CMRosIF.patch

diff -ru ../src/Makefile ./Makefile
--- ../src/Makefile
+++ ./Makefile
@@ -24,6 +24,24 @@
 			$(CARMAKER_LIB) $(DRIVER_LIB) $(ROAD_LIB) $(TIRE_LIB)
 OBJS =			CM_Main.o CM_Vehicle.o User.o
 
+# Paths to ROS workspaces (relative from project directory)
+ROS1_WS_DIR     ?= ros/ros1_ws
+ROS2_WS_DIR     ?= ros/ros2_ws
+
+# Uncomment to define your preferred ROS distro for each workspace,
+# otherwise /opt/ros/ros1 or /opt/ros/ros2 is used
+#ROS1_WS_ENV     ?= ROS_DISTRO=melodic
+#ROS2_WS_ENV     ?= ROS_DISTRO=dashing
+
+# CarMaker extension CMCppIF (provided by IPG)
+APP_VER         := "$(subst ",,$(APP_VER)) with CMRosIF"
+DEF_CFLAGS      += -DWITH_CMCPPIF
+LD_LIBS_OS      += -lcmcppifloader-$(ARCH)
+LDFLAGS         += -L./../lib/
+LDFLAGS         += -Wl,-rpath,'$$ORIGIN/../lib/'
+INC_CFLAGS      += -I../include
+CFLAGS          += -rdynamic
+
 # Prepend local include/library directory to include path:
 # PREINC_CFLAGS +=		-I../include -I../lib/$(ARCH) -I../lib
 
@@ -56,7 +74,7 @@
 	$(INSTALL_APP) $(APP_NAME) $(ARCH)
 
 clean:
-	-rm -f 	*~ *% *.o core
+	-rm -f 	*~ *% *.o core app_tmp.c .depend
 
 app_tmp.c: Makefile $(OBJS_$(ARCH)) $(OBJS) $(LD_LIBS_MK)
 	$(QECHO) " MK     $@"
@@ -66,4 +84,50 @@
 	$(QECHO) " MK     $@"
 	$Q-$(CC)  $(CFLAGS)   $(DEPCFLAGS)   *.c   >  .depend 2>/dev/null
 #	$Q-$(CXX) $(CXXFLAGS) $(DEPCXXFLAGS) *.cpp >> .depend 2>/dev/null
-include .depend
+
+cm-ros1: install ros1_ws ../CMStart.sh
+cm-ros2: install ros2_ws ../CMStart.sh
+
+XMAKER:=CM
+ifneq (,$(findstring $(TRUCK_LIB),$(LD_LIBS)))
+    XMAKER:=TM
+else ifneq (,$(findstring $(MCYCLE_LIB),$(LD_LIBS)))
+    XMAKER:=MM
+endif
+
+../CMStart.sh:
+	@echo " CRT    $@"
+	$Q if [ -e "$@" ]; then echo "'$@' already exists"; false; fi
+	@( \
+	echo "#!/bin/bash"; \
+	echo "source ros_setup.bash \$${1:-$(patsubst cm-ros%,%,$(firstword $(filter cm-ros%,$(MAKECMDGOALS))))}"; \
+	echo "$(XMAKER)-$(CARMAKER_VER) . -apphost localhost -ext GUI/CMExt-CMRosIF.mod"; \
+	) > $@
+	$Q chmod +x $@
+
+CMAKE_ARGS:=\
+ -DCARMAKER_VER:STRING=${CARMAKER_VER}\
+ -DCARMAKER_DIR:PATH=${CARMAKER_DIR}
+
+ros1_ws:
+	$(QECHO) " MK     $@"
+	$Q cd ./../${ROS1_WS_DIR} && $(ROS1_WS_ENV) ./build.sh '${CMAKE_ARGS}'
+
+clean-ros1_ws:
+	-rm -rf ./../${ROS1_WS_DIR}/build
+	-rm -rf ./../${ROS1_WS_DIR}/devel
+	-rm -rf ./../${ROS1_WS_DIR}/install
+
+ros2_ws:
+	$(QECHO) " MK     $@"
+	$Q cd ./../${ROS2_WS_DIR} && \
+	   $(ROS2_WS_ENV) ./build.sh '--cmake-args ${CMAKE_ARGS} --no-warn-unused-cli'
+
+clean-ros2_ws:
+	-rm -rf ./../${ROS2_WS_DIR}/build ./../${ROS2_WS_DIR}/install
+
+ifeq (,$(findstring clean,$(MAKECMDGOALS)))
+ -include .depend || true
+endif
+
+.PHONY: default install clean depend ros1_ws ros2_ws clean-%
diff -ru ../src/User.c ./User.c
--- ../src/User.c
+++ ./User.c
@@ -92,6 +92,10 @@
 #include "IOVec.h"
 #include "User.h"
 
+#if defined(WITH_CMCPPIF)
+#include "cmcppifloader.h"
+#endif
+
 /* @@PLUGIN-BEGIN-INCLUDE@@ - Automatically generated code - don't edit! */
 /* @@PLUGIN-END@@ */
 
@@ -205,7 +209,34 @@
 int
 User_Init (void)
 {
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    CMCppIFLoader_load("CMRosIF");
+    rv = CMCppIFLoader_init();
+
+    { /* Example code block to demonstrate
+       * how to access and evaluate data within the C++ interface
+       */
+
+      /* Get function pointer to custom function */
+      int (*customfunc) (void* intf, const int input, char* output) =
+          CMCppIFLoader_getSymbol("CMNodeHelloCM_customFunction");
+
+      /* Get pointer to instatiated interface */
+      void* cmrosif = CMCppIFLoader_getInterfacePtr();
+
+      /* Call custom function of instatiated interface */
+      if (customfunc != NULL && cmrosif != NULL) {
+        char string[100] = "";
+        Log("%s\n", "Calling CMNodeHelloCM_customFunction:");
+        int rv = customfunc(cmrosif, 42, string);
+        Log("  Output string: %s\n", string);
+        Log("  Return value: %d\n", rv);
+      }
+    }
+#endif
+
+    return rv;
 }
 
 
@@ -246,6 +277,10 @@
 #if defined(XENO)
     IOConf_MapQuants();
 #endif
+
+#if defined(WITH_CMCPPIF)
+    CMCppIFLoader_declQuants();
+#endif
 }
 
 
@@ -354,6 +389,9 @@
     for (i=0; i<N_USEROUTPUT; i++)
 	User.Out[i] = 0.0;
 
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_testrunStartAtBegin();
+#endif
 
     if (IO_None)
 	return rv;
@@ -389,7 +427,12 @@
 int
 User_TestRun_Start_atEnd (void)
 {
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_testrunStartAtEnd();
+#endif
+
+    return rv;
 }
 
 
@@ -445,6 +488,10 @@
 {
     int IsReady = 1;
 
+#if defined(WITH_CMCPPIF)
+    IsReady = CMCppIFLoader_testrunRampUp();
+#endif
+
     return IsReady;
 }
 
@@ -487,7 +534,12 @@
 int
 User_TestRun_End (void)
 {
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_testrunEnd();
+#endif
+
+    return rv;
 }
 
 
@@ -506,6 +558,10 @@
 void
 User_In (const unsigned CycleNo)
 {
+#if defined(WITH_CMCPPIF)
+    CMCppIFLoader_in();
+#endif
+
     if (SimCore.State != SCState_Simulate)
 	return;
 }
@@ -529,7 +585,12 @@
     if (Vehicle.OperationState != OperState_Driving)
 	return 0;
 
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_drivmanCalc(&dt);
+#endif
+
+    return rv;
 }
 
 
@@ -550,7 +611,12 @@
     if (Vehicle.OperationState != OperState_Driving)
 	return 0;
 
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_vehicleControlCalc(&dt);
+#endif
+
+    return rv;
 }
 
 
@@ -609,7 +675,12 @@
        of CM 5.1 and earlier. */
     /*if (!UserCalcCalledByAppTestRunCalc) return 0;*/
 
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_calc(&dt);
+#endif
+
+    return rv;
 }
 
 
@@ -674,6 +745,10 @@
 {
     RBS_OutMap(CycleNo);
 
+#if defined(WITH_CMCPPIF)
+    CMCppIFLoader_out();
+#endif
+
     if (SimCore.State != SCState_Simulate)
 	return;
 }
@@ -769,7 +844,12 @@
 int
 User_End (void)
 {
-    return 0;
+    int rv = 0;
+#if defined(WITH_CMCPPIF)
+    rv = CMCppIFLoader_end();
+#endif
+
+    return rv;
 }