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Add mac hooks #35

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2 changes: 2 additions & 0 deletions src/ros2cs/ros2cs_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,8 @@ if(UNIX)
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
elseif(APPLE)
set(CSBUILD_TOOL "Mono")
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
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8 changes: 4 additions & 4 deletions src/ros2cs/ros2cs_common/DllLoadUtils.cs
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Expand Up @@ -119,13 +119,13 @@ private static bool IsMacOSX () {
}

private static Platform CheckPlatform () {
if (IsUnix())
if (IsMacOSX())
{
return Platform.Unix;
return Platform.MacOSX;
}
else if (IsMacOSX())
else if (IsUnix())
{
return Platform.MacOSX;
return Platform.Unix;
}
else if (IsWindowsDesktop())
{
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30 changes: 21 additions & 9 deletions src/ros2cs/ros2cs_core/CMakeLists.txt
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Expand Up @@ -40,6 +40,8 @@ if(UNIX)
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
elseif(APPLE)
set(CSBUILD_TOOL "Mono")
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
Expand Down Expand Up @@ -83,7 +85,11 @@ ament_export_libraries(ros2cs_native)
ament_export_targets(ros2cs_native)
configure_csharp_c_extension_library(ros2cs_native)

set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined")
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined")
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-undefined,error")
endif()

set(CS_INTERFACES
interfaces/INode.cs
Expand Down Expand Up @@ -282,7 +288,7 @@ if(STANDALONE_BUILD)

macro(install_standalone_dependencies)
# Filter valid libraries
list(FILTER REQ_STANDALONE_LIBS INCLUDE REGEX ".*(lib|dll|so)(\.[0-9])*$")
list(FILTER REQ_STANDALONE_LIBS INCLUDE REGEX ".*(lib|dll|so|dylib)(\.[0-9])*$")
list(REMOVE_DUPLICATES REQ_STANDALONE_LIBS)

if(WIN32)
Expand All @@ -295,6 +301,12 @@ if(STANDALONE_BUILD)
DESTINATION standalone
)
elseif(UNIX)
# handle both mac and unix libraries
set(LIB_EXT "so")
if (APPLE)
set(LIB_EXT "dylib")
endif()

set(_resolvedFiles "")
foreach(lib_path ${REQ_STANDALONE_LIBS})
# Generate soversion files (.so.<major>). Some libs links to soversion symlinks which are not returned by find_package by default.
Expand All @@ -308,15 +320,15 @@ if(STANDALONE_BUILD)

# Fix soversion files
foreach(_resolvedFile ${_resolvedFiles})
if("${_resolvedFile}" MATCHES "so(\.[0-9]*)+$")
if("${_resolvedFile}" MATCHES "${LIB_EXT}(\.[0-9]*)+$")
# message("Soversion file detected ${_resolvedFile}")

# Get file path without so
string(FIND "${_resolvedFile}" ".so." _findPos)
# Get file path without ${LIB_EXT}
string(FIND "${_resolvedFile}" ".${LIB_EXT}." _findPos)
string(SUBSTRING "${_resolvedFile}" 0 ${_findPos} _cutted)

set(_remainingPath "${_resolvedFile}")
while("${_remainingPath}" MATCHES "so(\.[0-9]*)+$")
while("${_remainingPath}" MATCHES "${LIB_EXT}(\.[0-9]*)+$")
string(FIND "${_remainingPath}" "." _lastDotPos REVERSE)
string(SUBSTRING "${_remainingPath}" 0 ${_lastDotPos} _tempPos)
get_filename_component(_libPathFilename "${_tempPos}" NAME)
Expand All @@ -330,15 +342,15 @@ if(STANDALONE_BUILD)

# rpath for each standalone lib must be updated so all the libs will see each other
install(CODE
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/standalone -name *.so -exec patchelf --set-rpath $ORIGIN:. {} \;)"
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/standalone -name *.${LIB_EXT} -exec patchelf --set-rpath $ORIGIN:. {} \;)"
)
# soversion files as well
install(CODE
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/standalone -name *.so.* -exec patchelf --set-rpath $ORIGIN:. {} \;)"
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/standalone -name *.${LIB_EXT}.* -exec patchelf --set-rpath $ORIGIN:. {} \;)"
)
# as well as custom resources
install(CODE
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/resources -name *.so -exec patchelf --set-rpath $ORIGIN:. {} \;)"
"execute_process(COMMAND find ${CMAKE_INSTALL_PREFIX}/resources -name *.${LIB_EXT} -exec patchelf --set-rpath $ORIGIN:. {} \;)"
)
endif()
endmacro()
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2 changes: 2 additions & 0 deletions src/ros2cs/ros2cs_examples/CMakeLists.txt
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Expand Up @@ -36,6 +36,8 @@ if(UNIX)
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
elseif(APPLE)
set(CSBUILD_TOOL "Mono")
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
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2 changes: 2 additions & 0 deletions src/ros2cs/ros2cs_tests/CMakeLists.txt
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Expand Up @@ -17,6 +17,8 @@ if(BUILD_TESTING)
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
elseif(APPLE)
set(CSBUILD_TOOL "Mono")
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
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2 changes: 2 additions & 0 deletions src/ros2cs/rosidl_generator_cs/cmake/register_cs.cmake
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Expand Up @@ -32,6 +32,8 @@ macro(rosidl_generator_cs_extras BIN GENERATOR_FILES TEMPLATE_DIR)
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
elseif(APPLE)
set(CSBUILD_TOOL "Mono")
else()
set(CSBUILD_TOOL "DotNetCore")
endif()
Expand Down