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Feature/meson support (#522)
* set remote branch * add subprojects * give up compiling unit tests in Meson because no user-defined function feature * add support for installing m4 macros * add comments in root meson.build * add pkg-config generator * remove gtest subproject because removed unit tests earlier * add python support * add lua support * remove 'bin' install directories because meson defaults to standard conforming directory i.e. bin * add basic java support * reset options * change meson.options to meson_options.txt for backward compatibility * make doxygen not required * remove compiler warnings to match cmake * remove -Wno-unused-result c_arg * add option to disable compilation of lcmgen * mark java as WIP in meson.build * create meson ci tests * edit windows build dependencies and linking in meson * make full lcm_export.h * try not compiling static libs for windows * try verbose output in ci for windows * add compiler arg for windows in meson * build static liblcm again * add basic test to meson build ci * install shared library lcm * use grep to create test for lcm windows * remove verbose output from cmake windows build * remove verbose output from meson windows build * install lcm lib headers * install man pages * clean up commented code and unused code * fix lcm header install subdir into lcm subdir * add build files for c example * add ci test for building c example * install lcm before using in Windows ci test * fix directories * fix fedora docker command and don't build c example for windows * add build files for cpp example and lcm_log_writer * add ci tests for building c++ and lcm log writer example * comment placeholder code for java pkg-config generation * address documentation support not implemented yet * add generated file from examples to gitignore * shorten code and remove unused exe variable declarations * remove jchart2d meson files until further development * shorten library building code using Meson's * add generated c example code to gitignore * add back variable for static lcm lib fix python library installation and remove comment * build all modules with met dependencies by default * remove building java because broken * check for optional module dependencies and don't build optional modules if not found * add options summary * remove generated java targets from main meson build * remove name_suffix from windows python build * remove python support for Windows and describe WIP status for python and java * remove mysterious meson/ directory from gitignore * shorten lcm lib building code * rename lcm-python module to lcm * add detailed summary * add build instructions for Meson * use meson built in default_library switch for building shared/static instead of unused option * fix lcm-lua install_dir and name * mark all optional modules as not working * add spaces * fix python installation for linux and macos * move pure keyword from find_installation() to install_sources() and bring back hacky platlib dir for compatibility with ubuntu 22.04's ancient meson version * fix macos lua install oserror * update lua install_dir to match cmake * replace unsupported message with disabled message when unsupported features are disabled * fix if statement * fix python/lua typo * remove python, lua, and java support * use threads dependency * remove threads dep for windows * include stdbool.h for windows * format code * add rationale for nested broken modules --------- Co-authored-by: jason <[email protected]>
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‎.github/workflows/test_meson.yml

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name: test_meson
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on: [push, pull_request]
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jobs:
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ubuntu:
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strategy:
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matrix:
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os: [ubuntu-24.04, ubuntu-22.04]
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build_type: [Debug, Release]
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/checkout@v3
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- name: Install Dependencies
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run: |
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sudo apt install liblua5.3-dev lua5.3 libjchart2d-java libglib2.0-dev meson
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- name: Setup Meson
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run: meson setup ${{github.workspace}}/build
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- name: Build
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run: ninja -C ${{github.workspace}}/build
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- name: Test
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run : '${{github.workspace}}/build/liblcm-test/lcm-tester | grep "LCM: OK!"'
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- name: Install
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run : sudo ninja -C ${{github.workspace}}/build install
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- name : Build C Example
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working-directory: ${{github.workspace}}/examples/c
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run: |
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meson setup build
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ninja -C build
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- name: Build C++ Example
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working-directory: ${{github.workspace}}/examples/cpp
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run: |
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meson setup build
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ninja -C build
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- name: Build and Run C++ Log Writer Example
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working-directory: ${{github.workspace}}/examples/cpp/lcm_log_writer
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run: |
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meson setup build
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ninja -C build
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LD_LIBRARY_PATH=/usr/local/lib/ build/lcm_log_writer build/example.log
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fedora:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v3
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- name: Build and Start Container
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run: |
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docker build -f docker/Dockerfile.fedora -t lcm-fedora docker
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docker run -v $(pwd):/work -d --rm -it --name lcm-fedora lcm-fedora /bin/bash
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- name: Setup Meson
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run: docker exec lcm-fedora meson setup ${{github.workspace}}/build
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- name: Build
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run: docker exec lcm-fedora ninja -C ${{github.workspace}}/build
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- name: Test
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run : 'docker exec lcm-fedora ${{github.workspace}}/build/liblcm-test/lcm-tester | grep "LCM: OK!"'
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- name: Install
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run : docker exec lcm-fedora ninja -C ${{github.workspace}}/build install
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- name : Build C Example
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run: |
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docker exec --workdir /work/examples/c lcm-fedora meson setup build
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docker exec --workdir /work/examples/c lcm-fedora ninja -C build
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- name: Build C++ Example
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run: |
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docker exec --workdir /work/examples/cpp lcm-fedora meson setup build
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docker exec --workdir /work/examples/cpp lcm-fedora ninja -C build
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- name: Build and Run C++ Log Writer Example
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working-directory: ${{github.workspace}}/examples/cpp/lcm_log_writer
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run: |
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docker exec --workdir /work/examples/cpp/lcm_log_writer lcm-fedora meson setup build
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docker exec --workdir /work/examples/cpp/lcm_log_writer lcm-fedora ninja -C build
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docker exec --workdir /work/examples/cpp/lcm_log_writer -e LD_LIBRARY_PATH=/usr/local/lib64/ lcm-fedora build/lcm_log_writer build/example.log
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macos:
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strategy:
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matrix:
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os: [macos-13, macos-14]
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/checkout@v3
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- name: Install Dependencies
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run: |
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brew install lua meson
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- name: Setup Meson
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run: meson setup ${{github.workspace}}/build
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- name: Build
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run: ninja -C ${{github.workspace}}/build
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- name: Test
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run : '${{github.workspace}}/build/liblcm-test/lcm-tester | grep "LCM: OK!"'
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- name: Install
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run : sudo ninja -C ${{github.workspace}}/build install
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- name : Build C Example
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working-directory: ${{github.workspace}}/examples/c
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run: |
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meson setup build
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ninja -C build
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- name: Build C++ Example
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working-directory: ${{github.workspace}}/examples/cpp
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run: |
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meson setup build
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ninja -C build
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- name: Build and Run C++ Log Writer Example
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working-directory: ${{github.workspace}}/examples/cpp/lcm_log_writer
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run: |
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meson setup build
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ninja -C build
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build/lcm_log_writer build/example.log
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windows:
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strategy:
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matrix:
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os: [windows-2019, windows-2022]
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runs-on: ${{ matrix.os }}
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defaults:
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run:
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shell: msys2 {0}
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steps:
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- uses: actions/checkout@v3
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- uses: msys2/setup-msys2@v2
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with:
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msystem: mingw64
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update: false
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install: >-
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git
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make
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pacboy: >-
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toolchain:p
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cmake:p
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glib2:p
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gtest:p
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meson:p
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- name: Setup Meson
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run: meson setup build --prefix /mingw64/
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- name: Build
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run: ninja -C build
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- name: Install
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run: ninja -C build install
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- name: Test
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run : 'lcm-tester | grep "LCM: OK"'

‎.gitignore

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.project
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.classpath
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.venv
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.DS_Store
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.DS_Store
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.cache/

‎docker/Dockerfile.fedora

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clang \
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glib2-devel \
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java-17-openjdk-devel \
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python3-devel
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python3-devel \
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meson
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WORKDIR /work

‎docs/content/build-instructions.md

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pip3 install -v .
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```
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## CMake Overview
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## CMake and Meson overview
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These instructions assume that you will build in a directory named `build` as
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a direct subdirectory of the source directory, and that you will use the
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default generator. CMake permits the build directory to be almost anywhere
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(although in-source builds are strongly discouraged), and supports multiple
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generators. To users familiar with CMake, we recommend using
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[Ninja](https://ninja-build.org/).
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default generator. CMake and Meson support multiple generators and permit the
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build directory to be almost anywhere (although in-source builds are strongly
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discouraged for both and are prohibited in Meson). To users familiar with
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CMake, we recommend using [Ninja](https://ninja-build.org/).
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A detailed description of how to use CMake is not specific to LCM and is beyond
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the scope of these instructions.
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A detailed description of how to use CMake or Meson is not specific to LCM and
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is beyond the scope of these instructions.
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By default CMake is configured to produce a release build. To build with debug symbols instead, use:
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By default CMake and Meson are configured to produce a release build. To build with debug symbols instead, use:
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```shell
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cmake .. -DCMAKE_BUILD_TYPE=Debug
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```
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when configuring a build directory in the following sections.
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for CMake, and use:
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```shell
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meson setup build -Dbuildtype=debug
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```
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for Meson when configuring a build directory in the following sections.
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## Ubuntu and Debian
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Required packages:
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- build-essential
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- cmake
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- cmake # note: if using CMake
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- meson # note: if using Meson
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- libglib2.0-dev
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Optional packages (e.g., for language-specific support or building documentation):
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- default-jdk
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- libjchart2d-java # note: if not installed, jchart2d will be built from source
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- libjchart2d-java # note: if not installed, jchart2d will be built from source in CMake
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- doxygen
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- liblua5.3-dev
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- lua5.3
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- myst-parser
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- sphinx-rtd-theme
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From a terminal, run the following commands.
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From a terminal, run the following commands for CMake:
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```shell
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mkdir build
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sudo make install
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```
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or run the following commands for Meson:
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```shell
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meson setup build
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cd build
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meson compile
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sudo meson install
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```
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## OS X
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There are several ways to build LCM on OS X, none of which are necessarily
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better than the others.
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### Homebrew
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Install Homebrew packages
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Install Homebrew packages (swap `cmake` for `meson` if building with Meson)
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```shell
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brew install glib pkg-config cmake
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For CMake, run:
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```shell
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mkdir build
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make install
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```
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For Meson, run:
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```shell
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meson setup build
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cd build
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meson compile
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meson install
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```
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LCM is officially supported on MSYS2. There is some residual support for Visual Studio that is

‎docs/meson.build

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# Placeholder code until documentation support is implemented
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# doxygen = find_program('doxygen', required : false)
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# if not doxygen.found()
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# warning('Doxygen was not found; documentation generation will be incomplete')
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# endif

‎examples/.gitignore

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/c/exlcm_example_t.c
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/c/exlcm_example_t.h
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/c/listener-async
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/c/exlcm_example_list_t.c
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/c/exlcm_example_list_t.h
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/c/exlcm_exampleconst_t.c
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/c/exlcm_exampleconst_t.h
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/c/exlcm_muldim_array_t.c
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/c/exlcm_muldim_array_t.h
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/c/exlcm_node_t.c
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/c/exlcm_node_t.h
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/cpp/lcm_log_writer/pronto/
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/java/temperature_demo_java/lcmtypes/
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!/go/listener/

‎examples/c/generate_example_messages_c.sh

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#!/bin/bash
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lcm-gen -c ../types/*

‎examples/c/meson.build

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project('lcm_c_example', 'c')
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lcm_dep = dependency('lcm')
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glib_dep = dependency('glib-2.0')
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generate_example_messages_c_exe = find_program('generate_example_messages_c.sh')
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run_command(generate_example_messages_c_exe, check: true)
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example_messages_source = ['exlcm_exampleconst_t.c', 'exlcm_example_list_t.c', 'exlcm_example_t.c', 'exlcm_muldim_array_t.c', 'exlcm_node_t.c']
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example_messages_c_lib = library('example_messages-c',
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example_messages_source,
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dependencies : lcm_dep)
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example_messages_c_dep = declare_dependency(link_with : example_messages_c_lib,
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dependencies : lcm_dep)
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executable('listener',
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'listener.c',
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dependencies : example_messages_c_dep)
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executable('listener-async',
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'listener-async.c',
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dependencies : example_messages_c_dep)
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executable('listener-glib',
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'listener-glib.c',
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dependencies : [example_messages_c_dep, glib_dep])
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executable('send_message',
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'send_message.c',
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dependencies : example_messages_c_dep)
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executable('read_log',
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'read_log.c',
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dependencies : example_messages_c_dep)

‎examples/cpp/generate_example_messages_cpp.sh

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#!/bin/bash
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lcm-gen -x ../types/*

‎examples/cpp/lcm_log_writer/meson.build

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project('lcm_log_writer', 'cpp')
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lcm_dep = dependency('lcm')
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glib_dep = dependency('glib-2.0')
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run_command('lcm-gen', '-x', 'pronto_joint_state_t.lcm', check: true)
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lcm_log_writer_exe = executable('lcm_log_writer',
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'main.cpp',
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include_directories : include_directories('pronto'),
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dependencies : [lcm_dep, glib_dep])

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