From e0a62b32439516398330e1cacead27e366b81e32 Mon Sep 17 00:00:00 2001
From: seanyen <seanyen@microsoft.com>
Date: Thu, 12 Dec 2019 21:22:15 -0800
Subject: [PATCH 1/2] Enable Windows build.

---
 CMakeLists.txt         | 24 +++++++++++++++++++++---
 SOEM/CMakeLists.txt    |  4 ++--
 SOEM/osal/win32/osal.c |  4 ++++
 SOEM/oshw/win32/oshw.c |  1 +
 4 files changed, 28 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03f889b..ae90a6f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,22 +30,40 @@ catkin_destinations()
 # create directory during CMake build system creation step
 file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
+if(WIN32)
+  set(OS "win32")
+else()
+  set(OS "linux")
+endif()
+
+file(GLOB SOEM_COMMON_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/SOEM/soem/*.h")
+file(GLOB SOEM_OSAL_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/SOEM/osal/${OS}/*.h")
+file(GLOB SOEM_OSHW_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/SOEM/oshw/${OS}/*.h")
+
 # Copy header to ROS-standard location in devel space to satisfy catkin_package
 add_custom_target(CopyHeaders ALL
                   COMMAND ${CMAKE_COMMAND} -E copy_if_different
-                          ${CMAKE_CURRENT_SOURCE_DIR}/SOEM/soem/*.h
+                          ${SOEM_COMMON_HEADERS}
                           ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
                   COMMAND ${CMAKE_COMMAND} -E copy_if_different
                           ${CMAKE_CURRENT_SOURCE_DIR}/SOEM/osal/osal.h
                           ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
                   COMMAND ${CMAKE_COMMAND} -E copy_if_different
-                          ${CMAKE_CURRENT_SOURCE_DIR}/SOEM/osal/linux/*.h
+                          ${SOEM_OSAL_HEADERS}
                           ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
                   COMMAND ${CMAKE_COMMAND} -E copy_if_different
-                          ${CMAKE_CURRENT_SOURCE_DIR}/SOEM/oshw/linux/*.h
+                          ${SOEM_OSHW_HEADERS}
                           ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
                   COMMENT "Copying SOEM headers to ROS-standard in devel space location.")
 
+if(WIN32)
+  add_custom_target(CopyWpcapHeaders ALL
+                  COMMAND ${CMAKE_COMMAND} -E copy_directory
+                          ${CMAKE_CURRENT_SOURCE_DIR}/SOEM/oshw/${OS}/wpcap/Include/
+                          ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+                  COMMENT "Copying Wpcap headers to ROS-standard in devel space location.")
+endif()
+
 # explicitely find pthread to be able to explicitely export the pthread dependency via catkin_package
 # see https://github.com/ros/ros_comm/issues/135
 set(PTHREAD_LIB "")
diff --git a/SOEM/CMakeLists.txt b/SOEM/CMakeLists.txt
index a72b9ec..1df229b 100644
--- a/SOEM/CMakeLists.txt
+++ b/SOEM/CMakeLists.txt
@@ -15,9 +15,9 @@ if(WIN32)
   set(OS "win32")
   include_directories(oshw/win32/wpcap/Include)
   if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-    link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib/x64)
+    link_directories(oshw/win32/wpcap/Lib/x64)
   elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
-    link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib)
+    link_directories(oshw/win32/wpcap/Lib)
   endif()
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  /WX")
diff --git a/SOEM/osal/win32/osal.c b/SOEM/osal/win32/osal.c
index d744fea..04f9c01 100644
--- a/SOEM/osal/win32/osal.c
+++ b/SOEM/osal/win32/osal.c
@@ -3,7 +3,11 @@
  * LICENSE file in the project root for full license information
  */
 
+#ifdef WIN32_LEAN_AND_MEAN
+#undef WIN32_LEAN_AND_MEAN
+#endif
 #include <winsock2.h>
+#include <malloc.h>
 #include <osal.h>
 #include "osal_win32.h"
 
diff --git a/SOEM/oshw/win32/oshw.c b/SOEM/oshw/win32/oshw.c
index e58f5fa..7c5dbd7 100644
--- a/SOEM/oshw/win32/oshw.c
+++ b/SOEM/oshw/win32/oshw.c
@@ -3,6 +3,7 @@
  * LICENSE file in the project root for full license information
  */
 
+#include <malloc.h>
 #include "oshw.h"
 
 /**

From 4dc8bdd63f77c828b8c6087dd01e83d8dc4cf52f Mon Sep 17 00:00:00 2001
From: seanyen <seanyen@microsoft.com>
Date: Thu, 12 Dec 2019 21:55:16 -0800
Subject: [PATCH 2/2] undef WIN32_LEAN_AND_MEAN instead of touching SOEM code.

---
 CMakeLists.txt         | 3 +++
 SOEM/osal/win32/osal.c | 4 ----
 SOEM/oshw/win32/oshw.c | 1 -
 3 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ae90a6f..2ec7423 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -92,6 +92,9 @@ catkin_package(
 # Thus, we add -fPIC here.
 # This allows us to still include this in any shared libraries we create.
 add_compile_options(-fPIC)
+# removed any pre-defined `WIN32_LEAN_AND_MEAN`.
+# Otherwise, many symbols will be reported as missing.
+remove_definitions(-DWIN32_LEAN_AND_MEAN)
 #catkin_lint: ignore duplicate_cmd
 #catkin_lint: ignore subproject
 add_subdirectory(SOEM)
diff --git a/SOEM/osal/win32/osal.c b/SOEM/osal/win32/osal.c
index 04f9c01..d744fea 100644
--- a/SOEM/osal/win32/osal.c
+++ b/SOEM/osal/win32/osal.c
@@ -3,11 +3,7 @@
  * LICENSE file in the project root for full license information
  */
 
-#ifdef WIN32_LEAN_AND_MEAN
-#undef WIN32_LEAN_AND_MEAN
-#endif
 #include <winsock2.h>
-#include <malloc.h>
 #include <osal.h>
 #include "osal_win32.h"
 
diff --git a/SOEM/oshw/win32/oshw.c b/SOEM/oshw/win32/oshw.c
index 7c5dbd7..e58f5fa 100644
--- a/SOEM/oshw/win32/oshw.c
+++ b/SOEM/oshw/win32/oshw.c
@@ -3,7 +3,6 @@
  * LICENSE file in the project root for full license information
  */
 
-#include <malloc.h>
 #include "oshw.h"
 
 /**