# - Try to find the Xenomai Real-Time # Will define: # # XENOMAI_INCLUDE_DIR - Include directories needed to use the C++ driver # XENOMAI_INCLUDE_POSIX_DIR - Include directories for POSIX systems # XENOMAI_POSIX_WRAPPERS - Directories containing the libraries (win) # XENOMAI_LIBRARY_XENOMAI - Xenomai library # XENOMAI_LIBRARY_NATIVE - Native library # XENOMAI_LIBRARY_PTHREAD_RT - # XENOMAI_LIBRARY_RTDM - # XENOMAI_DEFINITIONS - Xenomai definitions / compiler flags # # Possible hints: # XENOMAI_ROOT - root directory of the TBB installation # # Copyright (C) 2010 by Arne Nordmann # # This file may be licensed under the terms of the # GNU Lesser General Public License Version 3 (the ``LGPL''), # or (at your option) any later version. # # Software distributed under the License is distributed # on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either # express or implied. See the LGPL for the specific language # governing rights and limitations. # # You should have received a copy of the LGPL along with this # program. If not, go to http://www.gnu.org/licenses/lgpl.html # or write to the Free Software Foundation, Inc., # 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. # # The development of this software was supported by: # CoR-Lab, Research Institute for Cognition and Robotics # Bielefeld University IF(UNIX) # Search Path SET(XENOMAI_SEARCH_PATH ${ADDITIONAL_XENOMAI_SEARCH_PATH} /usr/include/xenomai /usr/local/xenomai /usr/xenomai/include /usr/xenomai /usr /include/xenomai) # Try to find xeno-config.h FIND_PATH(XENOMAI_DIR xeno_config.h ${XENOMAI_SEARCH_PATH}) IF(XENOMAI_DIR) SET(XENOMAI_FOUND TRUE) SET(XENOMAI_INCLUDE_DIR ${XENOMAI_DIR}) SET(XENOMAI_INCLUDE_POSIX_DIR ${XENOMAI_DIR}/posix) # Find xenomai pthread FIND_LIBRARY(XENOMAI_LIBRARY_NATIVE native ${XENOMAI_DIR}/../../lib) FIND_LIBRARY(XENOMAI_LIBRARY_XENOMAI xenomai ${XENOMAI_DIR}/../../lib) FIND_LIBRARY(XENOMAI_LIBRARY_PTHREAD_RT pthread_rt rtdm ${XENOMAI_DIR}/../../lib) FIND_LIBRARY(XENOMAI_LIBRARY_RTDM rtdm ${XENOMAI_DIR}/../../lib) FIND_LIBRARY(XENOMAI_LIBRARY_RTDK rtdk ${XENOMAI_DIR}/../../lib) SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARY_RTDM} ${XENOMAI_LIBRARY_NATIVE}) IF(XENOMAI_LIBRARY_XENOMAI) SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARIES} ${XENOMAI_LIBRARY_XENOMAI} ) ENDIF() IF(XENOMAI_LIBRARY_RTDK)#old xenomai (2.4.7 cube) SET(XENOMAI_LIBRARIES ${XENOMAI_LIBRARIES} ${XENOMAI_LIBRARY_RTDK} ) ENDIF() # Find posix wrappers FIND_FILE(XENOMAI_POSIX_WRAPPERS lib/posix.wrappers ${XENOMAI_SEARCH_PATH}) # Add compile/preprocess options SET(XENOMAI_DEFINITIONS "-D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__") ENDIF(XENOMAI_DIR) ENDIF(UNIX) INCLUDE(FindPackageHandleStandardArgs) FIND_PACKAGE_HANDLE_STANDARD_ARGS(Xenomai DEFAULT_MSG XENOMAI_DIR)