/
build_dotnet.cmd
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build_dotnet.cmd
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: @echo off
setlocal enableextensions disabledelayedexpansion
if "%VSINSTALLDIR%" == "" (
if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community" (
set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\"
)
if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise" (
set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\"
)
)
echo "VSInstallDir is %VSINSTALLDIR%"
set clean=false
set DEBUG_CMD=
: Call to build the isolated ROS2 build system
set ChocolateyInstall=c:\opt\chocolatey
set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
set PATH=c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
set PATH_ORIG=%PATH%
set VCPKG_ROOT=c:\opt\vcpkg
set PYTHONHOME=C:\opt\python37amd64\
:: Parse options
:GETOPTS
if /I "%~1" == "/?" goto USAGE
if /I "%~1" == "/Help" goto USAGE
if /I "%~1" == "/x86" set BUILD=x86
if /I "%~1" == "/x64" set BUILD=x64
if /I "%~1" == "/arm64" set BUILD=arm64
if /I "%~1" == "/arm" set BUILD=arm
if /I "%~1" == "/unity" set BUILD=unity
if /I "%~1" == "/clean" set clean=true
if /I "%~1" == "/debug" set DEBUG_CMD=-DCMAKE_BUILD_TYPE=RelWithDebInfo
shift
if not (%1)==() goto GETOPTS
if "%BUILD%"=="x86" goto :build_x86
if "%BUILD%"=="x64" goto :build_x64
if "%BUILD%"=="unity" goto :build_unity
if "%BUILD%"=="arm" goto :build_arm
if "%BUILD%"=="arm64" goto :build_arm64
:build_unity
setlocal
set ROS2_ARCH=x64
call tools\unity\local_setup.bat
call target\unity\local_setup.bat
pushd ros2dotnet
set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-windows;%CMAKE_PREFIX_PATH_ORIG%
set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-windows\bin;%PATH_ORIG%
call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
if "%clean%"=="true" (
if exist unity_build rd /s /q build
if exist unity rd /s /q unity
)
call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\unity_build --install-base .\unity --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
if "%ERRORLEVEL%" NEQ "0" goto :eof
endlocal
popd
if "%BUILD%"=="unity" goto :eof
:build_x64
setlocal
set ROS2_ARCH=x64
call tools\x64\local_setup.bat
call target\x64\local_setup.bat
pushd ros2dotnet
set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-uwp;%CMAKE_PREFIX_PATH_ORIG%
set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-uwp\bin;%PATH_ORIG%
call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
if "%clean%"=="true" (
if exist x64_build rd /s /q x64_build
if exist x64 rd /s /q x64
)
call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x64_build --install-base .\x64 --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
if "%ERRORLEVEL%" NEQ "0" goto :build_fail
endlocal
popd
if "%BUILD%"=="x64" goto :eof
:build_arm64
setlocal
set ROS2_ARCH=arm64
call tools\arm64\local_setup.bat
call target\arm64\local_setup.bat
pushd ros2dotnet
set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm64-uwp;%CMAKE_PREFIX_PATH_ORIG%
set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm64-uwp\bin;%PATH_ORIG%
call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm64.bat"
if "%clean%"=="true" (
if exist arm64_build rd /s /q arm64_build
if exist arm64 rd /s /q arm64
)
call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm64_build --install-base .\arm64 --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=arm64 -DDOTNET_CORE_ARCH=arm64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
if "%ERRORLEVEL%" NEQ "0" goto :build_fail
endlocal
popd
if "%BUILD%"=="arm64" goto :eof
:build_arm
setlocal
set ROS2_ARCH=arm
call tools\arm\local_setup.bat
call target\arm\local_setup.bat
pushd ros2dotnet
set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm-uwp;%CMAKE_PREFIX_PATH_ORIG%
set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm-uwp\bin;%PATH_ORIG%
call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm.bat"
if "%clean%"=="true" (
if exist arm_build rd /s /q arm_build
if exist arm rd /s /q arm
)
call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm_build --install-base .\arm--cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=arm -DDOTNET_CORE_ARCH=arm -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
if "%ERRORLEVEL%" NEQ "0" goto :build_fail
endlocal
popd
if "%BUILD%"=="arm" goto :eof
: build x86
:build_x86
setlocal
: x86 is called Win32 in cmakelandia
set ROS2_ARCH=Win32
call tools\x86\local_setup.bat
call target\x86\local_setup.bat
pushd ros2dotnet
set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x86-uwp;%CMAKE_PREFIX_PATH_ORIG%
set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x86-uwp\bin;%PATH_ORIG%
call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_x86.bat"
if "%clean%"=="true" (
if exist x86_build rd /s /q x86_build
if exist x86 rd /s /q x86
)
call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x86_build --install-base .\x86 --packages-ignore tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=x86 -DDOTNET_CORE_ARCH=x86 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
if "%ERRORLEVEL%" NEQ "0" goto :build_fail
endlocal
popd
if "%BUILD%"=="x86" goto :eof
goto :eof
:build_fail
popd
goto :eof
:USAGE
echo "build [/x64|/x86|/arm64|/arm] [/clean]"
goto :eof