Re: WIN32 compilation issues patch

Jorge Santos Simón <[email protected]>
Newsgroups gmane.science.robotics.playerstage
Message-ID <[email protected]> 
Hi all,

I have regenerated the patch with your suggestions:
-#define SIGQUIT 3

replaced by

+#ifdef SIGINT
  signal(SIGINT, sig_quit);
+#endif
+#ifdef SIGQUIT
  signal(SIGQUIT, sig_quit);
+#endif

And an extra include on pmap.cc to avoid the precomp. option _USE_MATH_DEFINES
I have uploaded it on the project patch tracker (2993776)

I attach also the opencv.pc file I use. It is the one contained in the
unix-install directory,
generated by CMake. It contains windows-like paths, so my pkg-config
executable for
windows (the one packaged with GTK+) has no problems.

I hope this will help. Let me know what linkage problems you have.
Maybe I can help.

If you want, I can send you the list of tweaks I have made to compile
all the stuff.

The big idea, I think, is to reduce at minimum the tweaks required to
compile on Windows,
but I should learn CMake to succeed in the task.

Best regards,
Jorge


> If you use pykg-config, you shouldn't have any problems with paths if
> you use /. It also handles things like spaces properly on Windows.
>
> http://github.com/gbiggs/pykg-config
>
> If you have problems using it, please file a bug. :)
>
> Geoff

On 28/04/2010 4:40 a.m., Paul Osmialowski wrote:


> >> I have managed to include OpenCV; it's not so tricky. The steps are:
> >>
> >> * Configure + generate OpenCV with CMake to obtain the opencv.pc file
> >
> > Well, I tried to write my own opencv.pc file for downloaded OpenCV
> > binaries (library with installer), I couldn't figure out how to manage
> > with different path notations in two worlds (Windows vs pkgconfig taken
> > directly from Unix). Also I had some link-time issues, I don't remember
> > now.
> >
> > Can you put your complete patch on a patch tracker for Player project?
> >
> > Paul

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win32_compilation_issues.patch (application/octet-stream, 9.3 KB) 
Index: libplayerinterface/addr_util.c
===================================================================
--- libplayerinterface/addr_util.c	(revision 8631)
+++ libplayerinterface/addr_util.c	(working copy)
@@ -43,7 +43,7 @@
 #include <assert.h>
 #include <sys/types.h>
 #if defined WIN32
-  #include <Winsock2.h>
+  #include <winsock2.h>
   #define snprintf _snprintf
 #else
   #include <unistd.h>
Index: rtk2/rtk.c
===================================================================
--- rtk2/rtk.c	(revision 8631)
+++ rtk2/rtk.c	(working copy)
@@ -39,7 +39,6 @@
 #include "avcodec.h"
 #endif
 
-//#define DEBUG
 #include "rtk.h"
 #include "rtkprivate.h"
 
@@ -192,7 +191,7 @@
 // Event processing function.  Returns non-zero if the app should quit.
 int rtk_app_main_loop(rtk_app_t *app)
 {
-  int ret;
+  int ret = 0;
   rtk_canvas_t *canvas;
   rtk_table_t *table;
   
Index: rtk2/rtk_fig.c
===================================================================
--- rtk2/rtk_fig.c	(revision 8631)
+++ rtk2/rtk_fig.c	(working copy)
@@ -38,6 +38,10 @@
 #include "rtk.h"
 #include "rtkprivate.h"
 
+#ifndef M_PI
+	#define M_PI 3.14159265358979323846
+#endif
+
 // Draw the selection
 void rtk_fig_render_selection(rtk_fig_t *fig);
 
Index: server/drivers/camera/imageseq/imageseq.cc
===================================================================
--- server/drivers/camera/imageseq/imageseq.cc	(revision 8631)
+++ server/drivers/camera/imageseq/imageseq.cc	(working copy)
@@ -86,19 +86,19 @@
 /** @} */
 
 #include <string.h>
-#include <stdlib.h>
 #include <stddef.h>
 #ifndef WIN32
-#include <unistd.h>
+  #include <unistd.h>
 #endif
 #include <time.h>         // for nanosleep() and struct timespec
 #include <stdlib.h>       // for atoi(3)
 #include <math.h>
 
+#include <libplayercore/playercore.h>
+
 #include <cv.h>
 #include <highgui.h>
 
-#include <libplayercore/playercore.h>
 
 class ImageSeq : public ThreadedDriver
 {
Index: server/drivers/mixed/mricp/include/Timer.h
===================================================================
--- server/drivers/mixed/mricp/include/Timer.h	(revision 8631)
+++ server/drivers/mixed/mricp/include/Timer.h	(working copy)
@@ -20,8 +20,15 @@
 
 #ifndef TIMER_H_
 #define TIMER_H_
-#include <sys/time.h>
+
+#if defined WIN32
+  #include <replace.h>
+  #include <Winsock2.h>  // For struct timeval
+#else
+  #include <sys/time.h>
+#endif
 #include <iostream>
+
 class Timer
 {
 	private:
Index: server/drivers/mixed/mricp/src/map.cpp
===================================================================
--- server/drivers/mixed/mricp/src/map.cpp	(revision 8631)
+++ server/drivers/mixed/mricp/src/map.cpp	(working copy)
@@ -24,6 +24,9 @@
 #include <iostream>
 using namespace std;
 
+#if defined WIN32
+  #define snprintf _snprintf
+#endif
 
 MAP::MAP(char * Mapname, double pixel_size, double map_size)
 {
Index: server/drivers/mixed/mricp/src/mricp_driver.cpp
===================================================================
--- server/drivers/mixed/mricp/src/mricp_driver.cpp	(revision 8631)
+++ server/drivers/mixed/mricp/src/mricp_driver.cpp	(working copy)
@@ -31,11 +31,16 @@
 #include <config.h>
 #include <sys/types.h>
 #include <sys/stat.h>
-#include <sys/time.h>
+#if defined WIN32
+  #define snprintf _snprintf
+#else
+  #include <unistd.h>
+  #include <sys/time.h>
+  #include <termios.h>
+  #include <netinet/in.h>
+#endif
 #include <fcntl.h>
-#include <termios.h>
 #include <cstdio>
-#include <unistd.h>
 #include <cstdlib>
 #include <cstddef>
 #include <cerrno>
@@ -47,7 +52,6 @@
 #include <iostream>
 #include <csignal>
 #include <vector>
-#include <netinet/in.h>
 // Player includes
 #include <libplayercore/playercore.h>
 
Index: server/drivers/planner/wavefront/wavefront.cc
===================================================================
--- server/drivers/planner/wavefront/wavefront.cc	(revision 8631)
+++ server/drivers/planner/wavefront/wavefront.cc	(working copy)
@@ -215,16 +215,18 @@
 #include <string.h>
 #include <stddef.h>
 #include <stdlib.h>
-#include <unistd.h>
 #include <assert.h>
 #include <math.h>
 
+#ifndef WIN32
+  #include <unistd.h>
+  #include <sys/time.h>
+#endif
 
 #include <libplayercore/playercore.h>
 #include <libplayerinterface/functiontable.h>
 #include "plan.h"
 
-#include <sys/time.h>
 static double get_time(void);
 //extern "C" { void draw_cspace(plan_t* plan, const char* fname); }
 
Index: utils/playercam/playercam.c
===================================================================
--- utils/playercam/playercam.c	(revision 8631)
+++ utils/playercam/playercam.c	(working copy)
@@ -78,9 +78,15 @@
 
 #include "config.h"
 
-#include <stdint.h>
+#if defined WIN32
+  #include <replace.h>
+  #define strcasecmp _stricmp
+#else
+  #include <stdint.h>
+  #include <unistd.h>
+#endif
+
 #include <assert.h>
-#include <unistd.h>
 #include <math.h>
 #include <string.h>
 #include <stdlib.h>
Index: utils/playernav/gui.c
===================================================================
--- utils/playernav/gui.c	(revision 8631)
+++ utils/playernav/gui.c	(working copy)
@@ -21,7 +21,12 @@
  */
 
 #include <math.h>
-#include <sys/time.h>
+#if defined WIN32
+  #define PATH_MAX 260
+  #define snprintf _snprintf
+#else
+  #include <sys/time.h>
+#endif
 
 #include <gdk/gdkkeysyms.h>
 
Index: utils/playernav/playernav.c
===================================================================
--- utils/playernav/playernav.c	(revision 8631)
+++ utils/playernav/playernav.c	(working copy)
@@ -134,7 +134,9 @@
 #include <signal.h>
 #include <string.h>
 #include <math.h>
-#include <sys/time.h>
+#ifndef WIN32
+  #include <sys/time.h>
+#endif
 
 #include "playernav.h"
 
Index: utils/playerv/opt.h
===================================================================
--- utils/playerv/opt.h	(revision 8631)
+++ utils/playerv/opt.h	(working copy)
@@ -27,6 +27,9 @@
 #ifndef OPT_H
 #define OPT_H
 
+#if defined WIN32
+  #define snprintf _snprintf
+#endif
 
 // Structure describing a single option.
 // This structure is opaque.
Index: utils/playerv/playerv.c
===================================================================
--- utils/playerv/playerv.c	(revision 8631)
+++ utils/playerv/playerv.c	(working copy)
@@ -120,8 +120,12 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
-#include <unistd.h>
 #include <time.h>
+#if defined WIN32
+  #include <replace.h>
+#else
+  #include <unistd.h>
+#endif
 #include "playerv.h"
 
 #define GUI_UPDATE_RATE 20.0
@@ -175,8 +179,12 @@
   rtk_init(&argc, &argv);
 
   // Register signal handlers
+#ifdef SIGINT
   signal(SIGINT, sig_quit);
+#endif
+#ifdef SIGQUIT
   signal(SIGQUIT, sig_quit);
+#endif
 
   // Load program options
   opt = opt_init(argc, argv, NULL);
Index: utils/playerv/pv_dev_map.c
===================================================================
--- utils/playerv/pv_dev_map.c	(revision 8631)
+++ utils/playerv/pv_dev_map.c	(working copy)
@@ -27,6 +27,9 @@
 #include <assert.h>
 #include <stdlib.h>
 #include <string.h>
+#if defined WIN32
+  #include <replace.h>
+#endif
 #include "playerv.h"
 
 
@@ -159,20 +162,21 @@
 
   for( x=0; x<map->proxy->width; x++ )
     for( y=0; y<map->proxy->height; y++ )
+    {
+	  int8_t val = map->proxy->cells[ x + y * map->proxy->width ];
+      if (val != 0)
       {
-	int8_t val = map->proxy->cells[ x + y * map->proxy->width ];
-	if (val == 0)
-	  continue;
-	double color = (double)val/map->proxy->data_range; // scale to[-1,1]
-	color *= -1; //flip sign for coloring occupied to black
-	color = (color+1)/2.0; // scale to [0,1]
-	rtk_fig_color(map->fig, color, color, color );
-	rtk_fig_rectangle(map->fig,
-			  (x - map->proxy->width/2.0) * scale + scale/2.0,
-			  (y - map->proxy->height/2.0) * scale + scale/2.0,
-			  0,
-			  scale, scale, 1);
+        double color = (double)val/map->proxy->data_range; // scale to[-1,1]
+        color *= -1; //flip sign for coloring occupied to black
+        color = (color+1)/2.0; // scale to [0,1]
+        rtk_fig_color(map->fig, color, color, color );
+        rtk_fig_rectangle(map->fig,
+		                  (x - map->proxy->width/2.0) * scale + scale/2.0,
+		                  (y - map->proxy->height/2.0) * scale + scale/2.0,
+		                  0,
+		                  scale, scale, 1);
       }
+    }
 
   return;
 }
Index: utils/pmap/lodo_driver.cc
===================================================================
--- utils/pmap/lodo_driver.cc	(revision 8631)
+++ utils/pmap/lodo_driver.cc	(working copy)
@@ -146,9 +146,11 @@
 
 */
 
-#include <unistd.h>
 #include <string.h>
-#include <netinet/in.h>
+#ifndef WIN32
+  #include <unistd.h>
+  #include <netinet/in.h>
+#endif
 
 #include <libplayercore/playercore.h>
 
Index: utils/pmap/pmap.cpp
===================================================================
--- utils/pmap/pmap.cpp	(revision 8631)
+++ utils/pmap/pmap.cpp	(working copy)
@@ -30,6 +30,7 @@
 #include <float.h>
 #if defined (WIN32)
   #define finite _finite
+  #include <gsl/gsl_math.h>
 #endif
 #include <stdlib.h>
 #include <stdio.h>
Index: utils/pmap/slap.cpp
===================================================================
--- utils/pmap/slap.cpp	(revision 8631)
+++ utils/pmap/slap.cpp	(working copy)
@@ -27,6 +27,10 @@
 #include <math.h>
 #include "slap.h"
 
+#if defined WIN32
+  #include <float.h>
+  #define isnan _isnan
+#endif
 
 /* Set vector elements. */
 vector2_t vector2_set(double v0, double v1)
opencv.pc (application/octet-stream, 342 B) - not displayed
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