windows-specific fixes

Author: alphaville

open-codegen/opengen/builder/ros_builder.py

@@ -6,6 +6,7 @@
 import logging
 import os
 import shutil
+import sys
 
 import jinja2
 
@@ -166,7 +167,10 @@ def _copy_ros_files(self):
             os.path.join(self._target_dir(), header_file_name))
         shutil.copyfile(original_include_file, target_include_filename)
 
-        lib_file_name = 'lib' + self._meta.optimizer_name + '.a'
+        if sys.platform == "win32":
+            lib_file_name = self._meta.optimizer_name + '.lib'
+        else:
+            lib_file_name = 'lib' + self._meta.optimizer_name + '.a'
         target_lib_file_name = os.path.abspath(
             os.path.join(target_ros_dir, 'extern_lib', lib_file_name))
         original_lib_file = os.path.abspath(

open-codegen/opengen/templates/ros/CMakeLists.txt

@@ -29,13 +29,24 @@ include_directories(
 
 set(NODE_NAME {{ros.node_name}})
 add_executable(${NODE_NAME} src/open_optimizer.cpp)
+if(WIN32)
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/{{meta.optimizer_name}}.lib)
+else()
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+endif()
 target_link_libraries(
     ${NODE_NAME}
-    ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+    ${OPEN_STATIC_LIB})
+if(WIN32)
+  target_link_libraries(
+      ${NODE_NAME}
+      ${catkin_LIBRARIES})
+else()
 target_link_libraries(
     ${NODE_NAME}
     m dl
     ${catkin_LIBRARIES})
+endif()
 add_dependencies(
     ${NODE_NAME}
     ${${PROJECT_NAME}_EXPORTED_TARGETS}

open-codegen/opengen/templates/ros2/CMakeLists.txt

@@ -42,12 +42,22 @@ include_directories(
 set(NODE_NAME {{ros.node_name}})
 add_executable(${NODE_NAME} src/open_optimizer.cpp)
 ament_target_dependencies(${NODE_NAME} rclcpp)
+if(WIN32)
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/{{meta.optimizer_name}}.lib)
+else()
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+endif()
 target_link_libraries(
   ${NODE_NAME}
-  ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a
-  m
-  dl
+  ${OPEN_STATIC_LIB}
 )
+if(NOT WIN32)
+  target_link_libraries(
+    ${NODE_NAME}
+    m
+    dl
+  )
+endif()
 rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 target_link_libraries(${NODE_NAME} "${cpp_typesupport_target}")