THREADSAFE_LOG) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+  message(FATAL_ERROR "When compiling for the simulator, ARGOS_THREADSAFE_LOG must be ON")
+endif((NOT ARGOS_THREADSAFE_LOG) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+if(ARGOS_THREADSAFE_LOG)
+  add_definitions(-DARGOS_THREADSAFE_LOG)
+endif(ARGOS_THREADSAFE_LOG)
+
+#
+# Compile support for dynamic library loading or not
+# By default, support for dynamic library loading is on
+# When compiling for the simulator, support for dynamic library loading must be on
+#
+if(NOT DEFINED ARGOS_DYNAMIC_LIBRARY_LOADING)
+  set(ARGOS_DYNAMIC_LIBRARY_LOADING TRUE CACHE BOOL "ON -> compile support for dynamic library loading, OFF -> no support for dynamic library loading")
+endif(NOT DEFINED ARGOS_DYNAMIC_LIBRARY_LOADING)
+if((NOT ARGOS_DYNAMIC_LIBRARY_LOADING) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+  message(FATAL_ERROR "When compiling for the simulator, ARGOS_DYNAMIC_LIBRARY_LOADING must be ON")
+endif((NOT ARGOS_DYNAMIC_LIBRARY_LOADING) AND (ARGOS_BUILD_FOR STREQUAL "SIMULATOR"))
+if(ARGOS_DYNAMIC_LIBRARY_LOADING)
+  add_definitions(-DARGOS_DYNAMIC_LIBRARY_LOADING)
+endif(ARGOS_DYNAMIC_LIBRARY_LOADING)

src/cmake/CheckQTOpenGL4ARGoS.cmake

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+# Checks whether QT4, OpenGL and GLUT are present and correctly configured
+#
+# Usage:
+#
+#   INCLUDE(CheckQTOpenGL4ARGoS)
+#   IF(ARGOS_COMPILE_QTOPENGL)
+#
+#      your qt-opengl-dependent code here
+#
+#   ENDIF(ARGOS_COMPILE_QTOPENGL)
+#
+# This module defines this variable:
+#
+#  ARGOS_COMPILE_QTOPENGL - True if QT4, OpenGL and GLUT are present and correctly configured
+#
+# AUTHOR: Carlo Pinciroli <[email protected]>
+
+# Check for QT4
+set(ARGOS_COMPILE_QTOPENGL false) 
+set(QT_USE_QTOPENGL true)
+find_package(Qt4)
+if(QT4_FOUND)
+  # QT4 found, is it the minimum required version?
+  if(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+    # Is the QTOpenGL module present?
+    if(QT_QTOPENGL_FOUND)
+      # QT is OK, now check for OpenGL
+      find_package(OpenGL)
+      if(OPENGL_FOUND)
+        # OpenGL is ok, now check for GLUT
+        find_package(GLUT)
+        if(GLUT_FOUND)
+          # GLUT is ok
+
+          # All the required libraries are OK
+          set(ARGOS_COMPILE_QTOPENGL true)
+	        if( APPLE )
+	          include_directories(${OPENGL_INCLUDE_DIR}/Headers)
+	        endif( APPLE )
+	        include(${QT_USE_FILE})
+
+          # Now check for SDL (optional)
+          set(SDL_BUILDING_LIBRARY true)
+          find_package(SDL)
+          if(SDL_FOUND)
+            # SDL is ok
+            add_definitions(-DQTOPENGL_WITH_SDL)
+
+          else(SDL_FOUND)
+            message(STATUS "SDL not found. QTOpenGL won't have joystick support.")
+          endif(SDL_FOUND)
+
+        else(GLUT_FOUND)
+          message(STATUS "GLUT not found. Skipping compilation of QT-OpenGL visualization.")
+        endif(GLUT_FOUND)
+
+      else(OPENGL_FOUND)
+        message(STATUS "OpenGL not found. Skipping compilation of QT-OpenGL visualization.")
+      endif(OPENGL_FOUND)
+
+    else(QT_QTOPENGL_FOUND)
+      message(STATUS "QtOpenGL module not found. Skipping compilation of QT-OpenGL visualization.")
+    endif(QT_QTOPENGL_FOUND)
+
+  else(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+    message(STATUS "Minimum required version for Qt (>= 4.3) not found. Skipping compilation of QT-OpenGL visualization.")
+  endif(QT_VERSION_MAJOR GREATER 3 AND QT_VERSION_MINOR GREATER 2)
+
+else(QT4_FOUND)
+  message(STATUS "Qt4 not found, skipping compilation of QT-OpenGL visualization.")
+endif(QT4_FOUND)

src/cmake/FindGSL.cmake

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+# Try to find gnu scientific library GSL
+# See 
+# http://www.gnu.org/software/gsl/  and 
+# http://gnuwin32.sourceforge.net/packages/gsl.htm
+#
+# Once run this will define: 
+# 
+# GSL_FOUND       = system has GSL lib
+#
+# GSL_LIBRARIES   = full path to the libraries
+#    on Unix/Linux with additional linker flags from "gsl-config --libs"
+# 
+# CMAKE_GSL_CXX_FLAGS  = Unix compiler flags for GSL, essentially "`gsl-config --cxxflags`"
+#
+# GSL_INCLUDE_DIR      = where to find headers 
+#
+# GSL_LINK_DIRECTORIES = link directories, useful for rpath on Unix
+# GSL_EXE_LINKER_FLAGS = rpath on Unix
+#
+# Felix Woelk 07/2004
+# Jan Woetzel
+#
+# www.mip.informatik.uni-kiel.de
+# --------------------------------
+
+IF(WIN32)
+  # JW tested with gsl-1.8, Windows XP, MSVS 7.1, MSVS 8.0
+  SET(GSL_POSSIBLE_ROOT_DIRS
+    ${GSL_ROOT_DIR}
+    $ENV{GSL_ROOT_DIR}
+    ${GSL_DIR}
+    ${GSL_HOME}    
+    $ENV{GSL_DIR}
+    $ENV{GSL_HOME}
+    $ENV{EXTERN_LIBS_DIR}/gsl
+    $ENV{EXTRA}
+    # "C:/home/jw/source2/gsl-1.8"
+    )
+  FIND_PATH(GSL_INCLUDE_DIR
+    NAMES gsl/gsl_cdf.h gsl/gsl_randist.h
+    PATHS ${GSL_POSSIBLE_ROOT_DIRS}
+    PATH_SUFFIXES include
+    DOC "GSL header include dir"
+    )
+
+  FIND_LIBRARY(GSL_GSL_LIBRARY
+    NAMES gsl libgsl
+    PATHS  ${GSL_POSSIBLE_ROOT_DIRS}
+    PATH_SUFFIXES lib
+    DOC "GSL library dir" )  
+
+  FIND_LIBRARY(GSL_GSLCBLAS_LIBRARY
+    NAMES gslcblas libgslcblas
+    PATHS  ${GSL_POSSIBLE_ROOT_DIRS}
+    PATH_SUFFIXES lib
+    DOC "GSL cblas library dir" )
+
+  SET(GSL_LIBRARIES ${GSL_GSL_LIBRARY})
+
+  #MESSAGE("DBG\n"
+    #  "GSL_GSL_LIBRARY=${GSL_GSL_LIBRARY}\n"
+    #  "GSL_GSLCBLAS_LIBRARY=${GSL_GSLCBLAS_LIBRARY}\n"
+    #  "GSL_LIBRARIES=${GSL_LIBRARIES}")
+
+
+ELSE(WIN32)
+
+  IF(UNIX) 
+    SET(GSL_CONFIG_PREFER_PATH 
+      "$ENV{GSL_DIR}/bin"
+      "$ENV{GSL_DIR}"
+      "$ENV{GSL_HOME}/bin" 
+      "$ENV{GSL_HOME}" 
+      CACHE STRING "preferred path to GSL (gsl-config)")
+    FIND_PROGRAM(GSL_CONFIG gsl-config
+      ${GSL_CONFIG_PREFER_PATH}
+      /usr/bin/
+      /opt/local/bin
+      )
+    # MESSAGE("DBG GSL_CONFIG ${GSL_CONFIG}")
+
+    IF (GSL_CONFIG) 
+
+      MESSAGE(STATUS "GSL using gsl-config ${GSL_CONFIG}")
+      # set CXXFLAGS to be fed into CXX_FLAGS by the user:
+      EXEC_PROGRAM(${GSL_CONFIG}
+        ARGS --cflags
+        OUTPUT_VARIABLE  GSL_CXX_FLAGS )
+      #SET(GSL_CXX_FLAGS "`${GSL_CONFIG} --cflags`")
+
+      # set INCLUDE_DIRS to prefix+include
+      EXEC_PROGRAM(${GSL_CONFIG}
+        ARGS --prefix
+        OUTPUT_VARIABLE GSL_PREFIX)
+      SET(GSL_INCLUDE_DIR ${GSL_PREFIX}/include CACHE STRING INTERNAL)
+
+      # set link libraries and link flags
+
+      #SET(GSL_LIBRARIES "`${GSL_CONFIG} --libs`")
+
+      # extract link dirs for rpath  
+      EXEC_PROGRAM(${GSL_CONFIG}
+        ARGS --libs
+        OUTPUT_VARIABLE  GSL_CONFIG_LIBS )
+      SET(GSL_LIBRARIES "${GSL_CONFIG_LIBS}")
+
+      # split off the link dirs (for rpath)
+      # use regular expression to match wildcard equivalent "-L*<endchar>"
+      # with <endchar> is a space or a semicolon
+      STRING(REGEX MATCHALL "[-][L]([^ ;])+" 
+        GSL_LINK_DIRECTORIES_WITH_PREFIX 
+        "${GSL_CONFIG_LIBS}" )
+      #      MESSAGE("DBG  GSL_LINK_DIRECTORIES_WITH_PREFIX=${GSL_LINK_DIRECTORIES_WITH_PREFIX}")
+
+      # remove prefix -L because we need the pure directory for LINK_DIRECTORIES
+
+      IF (GSL_LINK_DIRECTORIES_WITH_PREFIX)
+        STRING(REGEX REPLACE "[-][L]" "" GSL_LINK_DIRECTORIES ${GSL_LINK_DIRECTORIES_WITH_PREFIX} )
+      ENDIF (GSL_LINK_DIRECTORIES_WITH_PREFIX)
+      SET(GSL_EXE_LINKER_FLAGS "-Wl,-rpath,${GSL_LINK_DIRECTORIES}" CACHE STRING INTERNAL)
+      #      MESSAGE("DBG  GSL_LINK_DIRECTORIES=${GSL_LINK_DIRECTORIES}")
+      #      MESSAGE("DBG  GSL_EXE_LINKER_FLAGS=${GSL_EXE_LINKER_FLAGS}")
+
+      #      ADD_DEFINITIONS("-DHAVE_GSL")
+      #      SET(GSL_DEFINITIONS "-DHAVE_GSL")
+      MARK_AS_ADVANCED(
+        GSL_CXX_FLAGS
+        GSL_INCLUDE_DIR
+        GSL_LIBRARIES
+        GSL_LINK_DIRECTORIES
+        GSL_DEFINITIONS
+	)
+      MESSAGE(STATUS "Using GSL from ${GSL_PREFIX}")
+
+    ELSE(GSL_CONFIG)
+
+      INCLUDE(UsePkgConfig) #needed for PKGCONFIG(...)
+
+      MESSAGE(STATUS "GSL using pkgconfig")
+      #      PKGCONFIG(gsl includedir libdir linkflags cflags)
+      PKGCONFIG(gsl GSL_INCLUDE_DIR GSL_LINK_DIRECTORIES GSL_LIBRARIES GSL_CXX_FLAGS)
+      IF(GSL_INCLUDE_DIR)
+	MARK_AS_ADVANCED(
+          GSL_CXX_FLAGS
+          GSL_INCLUDE_DIR
+          GSL_LIBRARIES
+          GSL_LINK_DIRECTORIES
+	  )
+
+      ELSE(GSL_INCLUDE_DIR)      
+	MESSAGE("FindGSL.cmake: gsl-config/pkg-config gsl not found. Please set it manually. GSL_CONFIG=${GSL_CONFIG}")
+      ENDIF(GSL_INCLUDE_DIR)
+
+    ENDIF(GSL_CONFIG)
+
+  ENDIF(UNIX)
+ENDIF(WIN32)
+
+
+IF(GSL_LIBRARIES)
+  IF(GSL_INCLUDE_DIR OR GSL_CXX_FLAGS)
+
+    SET(GSL_FOUND 1)
+
+  ENDIF(GSL_INCLUDE_DIR OR GSL_CXX_FLAGS)
+ENDIF(GSL_LIBRARIES)
+
+
+# ==========================================
+IF(NOT GSL_FOUND)
+  # make FIND_PACKAGE friendly
+  IF(NOT GSL_FIND_QUIETLY)
+    IF(GSL_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "GSL required, please specify it's location.")
+    ELSE(GSL_FIND_REQUIRED)
+      MESSAGE(STATUS       "ERROR: GSL was not found.")
+    ENDIF(GSL_FIND_REQUIRED)
+  ENDIF(NOT GSL_FIND_QUIETLY)
+ENDIF(NOT GSL_FOUND)