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Shared libraries were made feasible by the implementation of the ELF binary format, though there is an older aout format for shared (tagged) libraries ELF is currently the standard format used for all binary files in Linux The GNU libraries are made available under a Library GNU Public License (LGPL) The conditions of this license differ from the standard GNU license in that you are free to charge for programs developed using these libraries However, you do have to make available the source code for those libraries you used Libraries made available on your system reside in the /usr/lib and /lib directories The names of these libraries always begin with the prefix lib followed by the library name and a suffix The suffix differs, depending on whether it is a static or shared library A shared library has the suffix so followed by major and minor version numbers.

A static library simply has a a extension A further distinction is made for shared libraries in the old aout format These have the extension sa..

(Continued )

The name can be any string, and it uniquely identifies a library It can be a word, a few characters, or even a single letter The name of the shared math library is libmso5, where the math library is uniquely identified by the letter m and the major version is 5 libma is the static math library The name of the X Windows library is libX11so6, where the X Windows library is uniquely identified with the characters X11 and its major version is 6 You can link libraries to your programs using the gcc compiler For example, the libcso5 library contains the standard I/O functions This library is automatically searched and linked whenever the linker generates an executable file The standard I/O library contains numerous functions that include input/output operations such as printf.

There are other system libraries that you can access, such as the math library Though the libcso5 library is automatically linked, most other system libraries need to be explicitly referenced on the command line Most shared libraries are found in the /usr/lib and /lib directories These will always be searched first Some shared libraries are located in special directories of their own A listing of these is placed in the /etc/ldconf configuration file These directories will also be searched for a given library By default, Linux will first look for shared libraries, then static ones Whenever a shared library is updated or a new one installed, you need to run the ldconfig command to update its entries in the /etc/ldconf file as well as links to it (if you install from an RPM package, this is usually done for you).

To reference a library file in one of these searchable directories when you invoke the gcc compiler, you use the -l option followed by the unique part of a system library's name: lname To instruct the linker to use the standard math library, you enter -lm on the gcc command line -l will look first for a libnameso file, in this case, libmso This is a link to the actual library file In the next example, the bookrecs program is created and linked to the math library Notice the -lm option..

GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rLook: ' place code here to read the camera sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rBeacon: ' place code here to read the beacon sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rRange: ' place code here to read the ultrasonic sensor ' and place the appropriate data in bytes 3 & 4 ' of the buffer (see below) GOSUB ReadSensors bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rPen: ' place code here to lift or lower the pen based on ' the value of bData(1) GOSUB ReadSensors RETURN '============================================================= rGPS: ' place code here to read the GPS sensor and place ' data in the buffer (not the zero's shown below) bBuffer(0) = 0 bBuffer(1) = 0 bBuffer(2) = 0 bBuffer(3) = 0 bBuffer(4) = 0 RETURN '============================================================= rSpeed: ' place code here to control the speed of robot ' for example, a value to control pulse width ' bData(1) holds the parameter from RobotBASIC GOSUB ReadSensors RETURN '============================================================= NotRecognized: DEBUG "Not A Command ",DEC bData(0)," ",DEC bData(1),CR bBuffer(0) = 255 'set all returned values to -1 bBuffer(1) = 255 bBuffer(2) = 255

Many different libraries are currently available for your use. One of the more popular is the libncurses.a library, which contains simple cursor movement routines. You would reference the libncurses.so library on the command line with -lncurses. In the next example, the user invokes both the math and curses libraries: