87 lines
3.1 KiB
PowerShell
87 lines
3.1 KiB
PowerShell
param(
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[ValidateRange(1, 32)]
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[int]$Jobs = 4,
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[switch]$Fresh
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)
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$ErrorActionPreference = "Stop"
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. (Join-Path $PSScriptRoot "native_dep_versions.ps1")
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$Cmake = Join-Path $CmakeRoot "bin\cmake.exe"
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$requiredPaths = @(
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$Cmake,
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$Make,
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(Join-Path $MingwBin "gcc.exe"),
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(Join-Path $MingwBin "g++.exe"),
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$TinyXml2Source,
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$ConsoleBridgeSource,
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$UrdfdomHeadersSource,
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$UrdfdomSource
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)
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foreach ($required in $requiredPaths) {
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if (-not (Test-Path -LiteralPath $required)) {
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throw "Required path not found: $required"
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}
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}
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$env:PATH = "$MingwBin;$(Join-Path $CmakeRoot 'bin');$env:PATH"
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$installCmake = $UrdfdomInstall.Replace("\", "/")
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$mingwBinCmake = $MingwBin.Replace("\", "/")
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$makeCmake = $Make.Replace("\", "/")
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function Build-CmakeDependency(
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[string]$Name,
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[string]$Source,
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[string]$Build,
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[string[]]$Options = @()
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) {
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$sourceCmake = $Source.Replace("\", "/")
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$buildCmake = $Build.Replace("\", "/")
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if ($Fresh -and (Test-Path -LiteralPath $Build)) {
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$resolvedBuild = [System.IO.Path]::GetFullPath($Build)
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$resolvedRoot = [System.IO.Path]::GetFullPath($UrdfdomBuildRoot)
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if (-not $resolvedBuild.StartsWith($resolvedRoot, [System.StringComparison]::OrdinalIgnoreCase)) {
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throw "Refusing to replace build path outside urdfdom build root: $Build"
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}
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Remove-Item -LiteralPath $Build -Recurse -Force
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}
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& $Cmake -S $sourceCmake -B $buildCmake -G "MinGW Makefiles" `
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"-DCMAKE_BUILD_TYPE=Release" `
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"-DCMAKE_INSTALL_PREFIX=$installCmake" `
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"-DCMAKE_PREFIX_PATH=$installCmake" `
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"-DCMAKE_C_COMPILER=$mingwBinCmake/gcc.exe" `
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"-DCMAKE_CXX_COMPILER=$mingwBinCmake/g++.exe" `
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"-DCMAKE_MAKE_PROGRAM=$makeCmake" `
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"-DCMAKE_POSITION_INDEPENDENT_CODE=ON" `
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"-DBUILD_SHARED_LIBS=OFF" `
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"-DBUILD_TESTING=OFF" `
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@Options
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if ($LASTEXITCODE -ne 0) { throw "$Name configure failed" }
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& $Cmake --build $Build --target install --parallel $Jobs
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if ($LASTEXITCODE -ne 0) { throw "$Name build failed" }
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}
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New-Item -ItemType Directory -Force $UrdfdomBuildRoot, $UrdfdomInstall | Out-Null
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Build-CmakeDependency "TinyXML2" $TinyXml2Source (Join-Path $UrdfdomBuildRoot "tinyxml2") @(
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"-Dtinyxml2_BUILD_TESTING=OFF"
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)
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Build-CmakeDependency "console_bridge" $ConsoleBridgeSource (Join-Path $UrdfdomBuildRoot "console_bridge")
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Build-CmakeDependency "urdfdom_headers" $UrdfdomHeadersSource (Join-Path $UrdfdomBuildRoot "urdfdom_headers")
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Build-CmakeDependency "urdfdom" $UrdfdomSource (Join-Path $UrdfdomBuildRoot "urdfdom") @(
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"-DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=OFF"
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)
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$parserHeader = Join-Path $UrdfdomInstall "include\urdf_parser\urdf_parser.h"
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$modelLibrary = Join-Path $UrdfdomInstall "lib\liburdfdom_model.dll.a"
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$modelRuntime = Join-Path $UrdfdomInstall "bin\liburdfdom_model.dll"
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if (-not (Test-Path -LiteralPath $parserHeader) `
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-or -not (Test-Path -LiteralPath $modelLibrary) `
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-or -not (Test-Path -LiteralPath $modelRuntime)) {
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throw "urdfdom build finished but headers or libraries are missing"
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}
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Write-Host "urdfdom and parser dependencies installed to $UrdfdomInstall"
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