Fix build errors in mrpt_system

jlblancoc · jlblancoc · commit eba9c7f7b225 · 2025-04-20T19:42:15.000+02:00
diff --git a/apps/2d-slam-demo/slamdemoApp.cpp b/apps/2d-slam-demo/slamdemoApp.cpp
@@ -19,6 +19,7 @@
 IMPLEMENT_APP(slamdemoApp)
 
 #include <mrpt/3rdparty/tclap/CmdLine.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>
 
diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.h b/apps/DifOdometry-Camera/DifOdometry_Camera.h
@@ -8,6 +8,7 @@
    +------------------------------------------------------------------------+ */
 
 #include <mrpt/config/CConfigFileBase.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/round.h>
 #include <mrpt/gui/CDisplayWindow3D.h>
 #include <mrpt/img/CImage.h>
diff --git a/apps/RawLogViewer/xRawLogViewerMain.cpp b/apps/RawLogViewer/xRawLogViewerMain.cpp
@@ -10,6 +10,7 @@
 #include "xRawLogViewerMain.h"
 
 #include <mrpt/containers/stl_containers_utils.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/gui/WxUtils.h>
 #include <mrpt/gui/about_box.h>
 #include <mrpt/io/CFileGZInputStream.h>
diff --git a/apps/ptg-configurator/ptgConfiguratorApp.cpp b/apps/ptg-configurator/ptgConfiguratorApp.cpp
@@ -14,6 +14,7 @@
 
 #include "ptgConfiguratorMain.h"
 //*)
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/system/os.h>
 #include <wx/cmdline.h>
 
diff --git a/cmakemodules/UtilsMacros.cmake b/cmakemodules/UtilsMacros.cmake
@@ -57,21 +57,6 @@ macro(pkgconfig_parse _FLAGS _OUT_PREFIX)
 	endforeach(str)
 endmacro()
 
-# Converts a version like "1.2.3" into a string "0x10203",
-# or "3.4.19" into "0x30413".
-# Usage: VERSION_TO_HEXADECIMAL(TARGET_VAR "1.2.3")
-macro(VERSION_TO_HEXADECIMAL OUT_VAR IN_VERSION)
-  string(REGEX MATCHALL "[0-9]+" VERSION_PARTS "${IN_VERSION}")
-  list(GET VERSION_PARTS 0 VERSION_NUMBER_MAJOR)
-  list(GET VERSION_PARTS 1 VERSION_NUMBER_MINOR)
-  list(GET VERSION_PARTS 2 VERSION_NUMBER_PATCH)
-
-  # Convert each part to hex:
-  math(EXPR ${OUT_VAR}
-  "(${VERSION_NUMBER_MAJOR} << 16) + \
-    (${VERSION_NUMBER_MINOR} << 8) + \
-    (${VERSION_NUMBER_PATCH})" OUTPUT_FORMAT HEXADECIMAL )
-endmacro()
 
 
 # GOOD & BAD are single strings, INPUT is a list wrapped in string
diff --git a/cmakemodules/script_opencv.cmake b/cmakemodules/script_opencv.cmake
@@ -28,7 +28,7 @@ if(NOT CMAKE_MRPT_HAS_OPENCV)
 endif()
 
 # Opencv version as Hex. number:
-VERSION_TO_HEXADECIMAL(OPENCV_VERSION_HEX ${MRPT_OPENCV_VERSION})
+mrpt_version_to_hexadecimal(OPENCV_VERSION_HEX ${MRPT_OPENCV_VERSION})
 set(MRPT_OPENCV_VERSION_HEX "${OPENCV_VERSION_HEX}")
 
 # OpenCV (all compilers):
diff --git a/doc/mrpt-openni2-examples/openni2_proximity_demo/test.cpp b/doc/mrpt-openni2-examples/openni2_proximity_demo/test.cpp
@@ -9,6 +9,8 @@
 
 // This seems to be assumed by OpenNI.h and undefined for some reason in
 // GCC/Ubuntu
+#include <mrpt/core/config.h>  // MRPT_OS_*()
+
 #if !defined(MRPT_OS_WINDOWS)
 #define linux 1
 #endif
diff --git a/doc/mrpt-openni2-examples/openni2_rgbd_demo/test.cpp b/doc/mrpt-openni2-examples/openni2_rgbd_demo/test.cpp
@@ -9,6 +9,8 @@
 
 // This seems to be assumed by OpenNI.h and undefined for some reason in
 // GCC/Ubuntu
+#include <mrpt/core/config.h>  // MRPT_OS_*()
+
 #if !defined(MRPT_OS_WINDOWS)
 #define linux 1
 #endif
diff --git a/doc/mrpt-openni2-examples/openni2_to_rawlog/test.cpp b/doc/mrpt-openni2-examples/openni2_to_rawlog/test.cpp
@@ -9,6 +9,8 @@
 
 // This seems to be assumed by OpenNI.h and undefined for some reason in
 // GCC/Ubuntu
+#include <mrpt/core/config.h>  // MRPT_OS_*()
+
 #if !defined(MRPT_OS_WINDOWS)
 #define linux 1
 #endif
diff --git a/modules/mrpt_common/cmake/mrpt_cmake_functions.cmake b/modules/mrpt_common/cmake/mrpt_cmake_functions.cmake
@@ -252,7 +252,6 @@ function(mrpt_configure_library TARGETNAME HEADERS_ONLY_LIBRARY ADDITIONAL_EXPOR
       $<INSTALL_INTERFACE:include>
     )
   else()
-    message(STATUS "XXX: ${CMAKE_CURRENT_SOURCE_DIR}/include")
     target_include_directories(${TARGETNAME} PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
@@ -647,3 +646,21 @@ macro(mrpt_find_package_or_return PACKAGE_NAME)
     return()
   endif()
 endmacro()
+
+
+
+# Converts a version like "1.2.3" into a string "0x10203",
+# or "3.4.19" into "0x30413".
+# Usage: mrpt_version_to_hexadecimal(TARGET_VAR "1.2.3")
+macro(mrpt_version_to_hexadecimal OUT_VAR IN_VERSION)
+  string(REGEX MATCHALL "[0-9]+" VERSION_PARTS "${IN_VERSION}")
+  list(GET VERSION_PARTS 0 VERSION_NUMBER_MAJOR)
+  list(GET VERSION_PARTS 1 VERSION_NUMBER_MINOR)
+  list(GET VERSION_PARTS 2 VERSION_NUMBER_PATCH)
+
+  # Convert each part to hex:
+  math(EXPR ${OUT_VAR}
+  "(${VERSION_NUMBER_MAJOR} << 16) + \
+    (${VERSION_NUMBER_MINOR} << 8) + \
+    (${VERSION_NUMBER_PATCH})" OUTPUT_FORMAT HEXADECIMAL )
+endmacro()
diff --git a/modules/mrpt_comms/src/CClientTCPSocket.cpp b/modules/mrpt_comms/src/CClientTCPSocket.cpp
@@ -11,6 +11,7 @@
 //
 #include <mrpt/comms/CClientTCPSocket.h>
 #include <mrpt/comms/net_utils.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 
 #include <cstring>
diff --git a/modules/mrpt_comms/src/CSerialPort.cpp b/modules/mrpt_comms/src/CSerialPort.cpp
@@ -12,6 +12,7 @@
 #include <mrpt/core/config.h>  // MRPT_OS_LINUX
 //
 #include <mrpt/comms/CSerialPort.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 #include <mrpt/system/os.h>
 
diff --git a/modules/mrpt_comms/src/CServerTCPSocket_common.cpp b/modules/mrpt_comms/src/CServerTCPSocket_common.cpp
@@ -12,6 +12,7 @@
 #include <mrpt/comms/CClientTCPSocket.h>
 #include <mrpt/comms/CServerTCPSocket.h>
 #include <mrpt/comms/net_utils.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 #include <mrpt/system/os.h>
 
diff --git a/modules/mrpt_comms/src/net_utils.cpp b/modules/mrpt_comms/src/net_utils.cpp
@@ -12,6 +12,7 @@
 #include <mrpt/comms/CClientTCPSocket.h>
 #include <mrpt/comms/CServerTCPSocket.h>
 #include <mrpt/comms/net_utils.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 #include <mrpt/core/format.h>
 #include <mrpt/system/CTicTac.h>
diff --git a/modules/mrpt_core/CMakeLists.txt b/modules/mrpt_core/CMakeLists.txt
@@ -17,7 +17,6 @@ find_package(mrpt_common REQUIRED)
 # find dependencies:
 find_package(Threads REQUIRED)
 
-# "Classic" function & headers detection:
 include(./cmake/bfd.cmake REQUIRED)
 include(./cmake/detect_functions_headers.cmake REQUIRED)
 include(./cmake/detect_unix_arch.cmake REQUIRED)
@@ -27,6 +26,9 @@ include(./cmake/max_alignment.cmake REQUIRED)
 include(./cmake/simd.cmake REQUIRED)
 include(./cmake/tbb.cmake REQUIRED)
 
+include(./cmake/script_create_version_h.cmake REQUIRED)
+
+
 # define lib:
 set(LIB_SRCS
   src/constexpr_for_unittest.cpp
diff --git a/modules/mrpt_core/cmake/script_create_version_h.cmake b/modules/mrpt_core/cmake/script_create_version_h.cmake
@@ -3,10 +3,14 @@
 #    FILE_TO_PARSE="SRC/include/mrpt/MRPT_version.h.in"
 #    TARGET_FILE  ="MRPT_version.h"
 # ----------------------------------------------------------------------------
+set(CMAKE_MRPT_VERSION_NUMBER_MAJOR ${mrpt_common_VERSION_MAJOR})
+set(CMAKE_MRPT_VERSION_NUMBER_MINOR ${mrpt_common_VERSION_MINOT})
+set(CMAKE_MRPT_VERSION_NUMBER_PATCH ${mrpt_common_VERSION_PATCH})
+
 set(CMAKE_MRPT_COMPLETE_NAME "MRPT ${CMAKE_MRPT_VERSION_NUMBER_MAJOR}.${CMAKE_MRPT_VERSION_NUMBER_MINOR}.${CMAKE_MRPT_VERSION_NUMBER_PATCH}")
 
 # Build a six digits hex version code, eg. 1.2.0 -> 0x010200
-VERSION_TO_HEXADECIMAL(CMAKE_MRPT_VERSION_CODE ${CMAKE_MRPT_COMPLETE_NAME})
+mrpt_version_to_hexadecimal(CMAKE_MRPT_VERSION_CODE ${mrpt_common_VERSION})
 
 # SOURCE_DATE_EPOCH: See Specs in https://reproducible-builds.org/specs/source-date-epoch/
 # Take its value from:
@@ -48,16 +52,11 @@ endif()
 
 set(MRPT_CONFIG_FILE_INCLUDE_DIR ${CMAKE_BINARY_DIR}/include/mrpt-configuration/)
 
-configure_file("${MRPT_SOURCE_DIR}/parse-files/version.h.in" "${MRPT_CONFIG_FILE_INCLUDE_DIR}/mrpt/version.h")
-
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/version.h.in" "${MRPT_CONFIG_FILE_INCLUDE_DIR}/mrpt/version.h")
+# And install it:
+install(
+  FILES ${MRPT_CONFIG_FILE_INCLUDE_DIR}/mrpt/version.h
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/mrpt/
+)
 
-# Prepare version.rc for Windows apps:
-if (WIN32)
-	configure_file(
-		${MRPT_SOURCE_DIR}/parse-files/version.rc.in
-		${MRPT_BINARY_DIR}/version.rc
-		@ONLY)
-	set(MRPT_VERSION_RC_FILE "${MRPT_BINARY_DIR}/version.rc")
-else()
-	set(MRPT_VERSION_RC_FILE "")
-endif()
+# Prepare version.rc for Windows apps (2025, JLBC: Not worth porting to mrpt3)
diff --git a/modules/mrpt_core/src/WorkerThreadsPool.cpp b/modules/mrpt_core/src/WorkerThreadsPool.cpp
@@ -15,8 +15,9 @@
 
 #include "core-precomp.h"  // Precompiled headers
 //
-#include <mrpt/core/config.h>
 #include <mrpt/core/WorkerThreadsPool.h>
+#include <mrpt/core/config.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 
 #include <iostream>
diff --git a/modules/mrpt_core/version.h.in b/modules/mrpt_core/version.h.in
diff --git a/modules/mrpt_hwdrivers/include/mrpt/hwdrivers/CJoystick.h b/modules/mrpt_hwdrivers/include/mrpt/hwdrivers/CJoystick.h
@@ -8,6 +8,7 @@
    +------------------------------------------------------------------------+ */
 #pragma once
 
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/hwdrivers/config.h>
 
 #include <vector>
diff --git a/modules/mrpt_hwdrivers/src/CJoystick.cpp b/modules/mrpt_hwdrivers/src/CJoystick.cpp
@@ -9,6 +9,7 @@
 
 #include "hwdrivers-precomp.h"  // Precompiled headers
 //
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 #include <mrpt/hwdrivers/config.h>
 
diff --git a/modules/mrpt_hwdrivers/src/CWirelessPower.cpp b/modules/mrpt_hwdrivers/src/CWirelessPower.cpp
@@ -9,6 +9,7 @@
 
 #include "hwdrivers-precomp.h"  // Precompiled headers
 //
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/hwdrivers/CWirelessPower.h>
 
 #include <iostream>
diff --git a/modules/mrpt_opengl/src/Shader.cpp b/modules/mrpt_opengl/src/Shader.cpp
@@ -9,6 +9,7 @@
 
 #include "opengl-precomp.h"  // Precompiled header
 //
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/opengl/Shader.h>
 #include <mrpt/opengl/opengl_api.h>
 
diff --git a/modules/mrpt_system/config.h.in b/modules/mrpt_system/config.h.in
@@ -14,5 +14,9 @@
 
 /** Only for Linux: the inotify kernel module has been found. Requires kernel 2.6.13.  */
 #define MRPT_HAS_INOTIFY ${CMAKE_MRPT_HAS_INOTIFY}
- 
+
+
+#define MRPT_SOURCE_BASE_DIRECTORY "${MRPT_CURRENT_SOURCE_DIR}"
+#define MRPT_INSTALL_PREFIX_DIRECTORY "${CMAKE_INSTALL_PREFIX}"
+
 // clang-format on
diff --git a/modules/mrpt_system/include/mrpt/system/CFileSystemWatcher.h b/modules/mrpt_system/include/mrpt/system/CFileSystemWatcher.h
@@ -8,6 +8,7 @@
    +------------------------------------------------------------------------+ */
 #pragma once
 
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/system/os.h>
 
 #include <mutex>
diff --git a/modules/mrpt_system/src/CRateTimer.cpp b/modules/mrpt_system/src/CRateTimer.cpp
@@ -9,9 +9,10 @@
 
 #include "system-precomp.h"  // Precompiled headers
 //
-#include <mrpt/system/config.h>
+#include <mrpt/core/config.h>  // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>
 #include <mrpt/system/CRateTimer.h>
+#include <mrpt/system/config.h>
 
 #include <chrono>
 #include <thread>
diff --git a/modules/mrpt_system/src/base64_unittest.cpp b/modules/mrpt_system/src/base64_unittest.cpp
@@ -8,32 +8,38 @@
    +------------------------------------------------------------------------+ */
 
 #include <gtest/gtest.h>
-#include <mrpt/random.h>
 #include <mrpt/system/string_utils.h>
 
+#include <random>
+
 using namespace mrpt;
-using namespace mrpt::random;
 using namespace std;
 
 // Load data from constant file and check for exact match.
 TEST(Base64, RandomEncDec)
 {
   for (unsigned int seed = 0; seed < 500; seed++)
   {
-    getRandomGenerator().randomize(seed);
+    std::mt19937 rng(seed);
 
-    const size_t block_len = getRandomGenerator().drawUniform32bit() % 567;
+    std::uniform_int_distribution<size_t> length_dist(0, 566);  // inclusive range
+    const size_t block_len = length_dist(rng);
 
+    std::uniform_int_distribution<uint32_t> byte_dist(0, 0xFF);  // 8-bit random values
     std::vector<uint8_t> myData(block_len);
     for (size_t n = 0; n < block_len; n++)
-      myData[n] = static_cast<uint8_t>(getRandomGenerator().drawUniform32bit());
+    {
+      myData[n] = static_cast<uint8_t>(byte_dist(rng));
+    }
 
     std::string myStr;
     mrpt::system::encodeBase64(myData, myStr);
 
     std::vector<uint8_t> outData;
     if (!mrpt::system::decodeBase64(myStr, outData))
+    {
       GTEST_FAIL() << "Error decoding the just encoded data!\n";
+    }
 
     // Compare data:
     EXPECT_EQ(outData.size(), myData.size());
diff --git a/modules/mrpt_system/src/crc.cpp b/modules/mrpt_system/src/crc.cpp
@@ -53,9 +53,11 @@ uint16_t mrpt::system::compute_CRC16(const uint8_t* data, size_t len_, const uin
   return uCrc16;
 }
 
-unsigned long CRC32Value(int i, const uint32_t CRC32_POLYNOMIAL)
+namespace
 {
-  unsigned long ulCRC = i;
+uint32_t CRC32Value(int i, const uint32_t CRC32_POLYNOMIAL)
+{
+  uint32_t ulCRC = static_cast<uint32_t>(i);
   for (int j = 8; j > 0; j--)
   {
     if (ulCRC & 1)
@@ -65,15 +67,16 @@ unsigned long CRC32Value(int i, const uint32_t CRC32_POLYNOMIAL)
   }
   return ulCRC;
 }
+}  // namespace
 
 uint32_t mrpt::system::compute_CRC32(const uint8_t* data, size_t len_, const uint32_t gen_pol)
 {
   size_t len = len_;
-  unsigned long ulCRC = 0;
+  uint32_t ulCRC = 0;
   while (len-- != 0)
   {
-    unsigned long ulTemp1 = (ulCRC >> 8) & 0x00FFFFFFL;
-    unsigned long ulTemp2 = CRC32Value(((int)ulCRC ^ *data++) & 0xff, gen_pol);
+    const uint32_t ulTemp1 = (static_cast<uint32_t>(ulCRC) >> 8) & 0x00FFFFFFUL;
+    const uint32_t ulTemp2 = CRC32Value((static_cast<int>(ulCRC) ^ *data++) & 0xff, gen_pol);
     ulCRC = ulTemp1 ^ ulTemp2;
   }
   return ulCRC;
diff --git a/modules/mrpt_system/src/datetime_unittest.cpp b/modules/mrpt_system/src/datetime_unittest.cpp
@@ -35,7 +35,8 @@ TEST(DateTime, time_t_forth_back)
 
   auto t1 = mrpt::Clock::fromDouble(td5);
   auto t2 = mrpt::Clock::fromDouble(t);
-  EXPECT_NEAR(std::chrono::duration_cast<std::chrono::milliseconds>(t1 - t2).count(), 500, 1);
+  EXPECT_LE(
+      std::abs(std::chrono::duration_cast<std::chrono::milliseconds>(t1 - t2).count() - 500), 1);
 
   const double t1d = mrpt::Clock::toDouble(t1);
   const double t2d = mrpt::Clock::toDouble(t2);
diff --git a/modules/mrpt_system/src/filesystem.cpp b/modules/mrpt_system/src/filesystem.cpp
@@ -9,11 +9,13 @@
 
 #include "system-precomp.h"  // Precompiled headers
 //
+#include <mrpt/core/config.h>      // MRPT_OS_*()
 #include <mrpt/core/exceptions.h>  // for MRPT_END, MRPT_START, e
 #include <mrpt/core/format.h>
 #include <mrpt/system/CDirectoryExplorer.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/system/os.h>  // for sprintf
+#include <mrpt/version.h>
 
 #include <algorithm>
 #include <cstdio>
@@ -334,7 +336,6 @@ mrpt::Clock::time_point mrpt::system::getFileModificationTime(const std::string&
     return mrpt::Clock::fromDouble(static_cast<double>(fS.st_mtime));
 }
 
-#include <mrpt/version.h>
 // Read docs in .h
 std::string mrpt::system::getShareMRPTDir()
 {
diff --git a/modules/mrpt_system/src/memory.cpp b/modules/mrpt_system/src/memory.cpp
diff --git a/modules/mrpt_system/src/os.cpp b/modules/mrpt_system/src/os.cpp
diff --git a/modules/mrpt_system/src/scheduler.cpp b/modules/mrpt_system/src/scheduler.cpp
diff --git a/modules/mrpt_system/src/thread_name.cpp b/modules/mrpt_system/src/thread_name.cpp
diff --git a/modules/mrpt_system/src/thread_name_unittest.cpp b/modules/mrpt_system/src/thread_name_unittest.cpp
diff --git a/parse-files/mrpt_paths_config.h.in b/parse-files/mrpt_paths_config.h.in
