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[master] Enable Windows build. #33

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merged 2 commits into from
Jan 10, 2020
Merged

[master] Enable Windows build. #33

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e0a62b3
Enable Windows build.
seanyen Dec 13, 2019
4dc8bdd
undef WIN32_LEAN_AND_MEAN instead of touching SOEM code.
seanyen Dec 13, 2019
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27 changes: 24 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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 "")
Expand Down Expand Up @@ -74,6 +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)
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#catkin_lint: ignore duplicate_cmd
#catkin_lint: ignore subproject
add_subdirectory(SOEM)
4 changes: 2 additions & 2 deletions SOEM/CMakeLists.txt
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Expand Up @@ -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)
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endif()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /WX")
Expand Down