Merge pull request #3 from ament/windows

Windows Support

ament_cmake_auto/cmake/ament_auto_package.cmake

@@ -42,13 +42,16 @@ macro(ament_auto_package)
       TARGETS ${${PROJECT_NAME}_LIBRARIES}
       ARCHIVE DESTINATION lib
       LIBRARY DESTINATION lib
+      RUNTIME DESTINATION bin
     )
   endif()
 
   # install all executables
   if(NOT "${${PROJECT_NAME}_EXECUTABLES} " STREQUAL " ")
     install(
       TARGETS ${${PROJECT_NAME}_EXECUTABLES}
+      ARCHIVE DESTINATION lib
+      LIBRARY DESTINATION lib
       RUNTIME DESTINATION bin
     )
   endif()

ament_cmake_core/cmake/core/package_xml_2_cmake.py

@@ -111,7 +111,9 @@ def generate_cmake_code(package):
     lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
     for (k, v) in variables:
         lines.append('set(%s_%s %s)' % (package.name, k, v))
-    return lines
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [l.replace('\\', '/') for l in lines]
 
 
 if __name__ == '__main__':

ament_cmake_core/cmake/environment_hooks/ament_cmake_environment_hooks_package_hook.cmake

@@ -1,6 +1,11 @@
+if(WIN32)
+    set(_ext ".bat")
+else()
+    set(_ext ".sh")
+endif()
 ament_environment_hooks(
-  "${ament_cmake_core_DIR}/environment_hooks/environment/ament_prefix_path.sh"
-  "${ament_cmake_core_DIR}/environment_hooks/environment/path.sh"
+  "${ament_cmake_core_DIR}/environment_hooks/environment/ament_prefix_path${_ext}"
+  "${ament_cmake_core_DIR}/environment_hooks/environment/path${_ext}"
 )
 
 if(AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION)

ament_cmake_core/cmake/environment_hooks/ament_generate_package_environment.cmake

@@ -40,8 +40,13 @@ function(ament_generate_package_environment)
       if(NOT "${_AMENT_CMAKE_ENVIRONMENT_HOOKS_${extension}} " STREQUAL " ")
         list(SORT _AMENT_CMAKE_ENVIRONMENT_HOOKS_${extension})
         foreach(hook ${_AMENT_CMAKE_ENVIRONMENT_HOOKS_${extension}})
-          set(ENVIRONMENT_HOOKS
-            "${ENVIRONMENT_HOOKS}ament_append_value AMENT_ENVIRONMENT_HOOKS \"$AMENT_CURRENT_PREFIX/${hook}\"\n")
+          if(WIN32)
+            set(ENVIRONMENT_HOOKS
+                "${ENVIRONMENT_HOOKS}call:ament_append_value AMENT_ENVIRONMENT_HOOKS[${PROJECT_NAME}] \"%AMENT_CURRENT_PREFIX%/${hook}\"\n")
+          else()
+            set(ENVIRONMENT_HOOKS
+                "${ENVIRONMENT_HOOKS}ament_append_value AMENT_ENVIRONMENT_HOOKS \"$AMENT_CURRENT_PREFIX/${hook}\"\n")
+          endif()
         endforeach()
       endif()
 

ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.bat

@@ -0,0 +1,33 @@
+:: copied from
+:: ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+call:ament_prepend_unique_value AMENT_PREFIX_PATH "%AMENT_CURRENT_PREFIX%"
+
+
+goto:eof
+
+:: function to prepend non-duplicate values to environment variables
+:: using colons as separators and avoiding trailing separators
+:ament_prepend_unique_value
+  setlocal enabledelayedexpansion
+  :: arguments
+  set "_listname=%~1"
+  set "_value=%~2"
+  :: expand the list variable
+  set "_list=!%_listname%!"
+  :: check if the list contains the value
+  set "_is_duplicate="
+  if "%_list%" NEQ "" (
+    for %%a in ("%_list:;=";"%") do (
+      if "%%~a" == "%_value%" set "_is_duplicate=1"
+    )
+  )
+  :: if it is not a duplicate prepend it
+  if "%_is_duplicate%" == "" (
+    :: produces a trailing semicolon when the list empty, but that's ok
+    set "_list=%_value%;%_list%"
+  )
+  (endlocal
+    set "%~1=%_list%"
+  )
+goto:eof

ament_cmake_core/cmake/environment_hooks/environment/path.bat

@@ -0,0 +1,31 @@
+:: copied from ament_cmake_core/cmake/environment_hooks/environment/path.bat
+
+call:ament_prepend_unique_value PATH "%AMENT_CURRENT_PREFIX%\bin"
+
+goto:eof
+
+:: function to prepend non-duplicate values to environment variables
+:: using colons as separators and avoiding trailing separators
+:ament_prepend_unique_value
+  setlocal enabledelayedexpansion
+  :: arguments
+  set "_listname=%~1"
+  set "_value=%~2"
+  :: expand the list variable
+  set "_list=!%_listname%!"
+  :: check if the list contains the value
+  set "_is_duplicate="
+  if "%_list%" NEQ "" (
+    for %%a in ("%_list:;=";"%") do (
+      if "%%~a" == "%_value%" set "_is_duplicate=1"
+    )
+  )
+  :: if it is not a duplicate prepend it
+  if "%_is_duplicate%" == "" (
+    :: produces a trailing semicolon when the list empty, but that's ok
+    set "_list=%_value%;%_list%"
+  )
+  (endlocal
+    set "%~1=%_list%"
+  )
+goto:eof

ament_cmake_core/cmake/index/ament_index_get_resources.cmake

@@ -19,7 +19,19 @@ function(ament_index_get_resources var resource_type)
       "arguments: ${ARGN}")
   endif()
 
-  string(REPLACE ":" ";" paths_to_search "$ENV{AMENT_PREFIX_PATH}")
+  set(raw_paths_to_search "$ENV{AMENT_PREFIX_PATH}")
+  if(NOT WIN32)
+    # convert the path separator to CMake list separators
+    string(REPLACE ":" ";" raw_paths_to_search "${raw_paths_to_search}")
+  endif()
+  # Remove any empty strings and make sure slashes are consistent
+  set(paths_to_search)
+  foreach(path IN LISTS raw_paths_to_search)
+    if(NOT "${path} " STREQUAL " ")
+      string(REPLACE "\\" "/" normalized_path "${path}")
+      list(APPEND paths_to_search "${normalized_path}")
+    endif()
+  endforeach()
   # Remove CMAKE_INSTALL_PREFIX if it is in the list of paths to search,
   # and add it to the list at the front
   list(REMOVE_ITEM paths_to_search "${CMAKE_INSTALL_PREFIX}")

ament_cmake_core/cmake/package_templates/templates_2_cmake.py

@@ -16,6 +16,8 @@
 from ament_package.templates import get_prefix_level_template_names
 from ament_package.templates import get_prefix_level_template_path
 
+IS_WINDOWS = os.name == 'nt'
+
 
 def main(argv=sys.argv[1:]):
     """
@@ -59,9 +61,10 @@ def generate_cmake_code():
     variables = []
     variables.append(('TEMPLATE_DIR', '"%s"' % TEMPLATE_DIRECTORY))
 
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
     variables.append((
         'ENVIRONMENT_HOOK_PYTHONPATH',
-        '"%s"' % get_environment_hook_template_path('pythonpath.sh.in')))
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
 
     templates = []
     for name in get_package_level_template_names():
@@ -86,7 +89,9 @@ def generate_cmake_code():
                              % (k, vv))
         else:
             lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
-    return lines
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [l.replace('\\', '/') for l in lines]
 
 
 if __name__ == '__main__':

ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake

@@ -7,8 +7,13 @@ macro(_ament_cmake_export_libraries_register_environment_hook)
     set(_AMENT_CMAKE_EXPORT_LIBRARIES_ENVIRONMENT_HOOK_REGISTERED TRUE)
 
     find_package(ament_cmake_core REQUIRED)
+    if(WIN32)
+      set(_ext ".bat.in")
+    else()
+      set(_ext ".sh.in")
+    endif()
     ament_environment_hooks(
-      "${ament_cmake_export_libraries_DIR}/environment/library_path.sh.in")
+      "${ament_cmake_export_libraries_DIR}/environment/library_path${_ext}")
   endif()
 endmacro()
 

ament_cmake_export_libraries/cmake/ament_cmake_export_libraries-extras.cmake.in

@@ -39,7 +39,7 @@ if(NOT "${_exported_library_targets} " STREQUAL " ")
 
     if(NOT _lib)
       # warn about not existing library and ignore it
-      message(WARNING "Package '@PROJECT_NAME@' exports the library '${_library_target}' which couldn't be found")
+      message(FATAL_ERROR "Package '@PROJECT_NAME@' exports the library '${_library_target}' which couldn't be found")
     elseif(NOT IS_ABSOLUTE "${_lib}")
       # the found library must be an absolute path
       message(FATAL_ERROR "Package '@PROJECT_NAME@' found the library '${_library_target}' at '${_lib}' which is not an absolute path")

ament_cmake_export_libraries/cmake/environment/library_path.bat.in

@@ -0,0 +1,34 @@
+:: generated from ament_cmake_export_libraries/cmake/environment/library_path.sh.in
+if defined AMENT_TRACE_SETUP_FILES echo Inside %~0
+
+call:ament_prepend_unique_value PATH "%AMENT_CURRENT_PREFIX%\lib"
+
+if defined AMENT_TRACE_SETUP_FILES echo Leaving %~0
+goto:eof
+
+:: function to prepend non-duplicate values to environment variables
+:: using colons as separators and avoiding trailing separators
+:ament_prepend_unique_value
+  setlocal enabledelayedexpansion
+  :: arguments
+  set "_listname=%~1"
+  set "_value=%~2"
+  :: expand the list variable
+  set "_list=!%_listname%!"
+  :: check if the list contains the value
+  set "_is_duplicate="
+  if "%_list%" NEQ "" (
+    for %%a in ("%_list:;=";"%") do (
+      if "%%~a" == "%_value%" set "_is_duplicate=1"
+    )
+  )
+  :: if it is not a duplicate prepend it
+  if "%_is_duplicate%" == "" (
+    :: produces a trailing semicolon when the list empty, but that's ok
+    set "_list=%_value%;%_list%"
+  )
+  (endlocal
+    set "%~1=%_list%"
+  )
+goto:eof
+

ament_cmake_python/ament_cmake_python-extras.cmake

@@ -18,7 +18,7 @@ macro(_ament_cmake_python_get_python_install_dir)
     set(_python_code
       "from distutils.sysconfig import get_python_lib"
       "from os.path import relpath"
-      "print(relpath(get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}'), start='${CMAKE_INSTALL_PREFIX}'))"
+      "print(relpath(get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}'), start='${CMAKE_INSTALL_PREFIX}').replace('\\\\', '/'))"
     )
     execute_process(
       COMMAND

ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake

@@ -23,7 +23,7 @@ function(ament_target_dependencies target)
     set(include_dirs "")
     set(libraries "")
     foreach(package_name ${ARGN})
-      message(" - ament_target_dependencies(${target}) ${package_name}")
+      message(" - ament_target_dependencies(${target}) ${package_name})")
       if(NOT ${${package_name}_FOUND})
         message(FATAL_ERROR "ament_target_dependencies() the passed package name '${package_name}' was not found before")
       endif()