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Add build files 2025-07-29-1044
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‎.github/workflows/osx_arm64.yml‎

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jobs:
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stage_0_job_0:
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name: rplidar-ros
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runs-on: macos-14
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strategy:
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fail-fast: false
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needs: []
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Build ros-humble-rplidar-ros
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env:
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ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
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CURRENT_RECIPES: ros-humble-rplidar-ros
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BUILD_TARGET: osx-arm64
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run: |
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export CI=azure
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export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
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export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
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.scripts/build_unix.sh --target $BUILD_TARGET
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name: build_osx_arm64
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on:
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push:
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branches:
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- buildbranch_osx_arm64

‎buildorder.txt‎

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ros-humble-rplidar-ros

‎recipes/ros-humble-rplidar-ros/bld_ament_cmake.bat‎

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:: Generated by vinca http://github.com/RoboStack/vinca.
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:: DO NOT EDIT!
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setlocal EnableDelayedExpansion
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set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
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:: MSVC is preferred.
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set CC=cl.exe
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set CXX=cl.exe
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rd /s /q build
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mkdir build
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pushd build
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:: set "CMAKE_GENERATOR=Ninja"
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:: We use the Visual Studio generator as a workaround for
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:: problems in Ninja when using long paths, see https://github.com/RoboStack/ros-humble/pull/229#issuecomment-2564856467
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:: Once those are solved, we can switch back to use Ninja
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set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
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:: PYTHON_INSTALL_DIR should be a relative path, see
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:: https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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:: So we compute the relative path of %SP_DIR% w.r.t. to LIBRARY_PREFIX,
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:: but it is not trivial to do this in Command Prompt scripting, so let's do it via
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:: python
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:: This line is scary, but it basically assigns the output of the command inside (` and `)
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:: to the variable specified after DO SET
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:: The equivalent in bash is PYTHON_INSTALL_DIR=`python -c ...`
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FOR /F "tokens=* USEBACKQ" %%i IN (`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['LIBRARY_PREFIX']).replace('\\','/'))"`) DO SET PYTHON_INSTALL_DIR=%%i
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cmake ^
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-G "%CMAKE_GENERATOR%" ^
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-DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
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-DPYTHON_EXECUTABLE=%PYTHON% ^
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-DPython_EXECUTABLE=%PYTHON% ^
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-DPython3_EXECUTABLE=%PYTHON% ^
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-DSETUPTOOLS_DEB_LAYOUT=OFF ^
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-DBUILD_SHARED_LIBS=ON ^
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-DBUILD_TESTING=OFF ^
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-DCMAKE_OBJECT_PATH_MAX=255 ^
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--compile-no-warning-as-error ^
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-DPYTHON_INSTALL_DIR=%PYTHON_INSTALL_DIR% ^
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^
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%SRC_DIR%\%PKG_NAME%\src\work\
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if errorlevel 1 exit 1
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:: We explicitly pass %CPU_COUNT% to cmake --build as we are not using Ninja,
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:: see the comment before setting the CMAKE_GENERATOR env variable
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cmake --build . --config Release --parallel %CPU_COUNT% --target install
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if errorlevel 1 exit 1

‎recipes/ros-humble-rplidar-ros/build_ament_cmake.sh‎

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# Generated by vinca http://github.com/RoboStack/vinca.
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# DO NOT EDIT!
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set -eo pipefail
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rm -rf build
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mkdir build
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cd build
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# necessary for correctly linking SIP files (from python_qt_bindings)
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export LINK=$CXX
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
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PYTHON_EXECUTABLE=$PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="10.15"
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else
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
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PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
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OSX_DEPLOYMENT_TARGET="11.0"
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fi
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if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" == "1" ]]; then
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export QT_HOST_PATH="$BUILD_PREFIX"
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else
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export QT_HOST_PATH="$PREFIX"
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fi
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echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
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echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
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export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
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echo "Using Python ${ROS_PYTHON_VERSION}"
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# see https://github.com/conda-forge/cross-python-feedstock/issues/24
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if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
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find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~${PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
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find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
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fi
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if [[ $target_platform =~ linux.* ]]; then
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export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
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export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
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fi;
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# Needed for qt-gui-cpp ..
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if [[ $target_platform =~ linux.* ]]; then
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ln -s $GCC ${BUILD_PREFIX}/bin/gcc
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ln -s $GXX ${BUILD_PREFIX}/bin/g++
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fi;
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# PYTHON_INSTALL_DIR should be a relative path, see
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# https://github.com/ament/ament_cmake/blob/2.3.2/ament_cmake_python/README.md
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# So we compute the relative path of $SP_DIR w.r.t. to $PREFIX,
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# but it is not trivial to do this in bash scripting, so let's do it via python
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export PYTHON_INSTALL_DIR=`python -c "import os;print(os.path.relpath(os.environ['SP_DIR'],os.environ['PREFIX']))"`
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echo "Using PYTHON_INSTALL_DIR: $PYTHON_INSTALL_DIR"
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if [[ $target_platform =~ emscripten.* ]]; then
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export CONDA_BUILD_CROSS_COMPILATION="1"
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PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python$PY_VER
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echo "set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)"> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_STRIP FALSE) # used by default in pybind11 on .so modules">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE BOTH) # fixes an error where numpy header files are not found correctly">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# if [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-publisher" ] || [ "${PKG_NAME}" == "ros-humble-examples-rclcpp-minimal-subscriber" ] || [ "${PKG_NAME}" == "ros-humble-rclcpp-components" ]; then
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -s ALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -s DEMANGLE_SUPPORT=1 -sALLOW_MEMORY_GROWTH=1 -sASYNCIFY -O3 -s ASYNCIFY_STACK_SIZE=24576 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# else
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS \"-s ASSERTIONS=1 -s SIDE_MODULE=1 -sWASM_BIGINT -s USE_PTHREADS=0 -s ALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 \")">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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echo "set(CMAKE_EXE_LINKER_FLAGS \"-sMAIN_MODULE=1 -sASSERTIONS=1 -fexceptions -lembind -sWASM_BIGINT -s USE_PTHREADS=0 -sALLOW_MEMORY_GROWTH=1 -s DEMANGLE_SUPPORT=1 -L$SRC_DIR/build -L$PREFIX/lib\") # remove SIDE_MODULE from exe linker flags">> $SRC_DIR/__vinca_shared_lib_patch.cmake
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# fi
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export BUILD_TYPE="Debug"
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export EXTRA_CMAKE_ARGS=" \
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-DPYTHON_SOABI="cpython-${ROS_PYTHON_VERSION//./}-wasm32-emscripten" \
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-DRMW_IMPLEMENTATION=rmw_wasm_cpp \
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-DCMAKE_FIND_ROOT_PATH=$PREFIX \
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-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE \
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-DCMAKE_PROJECT_INCLUDE=$SRC_DIR/__vinca_shared_lib_patch.cmake \
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"
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unset -f cmake
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export CMAKE_GEN="emcmake cmake"
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export CMAKE_BLD="cmake"
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export STATIC_ROSIDL_TYPESUPPORT_C=rosidl_typesupport_introspection_c
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export STATIC_ROSIDL_TYPESUPPORT_CPP=rosidl_typesupport_introspection_cpp
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else
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export BUILD_TYPE="Release"
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export CMAKE_GEN="cmake"
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export CMAKE_BLD="cmake"
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fi;
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if [ "${PKG_NAME}" == "ros-humble-rmw-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/rmw_wasm_cpp
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elif [ "${PKG_NAME}" == "ros-humble-wasm-cpp" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/wasm_cpp
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elif [ "${PKG_NAME}" == "dynmsg" ]; then
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/dynmsg
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else
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WORK_DIR=$SRC_DIR/$PKG_NAME/src/work/
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fi;
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$CMAKE_GEN \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=$BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$PREFIX \
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-DCMAKE_PREFIX_PATH=$PREFIX \
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-DAMENT_PREFIX_PATH=$PREFIX \
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-DCMAKE_INSTALL_LIBDIR=lib \
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-DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
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-DPython3_FIND_STRATEGY=LOCATION \
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-DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
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-DPYTHON_INSTALL_DIR=$PYTHON_INSTALL_DIR \
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-DSETUPTOOLS_DEB_LAYOUT=OFF \
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-DCATKIN_SKIP_TESTING=$SKIP_TESTING \
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-DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
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-DBUILD_SHARED_LIBS=ON \
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-DBUILD_TESTING=OFF \
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-DCMAKE_IGNORE_PREFIX_PATH="/opt/homebrew;/usr/local/homebrew" \
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-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
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--compile-no-warning-as-error \
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$EXTRA_CMAKE_ARGS \
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\
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$WORK_DIR
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$CMAKE_BLD --build . --config $BUILD_TYPE --target install

‎recipes/ros-humble-rplidar-ros/patch/ros-humble-rplidar-ros.patch‎

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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 48123e6..f0cecc7 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -21,18 +21,25 @@ endif()
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set(RPLIDAR_SDK_PATH "./sdk/")
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if(APPLE)
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-add_compile_definitions(_MACOS)
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-FILE(GLOB RPLIDAR_SDK_SRC
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- "${RPLIDAR_SDK_PATH}/src/arch/macOS/*.cpp"
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- "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
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- "${RPLIDAR_SDK_PATH}/src/*.cpp"
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-)
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+ add_compile_definitions(_MACOS)
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+ FILE(GLOB RPLIDAR_SDK_SRC
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+ "${RPLIDAR_SDK_PATH}/src/arch/macOS/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/*.cpp"
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+ )
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+elseif(WIN32)
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+ add_compile_definitions(_USE_MATH_DEFINES)
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+ FILE(GLOB RPLIDAR_SDK_SRC
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+ "${RPLIDAR_SDK_PATH}/src/arch/win32/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/*.cpp"
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+ )
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else()
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-FILE(GLOB RPLIDAR_SDK_SRC
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- "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
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- "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
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- "${RPLIDAR_SDK_PATH}/src/*.cpp"
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-)
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+ FILE(GLOB RPLIDAR_SDK_SRC
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+ "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
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+ "${RPLIDAR_SDK_PATH}/src/*.cpp"
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+ )
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endif()
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################################################################################
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diff --git a/sdk/Makefile b/sdk/Makefile
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index 81215d9..69aec97 100644
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--- a/sdk/Makefile
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+++ b/sdk/Makefile
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@@ -60,6 +60,12 @@ CXXSRC += src/arch/macOS/net_serial.cpp \
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src/arch/macOS/timer.cpp
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endif
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+ifeq ($(BUILD_TARGET_PLATFORM),Windows)
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+CXXSRC += src/arch/windows/net_serial.cpp \
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+ src/arch/windows/net_socket.cpp \
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+ src/arch/windows/timer.cpp
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+endif
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+
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all: build_sdk
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include $(HOME_TREE)/mak_common.inc
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diff --git a/sdk/src/arch/macOS/net_socket.cpp b/sdk/src/arch/macOS/net_socket.cpp
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index f7ddfbf..153de6d 100644
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--- a/sdk/src/arch/macOS/net_socket.cpp
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+++ b/sdk/src/arch/macOS/net_socket.cpp
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@@ -754,6 +754,26 @@ public:
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}
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67+
+ virtual u_result clearRxCache()
68+
+ {
69+
+ timeval tv;
70+
+ tv.tv_sec = 0;
71+
+ tv.tv_usec = 0;
72+
+ fd_set rdset;
73+
+ FD_ZERO(&rdset);
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+ FD_SET(_socket_fd, &rdset);
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+
76+
+ int res = -1;
77+
+ char recv_data[2];
78+
+ memset(recv_data, 0, sizeof(recv_data));
79+
+ while (true) {
80+
+ res = select(FD_SETSIZE, &rdset, nullptr, nullptr, &tv);
81+
+ if (res == 0) break;
82+
+ recv(_socket_fd, recv_data, 1, 0);
83+
+ }
84+
+ return RESULT_OK;
85+
+ }
86+
+
87+
virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr)
88+
{
89+
struct sockaddr * addr = (sourceAddr?reinterpret_cast<struct sockaddr *>(const_cast<void *>(sourceAddr->getPlatformData())):NULL);

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