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| − | '''Important''': we assume here that you have completed the previous steps in the manual (see Section 6.1 "Prepare Your System" in the manual's main page).
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| − | These instructions work on XP, Vista and Windows 6, Visual Studio 8 and Visual Studio 9.
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| − | For other compilers, e.g. Visual Studio express, additional steps might be required. Visual Studio express requires the installation of the Windows Platform SDK. Visual Studio 8/9 come pre-packed with the Platform SDK.
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| − | = Compiling YARP =
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| − | == Create the YARP Makefiles ==
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| − | * Run cmake.
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| − | * Point the source code to %YARP_ROOT% (this goes into the "Where is the source code" entry in the gui).
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| − | * Point the binary directory to %YARP_DIR%, this can be a directory of your choice, for example %YARP_ROOT%/build (this goes into the "Where to build the binaries" entry in the gui).
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| − | * Project files generation is an iterative process, click on the button "Configure" until the button "Generate" becomes available. Then hit "Generate" and quit.
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| − | Choose the following options:
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| − | * CMAKE_BUILD_TYPE, set to "Release" in case you'd like to optimize
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| − | * CREATE_GUIS, set to ON
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| − | * CREATE_LIB_MATH, set to ON
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| − | * CREATE_DEVICE_LIBRARY_MODULES, set to ON
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| − | Make a configure in order to see the different modules available and
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| − | * ENABLE_yarpmod_portaudio, set to ON
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| − | Important: CREATE_GUIS and CREATE_LIB_MATH require you have installed the libraries gtk and gsl (see [[PrepareWindows]])
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| − | Installation:
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| − | CMake automatically creates an install rule for target/project. In the documentation we assume you install binaries in %YARP_BIN%/bin and %YARP_BIN%/lib. The compiler will build executables and libraries there, so you don't need to perform the installation. You can instruct CMake so that it generates make/project files that install to other places:
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| − | * CMAKE_INSTALL_PREFIX
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| − | When you do make install all binaries will be copied to CMAKE_INSTALL_PREFIX/bin and CMAKE_INSTALL_PREFIX/lib.
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| − | In this case for other packages to use YARP you have to set the variable YARP_DIR so that it points to CMAKE_INSTALL_PREFIX.
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| − | Of course you can customize the installation directory as you wish, however the remainder of the documentation assumes the above configuration.
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| − | * Depending on the hardware on your system you might want to compile additional device drivers. This is done for example on the pc104. Instruction for doing this are reported elsewhere.
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| − | == Compile ==
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| − | Now we are ready to compile. Open the YARP visual studio project file in %YARP_DIR% and compile it.
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| − | === Example ===
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| − | Now we're ready to run a simple Yarp code to test the installation so far. You might want to prepare a yarp.conf file in the conf directory similar to this one:
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| − | 127.0.0.1 10000
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| − | // start network description, don't forget to separate "Node="
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| − | // and names with space
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| − | [NETWORK_DESCRIPTION]
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| − | [END]
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| − | which tells Yarp (the server) to start on the localhost and respond to port 10000. This allows Yarp applications to find the name server (see next chapter).
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| − | You can then try running the server. On a terminal window, type:
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| − | yarpserver
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| − | and you should see:
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| − | yarp: Port /root active at tcp://127.0.0.1:10000
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| − | Name server can be browsed at http://127.0.0.1:10000/
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| − | yarp: Bootstrap server listening at mcast://224.2.1.1:10001
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| − | if you type on a web browser http://127.0.0.1:10000 you get information about the name server (registered ports, info, etc.).
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| − | For the time being we can just check functionality by running a simple example. On another terminal type:
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| − | yarp read /portread
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| − | on a third terminal:
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| − | yarp write /portwrite
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| − | and on yet another terminal:
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| − | yarp connect /portwrite /portread
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| − | you'll see the effect on the name server:
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| − | yarp: registration name /portwrite ip 127.0.0.1 port 10012 type tcp
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| − | yarp: registration name /portread ip 127.0.0.1 port 10002 type tcp
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| − | Now, anything typed on the yarp write will be sent and printed on the read side.
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| − | = Options =
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| − | If you need to compile devices that provide interface to the hardware you can follow this link [[Compilation on the pc104]]
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| − | = Compile the iCub software =
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| − | '''Important''': since July 2010 we have a new build system, and organization of the repository has changed. This page contains the instructions for compiling the old repository: [[CompileWindows(Old)]].
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| − | == Generate Project Files ==
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| − | First you need to generate make files.
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| − | * Run cmake.
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| − | * Point the source code to %ICUB_ROOT%/main (this goes into the "Where is the source code" entry in the gui).
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| − | * Point the binary directory to %ICUB_DIR%, this can be a directory of your choice, for example %ICUB_ROOT%/main/build (this goes into the "Where to build the binaries" entry in the gui).
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| − | * Project files generation is an iterative process, click on the button "Configure" until the button "Generate" becomes available. Then hit "Generate" and quit.
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| − | All project files will be placed in %ICUB_DIR%. At any time you can remove the content of %ICUB_DIR% to generate new files.
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| − | === Options ===
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| − | * ICUB_APPLICATIONS_PREFIX
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| − | This determines where the compiler will install the applications, by default this is initialized to %ICUB_ROOT%.
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| − | CMake will check all dependencies, for each <package> it creates a variable called ICUB_HAS_<package>. This is true or false if the library has been found or not.
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| − | In addition for each <package> there is a variable called ICUB_USE_<package>; this tells cmake if you want to ignore a particular package. CMake will compile only modules that meet the enabled dependencies.
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| − | See [[PrepareWindows]] for instructions about how to prepare your system so that all dependencies are satisfied.
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| − | * Similarly to YARP, by default make will build executables and libraries in %ICUB_ROOT%/bin and %ICUB_ROOT%/lib. You can customize where "make install" will copy these files by setting: CMAKE_INSTALL_PREFIX to something you like.
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| − | If you need to compile optional devices (for example devices that provide interface to the hardware) you can follow this link: [[Compilation on the pc104]].
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| − | == Compile ==
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| − | Open the project files in %ICUB_DIR%.
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| − | * Compile ALL_BUILD
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| − | == Installing applications ==
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| − | Don't forget to install applications: build the "install_applications" target.
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| − | this will copy a set of config and xml template files to ICUB_APPLICATIONS_PREFIX/app.
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| − | == Install binaries==
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| − | Optionally you can install the binaries in a directory of your choice, build the "INSTALL" target.
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