Fix osx and win32 builds #83

Tobias-Fischer · 2021-12-05T22:07:44Z

On osx, one should not link against the uuid library - it's in the system's path already.

On win32, there are several fixes needed: CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS so a DLL is created, add_definitions(-DNOMINMAX) to avoid namespace clashes for min and max, and the uuid library there is simply called Rpcrt4.lib.

traversaro · 2022-03-26T15:27:52Z

Hi @mjcarroll, let us know if there is any we (as RoboStack, from which this patch originates: osx and win) can do to help getting this PR merged, thanks!

Downstream issue: RoboStack/ros-galactic#31 .

bondcpp/CMakeLists.txt

clalancette · 2022-03-28T12:55:44Z

bondcpp/CMakeLists.txt

+  # we have to find the absolute path to uuid as target_link_directories is not available before cmake 3.13
+  find_library(uuid_ABS_PATH ${UUID_LIBRARIES} PATHS ${UUID_LIBRARY_DIRS})
+elseif(WIN32)
+  set(uuid_ABS_PATH Rpcrt4.lib)


Does this really make it work on Windows? Where does Rpcrt4.lib come from?

It is a system library: https://docs.microsoft.com/en-us/windows/win32/rpc/developing-32-bit-windows-applications .

clalancette · 2022-03-28T12:56:14Z

bondcpp/CMakeLists.txt

-pkg_check_modules(UUID REQUIRED uuid)
-# we have to find the absolute path to uuid as target_link_directories is not available before cmake 3.13
-find_library(uuid_ABS_PATH ${UUID_LIBRARIES} PATHS ${UUID_LIBRARY_DIRS})
+if(UNIX AND NOT APPLE)


What happens on macOS? If we are never finding the uuid library, how does it build/link against it?

On macOS libuuid header and symbols are provided by the OS SDK/libc, so there is no need to provide additonal header directories or library to link, see gazebosim/gz-cmake#128 and gazebosim/gz-cmake#127 for a similar change on Ignition libraries or https://developer.apple.com/library/archive/documentation/System/Conceptual/ManPages_iPhoneOS/man3/uuid_generate.3.html for the macOS docs.

…ndows

mjcarroll · 2022-06-13T15:53:22Z

Howdy @traversaro , will take a look at this once I can get #87 landed to get a majority of the "cleanups" in.

traversaro · 2022-06-13T16:30:43Z

Howdy @traversaro , will take a look at this once I can get #87 landed to get a majority of the "cleanups" in.

Great, thanks!

mjcarroll

I think this is mostly good, question on definitions, and I may have introduced a linting error on the merge.

bondcpp/CMakeLists.txt

mjcarroll · 2022-06-14T21:16:46Z

@Tobias-Fischer friendly ping

clalancette

Looks reasonable to me with green CI.

iggyrrieta · 2023-10-03T10:33:06Z

Hi! Thanks for publishing this!

I just cloned and failed building with following specs:

ROS 2 Humble
Windows SDK version 10.0.22621.0 to target Windows 10.0.19045
C compiler identification is MSVC 19.29.30152.0
CXX compiler identification is MSVC 19.29.30152.0

Command I tried:

colcon build --symlink-install --merge-install --packages-select bond smclib bondcpp --event-handlers console_direct+

Output:

bond
smclib
bondcpp

Summary: 2 packages finished [53.6s]
1 package failed: bondcpp

clalancette · 2023-10-09T20:05:25Z

After trying this locally, we definitely need a fix in rclcpp_lifecycle for this to work; see ros2/rclcpp#2331 . After that fix, there are some additional warnings in here:

C:/bond_ws/install/include/bond\bond/msg/detail/constants__struct.hpp(66,1): warning C4305: 'initializing': truncation from 'double' to 'const float' (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\BondSM_sm.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:/bond_ws/install/include/bond\bond/msg/detail/constants__builder.hpp(34): message : see reference to class template instantiation 'bond::msg::Constants_<std::allocator<void>>' being compiled (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\BondSM_sm.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:/bond_ws/install/include/bond\bond/msg/detail/constants__struct.hpp(66,1): warning C4305: 'initializing': truncation from 'double' to 'const float' (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\bond.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:/bond_ws/install/include/bond\bond/msg/detail/constants__builder.hpp(34): message : see reference to class template instantiation 'bond::msg::Constants_<std::allocator<void>>' being compiled (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\bond.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:\bond_ws\install\include\smclib/statemap.hpp(89,17): warning C4996: 'strncpy': This function or variable may be unsafe. Consider using strncpy_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details. (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\BondSM_sm.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:\bond_ws\install\include\smclib/statemap.hpp(89,17): warning C4996: 'strncpy': This function or variable may be unsafe. Consider using strncpy_s instead. To disable deprecation, use _CRT_SECURE_NO_WARNINGS. See online help for details. (compiling source file C:\bond_ws\src\bond_core\bondcpp\src\bond.cpp) [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:\bond_ws\src\bond_core\bondcpp\src\bond.cpp(561,53): warning C4244: '=': conversion from 'double' to 'bond::msg::Status_<std::allocator<void>>::_heartbeat_timeout_type', possible loss of data [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]
C:\bond_ws\src\bond_core\bondcpp\src\bond.cpp(562,51): warning C4244: '=': conversion from 'double' to 'bond::msg::Status_<std::allocator<void>>::_heartbeat_period_type', possible loss of data [C:\bond_ws\build\bondcpp\bondcpp.vcxproj]

Once those are all fixed, we can consider merging this.

This is to avoid a warning on Windows. It is safe to do since the heartbeat timeout or period aren't expected to be outside the range a float can represent. Signed-off-by: Chris Lalancette <clalancette@gmail.com>

clalancette · 2023-10-10T17:35:36Z

OK, we also need ros2/rosidl#772 . And I also just pushed some additional fixes.

With all of that in place, the last bit here is to fix the warnings about using strncpy. Once that is fixed, I think this will be ready.

Also make it allocate less memory in general. Signed-off-by: Chris Lalancette <clalancette@gmail.com>

Fix osx and win32 builds

60788a4

clalancette requested changes Mar 28, 2022

View reviewed changes

traversaro added 2 commits April 2, 2022 17:16

Explicitly mark symbol visibility and fix test_bond compilation on Wi…

ea45bfb

…ndows

Fix definition of BONDCPP_BUILDING_LIBRARY

74ef957

Merge branch 'ros2' into patch-8

ee4fa82

mjcarroll reviewed Jun 13, 2022

View reviewed changes

bondcpp/CMakeLists.txt Outdated Show resolved Hide resolved

Switch to use target_compile_definitions to define NOMINMAX

141dbe1

mjcarroll requested a review from clalancette June 17, 2022 14:31

clalancette approved these changes Jun 17, 2022

View reviewed changes

clalancette mentioned this pull request Oct 9, 2023

Fix rclcpp_lifecycle inclusion on Windows. ros2/rclcpp#2331

Merged

clalancette added 2 commits October 10, 2023 17:32

Merge branch 'ros2' into patch-8

497ac4f

Cast msg fields to float.

8a0b831

This is to avoid a warning on Windows. It is safe to do since the heartbeat timeout or period aren't expected to be outside the range a float can represent. Signed-off-by: Chris Lalancette <clalancette@gmail.com>

clalancette requested a review from gbiggs as a code owner October 10, 2023 17:34

Revamp copyString to use memcpy.

f8b171a

Also make it allocate less memory in general. Signed-off-by: Chris Lalancette <clalancette@gmail.com>

clalancette force-pushed the patch-8 branch from e87e66b to f8b171a Compare October 23, 2023 19:42

clalancette merged commit 330a2a7 into ros:ros2 Oct 23, 2023

Tobias-Fischer deleted the patch-8 branch October 23, 2023 20:48

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Fix osx and win32 builds #83

Fix osx and win32 builds #83

Tobias-Fischer commented Dec 5, 2021

traversaro commented Mar 26, 2022 •

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clalancette Mar 28, 2022

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clalancette commented Oct 10, 2023

Fix osx and win32 builds #83

Fix osx and win32 builds #83

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