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How can I add makefile funcionality to my CMakeLists.txt

asked 2018-04-16 14:00:12 -0600

felix_a gravatar image

updated 2018-04-16 14:02:49 -0600

Hello, I have got two pieces of software. One part is a simulation-software (CarMaker 6.0.4) written in C and I make it with a makefile, whereas I make the other part of the software (ROS kinetic) with a CMakeLists.txt file. I want to take a part of CarMaker-Code and include it in a ROS-node, so I can publish data on this ROS node which I get from the simulation.
The whole thing is running on Linux Ubuntu 16.04 on a Macbook pro.
gcc version: gcc (Ubuntu 5.4.0-6ubuntu1~16.04.9) 5.4.0
My ROS Node looks like this:

#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"



#ifdef __cplusplus
extern "C"
{
#endif
//Header Einbindung CarMaker 

#ifdef _WIN32
# include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>

#ifdef _MSC_VER
# define strcasecmp(a, b) _stricmp(a,b)
#endif

#include "/home/roboracemac3/catkin_ws/src/BachelorThesisTest/src/APO/ApoClnt.h"
#include "/home/roboracemac3/catkin_ws/src/BachelorThesisTest/src/APO/GuiCmd.h"
#include "/home/roboracemac3/catkin_ws/src/BachelorThesisTest/src/APODVA.h"

#ifdef __cplusplus
}
#endif


//*********************************** ApoClntDemo.c Code Anfang *******************************************//
static void
error_and_exit (const char *fmt, ...)
{
    va_list ap;

    va_start(ap, fmt);
    vprintf(fmt, ap);
    va_end(ap);

    exit(EXIT_FAILURE);
}


/** Basic APO client infrastructure *******************************************/

/* Connection parameters. */

enum { CmdChannel  = 2             };       /* CarMaker command channel. */
enum { ChannelMask = 1<<CmdChannel };

static const char *AppClass = "CarMaker";
static const char *AppHost  = "*";
static const char *AppUser  = "*";


/* Connection handle to the application (CarMaker in this case). */
static tApoSid Srv;


/* Time to wait between calls to ApoClnt_PollAndSleep().
   The duration must be fine-tuned to the actual subscription parameters used.
   If too short you may hog the CPU, if too long you may loose quantity data. */
static int SleepDelta_ms = 20;


static int
connection_ok (void)
{
    return (ApocGetStatus(Srv, NULL) & ApoConnUp) != 0;
}


/*
 * ApoClnt_PollAndSleep()
 *
 * This function has to be provided by the client application.
 * It will be called from within the ApoClnt code whenever the
 * application needs to wait for something without blocking the
 * rest of the client.
 * 
 * You may adapt the function's code to your needs, provided that
 * the basic APO communication structure is kept as is.
 *
 * Don't assume this function being called with a fixed timing.
 */
void
ApoClnt_PollAndSleep (void)
{
    if (ApocWaitIO(SleepDelta_ms) == 1) {
    ApocPoll(); /* _Always_ poll, even if connection is down. */

    if (connection_ok()) {
        unsigned long vecid;
        int msglen, msgch;
        char msgbuf[APO_ADMMAX];

        while ((vecid = ApocGetData(Srv)) > 0) {
        if (ApoClnt_UpdateQuantVars(vecid))
            return;

        /* Put your own quantity data handling code here. */
        /* ... */
        }
        if (ApocDictChanged(Srv))
        ApoClnt_Resubscribe(Srv);

        while (ApocGetAppMsg(Srv, &msgch, msgbuf, &msglen) > 0) {
        if (GuiCmd_HandleMsgs(msgch, msgbuf, msglen))
            continue;
        if (DVA_HandleMsgs(msgch, msgbuf, msglen))
            continue;

        /* Put your own message handling code here. */
        /* ... */
        }
    }
    }

    /* Put your code handling other regular tasks here. */
    /* ... */
}


static void
pause (int milliseconds)
{
    double tstart = ApoGetTime_ms();
    do {
    ApoClnt_PollAndSleep();
    } while (ApoGetTime_ms()-tstart < milliseconds);
}


static void
setup_client (void)
{
    if (ApocInit() != ApoErrOk)
    error_and_exit("Fail to initialize APO library\n");

    Srv = ApoClnt_Connect(AppClass, AppHost, AppUser, ChannelMask);
    if (Srv == NULL)
    error_and_exit("Could not connect\n");

    if (!GuiCmd_IsReady(Srv))
    error_and_exit("GUI not ready\n");
}


static void
teardown_client (void)
{
    ApocCloseServer(Srv);
}


/******************************************************************************/

static ...
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1 Answer

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answered 2018-04-16 14:58:23 -0600

gvdhoorn gravatar image

updated 2018-04-16 14:58:46 -0600

I have a feeling this is a bit of an xy-problem.

If you're actually asking how to link a C library and a C++ program together, see #q227146 for some comments.

Perhaps also #q200205.

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Asked: 2018-04-16 14:00:12 -0600

Seen: 130 times

Last updated: Apr 16 '18