Merge pull request #14 from RoboStack/win-build

Trigger windows builds

.github/workflows/testpr.yml

@@ -167,5 +167,5 @@ jobs:
       shell: bash -l {0}
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.platform == 'win-64'
       run: |
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform win64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing

conda_build_config.yaml

@@ -23,3 +23,11 @@ c_stdlib_version:
   - ${{ "2.17" if linux }}
   - ${{ "10.14" if osx and x86_64 }}
   - ${{ "11.0" if osx and arm64 }}
+c_compiler:
+  - ${{ "gcc" if linux }}
+  - ${{ "clang" if osx }}
+  - ${{ "vs2019" if win }}
+cxx_compiler:
+  - ${{ "gxx" if linux }}
+  - ${{ "clangxx" if osx }}
+  - ${{ "vs2019" if win }}

patch/dependencies.yaml

@@ -34,7 +34,7 @@ intra_process_demo:
   add_host: ["REQUIRE_OPENGL"]
 rviz_ogre_vendor:
   add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
-  add_build: ["vcstool", "patch"]
+  add_build: ["vcstool"]
   add_run: ["assimp"]
 pcl_conversions:
   add_host: ["REQUIRE_OPENGL", "libboost-devel"]

patch/ros-jazzy-fastrtps.patch

@@ -27,4 +27,17 @@ index 75ad33f2d64..252f60c775a 100644
 +
  namespace eprosima {
 
- template<typename... Args>
+ template<typename... Args>
+diff --git a/tools/fds/CMakeLists.txt b/tools/fds/CMakeLists.txt
+index 899fe693..f1e7e37d 100644
+--- a/tools/fds/CMakeLists.txt
++++ b/tools/fds/CMakeLists.txt
+@@ -116,7 +116,7 @@ install(EXPORT ${PROJECT_NAME}-targets
+ if( WIN32 )
+     # Use powershell to generate the link
+     install(
+-      CODE "execute_process( COMMAND PowerShell -Command \"if( test-path ${PROJECT_NAME}.exe -PathType Leaf ) { rm ${PROJECT_NAME}.exe } ; New-Item -ItemType SymbolicLink -Target $<TARGET_FILE_NAME:${PROJECT_NAME}> -Path ${PROJECT_NAME}.exe \" ERROR_QUIET RESULTS_VARIABLE SYMLINK_FAILED WORKING_DIRECTORY \"${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}\") \n if( SYMLINK_FAILED ) \n message(STATUS \"Windows requires admin installation rights to create symlinks. A bat script will be provided instead.\") \n set(FAST_SERVER_BINARY_NAME $<TARGET_FILE_NAME:${PROJECT_NAME}>) \n configure_file(${CMAKE_CURRENT_LIST_DIR}/fast-discovery-server.bat.in ${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}${MSVCARCH_DIR_EXTENSION}/${PROJECT_NAME}.bat @ONLY) \n endif()"
++      CODE "execute_process( COMMAND PowerShell -Command \"if( test-path ${PROJECT_NAME}.exe -PathType Leaf ) { rm ${PROJECT_NAME}.exe } ; New-Item -ItemType HardLink -Target $<TARGET_FILE_NAME:${PROJECT_NAME}> -Path ${PROJECT_NAME}.exe \" ERROR_QUIET RESULTS_VARIABLE SYMLINK_FAILED WORKING_DIRECTORY \"${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}\") \n if( SYMLINK_FAILED ) \n message(STATUS \"Windows requires admin installation rights to create symlinks. A bat script will be provided instead.\") \n set(FAST_SERVER_BINARY_NAME $<TARGET_FILE_NAME:${PROJECT_NAME}>) \n configure_file(${CMAKE_CURRENT_LIST_DIR}/fast-discovery-server.bat.in ${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}${MSVCARCH_DIR_EXTENSION}/${PROJECT_NAME}.bat @ONLY) \n endif()"
+       COMPONENT discovery)
+ else()
+     # Use ln to create the symbolic link. We remove the version from the file name but keep the debug suffix

patch/ros-jazzy-iceoryx-binding-c.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7863ddb..5f361df 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -32,6 +32,8 @@ include(IceoryxPoshDeployment)
+
+ if(CMAKE_SYSTEM_NAME MATCHES Linux OR CMAKE_SYSTEM_NAME MATCHES Darwin)
+     option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
++else()
++    set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
+ endif()
+
+ set(PREFIX iceoryx/v${CMAKE_PROJECT_VERSION})

patch/ros-jazzy-iceoryx-dds.win.patch

@@ -0,0 +1,15 @@
+diff --git a/iceoryx_dds/CMakeLists.txt b/iceoryx_dds/CMakeLists.txt
+index ae1f9f83f..e79873a72 100644
+--- a/iceoryx_dds/CMakeLists.txt
++++ b/iceoryx_dds/CMakeLists.txt
+@@ -16,6 +16,10 @@
+ # SPDX-License-Identifier: Apache-2.0
+ cmake_minimum_required(VERSION 3.16)
+
++if(WIN32)
++    set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
++endif()
++
+ set(IOX_VERSION_STRING "2.0.6")
+
+ project(iceoryx_dds VERSION ${IOX_VERSION_STRING})

patch/ros-jazzy-iceoryx-hoofs.win.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f7cb43b..115964a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -26,6 +26,8 @@ include("${CMAKE_CURRENT_LIST_DIR}/cmake/IceoryxPlatform.cmake")
+
+ if(CMAKE_SYSTEM_NAME MATCHES Linux OR CMAKE_SYSTEM_NAME MATCHES Darwin)
+     option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
++else()
++    set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
+ endif()
+
+ set(PREFIX iceoryx/v${CMAKE_PROJECT_VERSION})

patch/ros-jazzy-iceoryx-posh.win.patch

@@ -0,0 +1,44 @@
+diff --git a/iceoryx_posh/CMakeLists.txt b/iceoryx_posh/CMakeLists.txt
+index 57e84cdd0..d7781cbb9 100644
+--- a/iceoryx_posh/CMakeLists.txt
++++ b/iceoryx_posh/CMakeLists.txt
+@@ -42,6 +42,8 @@ include(cmake/IceoryxPoshDeployment.cmake)
+
+ if(CMAKE_SYSTEM_NAME MATCHES Linux OR CMAKE_SYSTEM_NAME MATCHES Darwin)
+     option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
++else()
++    set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
+ endif()
+
+ set(PREFIX iceoryx/v${CMAKE_PROJECT_VERSION})
+diff --git a/iceoryx_posh/cmake/cpptoml/CMakeLists.txt b/iceoryx_posh/cmake/cpptoml/CMakeLists.txt
+index e770e4fdba..a548376f1a 100644
+--- a/iceoryx_posh/cmake/cpptoml/CMakeLists.txt
++++ b/iceoryx_posh/cmake/cpptoml/CMakeLists.txt
+@@ -75,23 +75,13 @@ if(DEFINED CMAKE_TOOLCHAIN_FILE)
+ endif()
+
+ execute_process(
+-    COMMAND git apply -R -p1 --ignore-space-change --whitespace=nowarn --check
++    COMMAND patch -p1 --forward --ignore-whitespace --fuzz=3
+     INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch"
+     WORKING_DIRECTORY "${SOURCE_DIR}"
+-    OUTPUT_QUIET
+-    ERROR_QUIET
+     RESULT_VARIABLE result)
+-if(result)
+-    message(STATUS "Applying patch for minimal cmake version to cpptoml")
+
+-    execute_process(
+-        COMMAND git apply -p1 --ignore-space-change --whitespace=nowarn
+-        INPUT_FILE "${CMAKE_CURRENT_LIST_DIR}/0001-cpptoml-cmake-version.patch"
+-        WORKING_DIRECTORY "${SOURCE_DIR}"
+-        RESULT_VARIABLE result)
+-    if(result)
+-        message(FATAL_ERROR "CMake step [patch] for '${PROJECT_NAME}' failed! Error code: ${result}!")
+-    endif()
++if(result)
++    message(FATAL_ERROR "CMake step [patch] for '${PROJECT_NAME}' failed! Error code: ${result}!")
+ endif()
+
+ execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" "-DENABLE_LIBCXX=off" "-DCPPTOML_BUILD_EXAMPLES=off" "-DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}" "${SOURCE_DIR}" ${CMAKE_ADDITIONAL_OPTIONS}

patch/ros-jazzy-ros-gz-bridge.win.patch

@@ -0,0 +1,12 @@
+diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
+index 44911577..76779457 100644
+--- a/ros_gz_bridge/CMakeLists.txt
++++ b/ros_gz_bridge/CMakeLists.txt
+@@ -11,4 +11,7 @@ if(NOT CMAKE_CXX_STANDARD)
++elseif(MSVC)
++  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
+ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ find_package(ament_cmake REQUIRED)
+ find_package(rclcpp REQUIRED)

patch/ros-jazzy-ros-gz-sim.win.patch

@@ -0,0 +1,9 @@
+diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
+index dc8deb03..ec6ac678 100644
+--- a/ros_gz_sim/CMakeLists.txt
++++ b/ros_gz_sim/CMakeLists.txt
+@@ -12,3 +12,4 @@ endif()
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+ find_package(ament_cmake REQUIRED)
+ find_package(rclcpp REQUIRED)

patch/ros-jazzy-ros-workspace.patch

@@ -0,0 +1,61 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f2ed31b..50b5843 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,7 +4,7 @@ project(ros_workspace NONE)
+ find_package(ament_cmake_core REQUIRED)
+
+ # Collect current python 3 version
+-execute_process(COMMAND python3 -c "from distutils import sysconfig; print(sysconfig.get_python_version())" OUTPUT_VARIABLE PYTHON_MAJOR_MINOR OUTPUT_STRIP_TRAILING_WHITESPACE)
++find_package (Python COMPONENTS Interpreter Development)
+
+ # Locate ament_package template files.
+ if(WIN32)
+@@ -14,7 +14,15 @@ else()
+   set(PYTHON_INSTALL_DIR "lib/python${PYTHON_MAJOR_MINOR}/site-packages")
+   set(SHELL_EXT "sh")
+ endif()
+-set(AMENT_PACKAGE_DIR "${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/ament_package")
++set(AMENT_PACKAGE_DIR "${Python_SITELIB}/ament_package")
++
++if(NOT EXISTS "${AMENT_PACKAGE_DIR}" AND "$ENV{CONDA_BUILD_CROSS_COMPILATION}" EQUAL "1")
++  message(WARNING "Could not find '${AMENT_PACKAGE_DIR}'. Replace '$ENV{PREFIX}' with '$ENV{BUILD_PREFIX}'.")
++  string(REPLACE "$ENV{PREFIX}" "$ENV{BUILD_PREFIX}" AMENT_PACKAGE_DIR_REP ${AMENT_PACKAGE_DIR})
++  set(AMENT_PACKAGE_DIR "${AMENT_PACKAGE_DIR_REP}")
++  message(WARNING "Now try '${AMENT_PACKAGE_DIR}'.")
++endif()
++
+ if(NOT EXISTS "${AMENT_PACKAGE_DIR}")
+   # Check for an .egg-link file and use the listed directory if it exists
+   get_filename_component(AMENT_PACKAGE_EGG_LINK "${AMENT_PACKAGE_DIR}" DIRECTORY)
+@@ -38,28 +46,7 @@ set(
+   "prepend-non-duplicate;PYTHONPATH;${PYTHON_INSTALL_DIR}")
+
+ # Set environment hooks for default environment.
+-if(WIN32)
+-  ament_environment_hooks("${PYTHONPATH_HOOK}")
+-else()
+-  set(LIBRARY_PATH_HOOK "${AMENT_PACKAGE_TEMPLATE_DIR}/environment_hook/library_path.${SHELL_EXT}")
+-  # enable C language so that a trycompile can determine what the
+-  # anticipated libdir will be.
+-  enable_language(C)
+-  include(GNUInstallDirs)
+-  if(NOT ${CMAKE_INSTALL_LIBDIR} STREQUAL "lib")
+-    # register multiarch information for .dsv generation
+-    if(APPLE)
+-      set(LIBRARY_PATH_ENV_VAR "DYLD_LIBRARY_PATH")
+-    else()
+-      set(LIBRARY_PATH_ENV_VAR "LD_LIBRARY_PATH")
+-    endif()
+-    set(
+-      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_multiarch_library_paths
+-      "prepend-non-duplicate;${LIBRARY_PATH_ENV_VAR};${CMAKE_INSTALL_LIBDIR}")
+-    set(MULTIARCH_LIBRARY_PATH_HOOK "env-hooks/multiarch_library_paths.sh.in")
+-  endif()
+-  ament_environment_hooks("${LIBRARY_PATH_HOOK}" "${PYTHONPATH_HOOK}" ${MULTIARCH_LIBRARY_PATH_HOOK})
+-endif()
++ament_environment_hooks("${BINARY_PATH_HOOK}" "${PYTHONPATH_HOOK}")
+
+ # skip using ament_index/resource_index/parent_prefix_path
+ # if for Debian packages it is known that there are no underlays
+

patch/ros-jazzy-theora-image-transport.win.patch

@@ -0,0 +1,170 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 67612f0..355d45e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -23,10 +23,10 @@ find_package(std_msgs REQUIRED)
+
+ find_package(OpenCV REQUIRED imgproc)
+ find_package(PkgConfig)
+-pkg_check_modules(PC_OGG REQUIRED ogg)
+-pkg_check_modules(PC_THEORA REQUIRED theora)
+-pkg_check_modules(PC_THEORAENC REQUIRED theoraenc)
+-pkg_check_modules(PC_THEORADEC REQUIRED theoradec)
++list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
++
++find_package(OGG REQUIRED)
++find_package(THEORA REQUIRED)
+
+ rosidl_generate_interfaces(${PROJECT_NAME}
+   "msg/Packet.msg"
+@@ -55,13 +55,13 @@ target_compile_definitions(${LIBRARY_NAME} PRIVATE
+ target_include_directories(${LIBRARY_NAME} PRIVATE
+   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+-)
++  ${THEORA_INCLUDE_DIRS}
++  ${OGG_INCLUDE_DIRS})
++
+ target_link_libraries(${LIBRARY_NAME}
+   opencv_imgproc
+-  ${PC_OGG_LIBRARIES}
+-  ${PC_THEORA_LIBRARIES}
+-  ${PC_THEORAENC_LIBRARIES}
+-  ${PC_THEORADEC_LIBRARIES}
++  ${OGG_LIBRARIES}
++  ${THEORA_LIBRARIES}
+   "${cpp_typesupport_target}"
+   ${sensor_msgs_TARGETS}
+   cv_bridge::cv_bridge
+@@ -71,20 +71,13 @@ target_link_libraries(${LIBRARY_NAME}
+ )
+
+ add_executable(ogg_saver src/ogg_saver.cpp)
+-target_compile_definitions(ogg_saver PRIVATE
+-  ${PC_OGG_CFLAGS_OTHER}
+-  ${PC_THEORA_CFLAGS_OTHER}
+-  ${PC_THEORAENC_CFLAGS_OTHER}
+-  ${PC_THEORADEC_CFLAGS_OTHER}
+-)
+-target_link_libraries(ogg_saver
+-  ${PC_THEORA_LIBRARY}
+-  ${PC_OGG_LIBRARY}
+-  ${PC_THEORAENC_LIBRARIES}
+-  ${PC_THEORADEC_LIBRARIES}
+-  "${cpp_typesupport_target}"
+-  rclcpp::rclcpp
+-  rcutils::rcutils
++
++target_link_libraries(ogg_saver ${THEORA_LIBRARIES}
++                                ${OGG_LIBRARIES}
++                                ${OpenCV_LIBRARIES}
++                                "${cpp_typesupport_target}"
++                                rclcpp::rclcpp
++                                rcutils::rcutils
+ )
+
+ ament_export_dependencies(
+diff --git a/cmake/FindOGG.cmake b/cmake/FindOGG.cmake
+new file mode 100644
+index 0000000..3121d17
+--- /dev/null
++++ b/cmake/FindOGG.cmake
+@@ -0,0 +1,26 @@
++find_path(OGG_INCLUDE_DIR
++  NAMES
++    ogg/ogg.h
++  DOC "ogg include directory")
++mark_as_advanced(OGG_INCLUDE_DIR)
++
++find_library(OGG_LIBRARY
++  NAMES
++    ogg
++  DOC "ogg library")
++mark_as_advanced(OGG_LIBRARY)
++
++include(FindPackageHandleStandardArgs)
++find_package_handle_standard_args(OGG REQUIRED_VARS OGG_LIBRARY OGG_INCLUDE_DIR)
++
++if (OGG_FOUND)
++  set(OGG_LIBRARIES "${OGG_LIBRARY}")
++  set(OGG_INCLUDE_DIRS "${OGG_INCLUDE_DIR}")
++
++  if (NOT TARGET OGG::OGG)
++    add_library(OGG::OGG UNKNOWN IMPORTED)
++    set_target_properties(OGG::OGG PROPERTIES
++      IMPORTED_LOCATION "${OGG_LIBRARY}"
++      INTERFACE_INCLUDE_DIRECTORIES "${OGG_INCLUDE_DIR}")
++  endif ()
++endif ()
+diff --git a/cmake/FindTHEORA.cmake b/cmake/FindTHEORA.cmake
+new file mode 100644
+index 0000000..b69dd2c
+--- /dev/null
++++ b/cmake/FindTHEORA.cmake
+@@ -0,0 +1,66 @@
++include(CMakeFindDependencyMacro)
++
++find_path(THEORA_INCLUDE_DIR
++  NAMES
++    theora/theora.h
++  DOC "theora include directory")
++mark_as_advanced(THEORA_INCLUDE_DIR)
++
++get_filename_component(computed_theora_root "${THEORA_INCLUDE_DIR}" DIRECTORY)
++
++find_library(THEORA_LIBRARY
++  NAMES
++    theora
++  HINTS
++    "${computed_theora_root}/lib"
++    "${computed_theora_root}/lib64"
++  DOC "theora library")
++mark_as_advanced(THEORA_LIBRARY)
++
++find_library(THEORA_enc_LIBRARY
++  NAMES
++    theoraenc
++  HINTS
++    "${computed_theora_root}/lib"
++    "${computed_theora_root}/lib64"
++  DOC "theora encoding library")
++mark_as_advanced(THEORA_enc_LIBRARY)
++
++find_library(THEORA_dec_LIBRARY
++  NAMES
++    theoradec
++  HINTS
++    "${computed_theora_root}/lib"
++    "${computed_theora_root}/lib64"
++  DOC "theora decoding library")
++mark_as_advanced(THEORA_dec_LIBRARY)
++
++include(FindPackageHandleStandardArgs)
++find_package_handle_standard_args(THEORA
++  REQUIRED_VARS THEORA_LIBRARY THEORA_enc_LIBRARY THEORA_dec_LIBRARY THEORA_INCLUDE_DIR)
++
++if (THEORA_FOUND)
++  set(THEORA_LIBRARIES "${THEORA_LIBRARY}" "${THEORA_enc_LIBRARY}" "${THEORA_dec_LIBRARY}")
++  set(THEORA_INCLUDE_DIRS "${THEORA_INCLUDE_DIR}")
++
++  if (NOT TARGET THEORA::THEORA)
++    add_library(THEORA::THEORA UNKNOWN IMPORTED)
++    set_target_properties(THEORA::THEORA PROPERTIES
++      IMPORTED_LOCATION "${THEORA_LIBRARY}"
++      INTERFACE_INCLUDE_DIRECTORIES ${THEORA_INCLUDE_DIR})
++  endif ()
++
++  if (NOT TARGET THEORA::ENC)
++    add_library(THEORA::ENC UNKNOWN IMPORTED)
++    set_target_properties(THEORA::ENC PROPERTIES
++      IMPORTED_LOCATION "${THEORA_enc_LIBRARY}"
++      INTERFACE_INCLUDE_DIRECTORIES ${THEORA_INCLUDE_DIR})
++  endif()
++
++  if (NOT TARGET THEORA::DEC)
++    add_library(THEORA::DEC UNKNOWN IMPORTED)
++    set_target_properties(THEORA::DEC PROPERTIES
++      IMPORTED_LOCATION "${THEORA_dec_LIBRARY}"
++      INTERFACE_INCLUDE_DIRECTORIES ${THEORA_INCLUDE_DIR})
++  endif()
++endif ()