| [324] | 1 | # - Try to find the Xenomai Real-Time
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| 2 | # Will define:
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| 3 | #
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| 4 | # XENOMAI_INCLUDE_DIR - Include directories needed to use the C++ driver
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| 5 | # XENOMAI_INCLUDE_POSIX_DIR - Include directories for POSIX systems
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| 6 | # XENOMAI_POSIX_WRAPPERS - Directories containing the libraries (win)
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| 7 | # XENOMAI_LIBRARY_XENOMAI - Xenomai library
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| 8 | # XENOMAI_LIBRARY_NATIVE - Native library
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| 9 | # XENOMAI_LIBRARY_PTHREAD_RT -
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| 10 | # XENOMAI_LIBRARY_RTDM -
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| 11 | # XENOMAI_DEFINITIONS - Xenomai definitions / compiler flags
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| 12 | #
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| 13 | # Possible hints:
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| 14 | # XENOMAI_ROOT - root directory of the TBB installation
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| 15 | #
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| 16 | # Copyright (C) 2010 by Arne Nordmann <anordman at cor-lab dot de>
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| 17 | #
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| 18 | # This file may be licensed under the terms of the
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| 19 | # GNU Lesser General Public License Version 3 (the ``LGPL''),
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| 20 | # or (at your option) any later version.
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| 21 | #
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| 22 | # Software distributed under the License is distributed
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| 23 | # on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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| 24 | # express or implied. See the LGPL for the specific language
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| 25 | # governing rights and limitations.
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| 26 | #
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| 27 | # You should have received a copy of the LGPL along with this
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| 28 | # program. If not, go to http://www.gnu.org/licenses/lgpl.html
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| 29 | # or write to the Free Software Foundation, Inc.,
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| 30 | # 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 31 | #
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| 32 | # The development of this software was supported by:
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| 33 | # CoR-Lab, Research Institute for Cognition and Robotics
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| 34 | # Bielefeld University
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| 35 |
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| 36 | IF(UNIX)
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| 37 |
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| 38 | # Search Path
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| 39 | SET(XENOMAI_SEARCH_PATH ${ADDITIONAL_XENOMAI_SEARCH_PATH} /usr/include/xenomai /usr/local/xenomai /usr/xenomai/include /usr/xenomai /usr /include/xenomai)
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| 40 |
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| 41 | # Try to find xeno-config.h
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| 42 | FIND_PATH(XENOMAI_DIR xeno_config.h ${XENOMAI_SEARCH_PATH})
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| 43 |
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| 44 | IF(XENOMAI_DIR)
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| 45 | SET(XENOMAI_FOUND TRUE)
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| 46 |
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| 47 | SET(XENOMAI_INCLUDE_DIR ${XENOMAI_DIR})
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| 48 | SET(XENOMAI_INCLUDE_POSIX_DIR ${XENOMAI_DIR}/posix)
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| 49 |
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| 50 | # Find xenomai pthread
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| 51 |
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| 52 | FIND_LIBRARY(XENOMAI_LIBRARY_NATIVE native ${XENOMAI_DIR}/../../lib)
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| 53 | FIND_LIBRARY(XENOMAI_LIBRARY_XENOMAI xenomai ${XENOMAI_DIR}/../../lib)
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| 54 | FIND_LIBRARY(XENOMAI_LIBRARY_PTHREAD_RT pthread_rt rtdm ${XENOMAI_DIR}/../../lib)
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| 55 | FIND_LIBRARY(XENOMAI_LIBRARY_RTDM rtdm ${XENOMAI_DIR}/../../lib)
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| 56 | FIND_LIBRARY(XENOMAI_LIBRARY_RTDK rtdk ${XENOMAI_DIR}/../../lib)
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| 57 |
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| 58 | SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARY_RTDM} ${XENOMAI_LIBRARY_NATIVE})
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| 59 | IF(XENOMAI_LIBRARY_XENOMAI)
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| 60 | SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARIES} ${XENOMAI_LIBRARY_XENOMAI} )
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| 61 | ENDIF()
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| 62 | IF(XENOMAI_LIBRARY_RTDK)#old xenomai (2.4.7 cube)
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| 63 | SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARIES} ${XENOMAI_LIBRARY_RTDK} )
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| 64 | ENDIF()
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| 65 | # Find posix wrappers
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| 66 | FIND_FILE(XENOMAI_POSIX_WRAPPERS lib/posix.wrappers ${XENOMAI_SEARCH_PATH})
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| 67 |
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| 68 | # Add compile/preprocess options
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| 69 | SET(XENOMAI_DEFINITIONS "-D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__")
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| 70 |
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| 71 | ENDIF(XENOMAI_DIR)
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| 72 |
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| 73 | ENDIF(UNIX)
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| 74 |
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| 75 | INCLUDE(FindPackageHandleStandardArgs)
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| 76 | FIND_PACKAGE_HANDLE_STANDARD_ARGS(Xenomai DEFAULT_MSG XENOMAI_DIR)
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