From 88021b5767656900896752ed30ae4e559dcf4656 Mon Sep 17 00:00:00 2001
From: Christian Tabedzki <35670232+tabedzki@users.noreply.github.com>
Date: Thu, 18 Jun 2026 15:44:57 -0400
Subject: [PATCH] fix(build): make install/compile scripts run on non-Windows

The install and compile scripts assumed a Windows + MSVC environment and
the Java/Swing MATLAB runtime, so they failed on macOS/Linux. Make them
portable without changing Windows behaviour:

- compile_transformations: on macOS, link the optional C++ MEX export
  symbols with the classic linker (-ld_classic); newer Xcode linkers
  treat MATLAB's <initial-undefines> as hard errors otherwise.
- install_virmen: only copy git-hooks when the directory exists, write
  version.txt relative to the repo (the old $GIT_DIR path is unset when
  run interactively), guard the Windows-only winmerge call behind ispc,
  and report errors via getReport (displayException did not exist).
- compile_serialcomm: skip on non-Windows -- Serial.cpp uses the Win32
  COM-port API and cannot build elsewhere.
- calibrateBallMEX, calibrateBallMEX_2sensors: replace the Java
  java.lang.Thread.sleep(8) with pause(0.008), which does not depend on
  the removed MATLAB Java runtime.

Assisted-by: ClaudeCode:claude-opus-4.8
---
 compile_transformations.m                         |  8 +++++++-
 install_virmen.m                                  | 14 +++++++++-----
 sensors/calibrateBallMEX.m                        |  2 +-
 sensors/calibrateBallMEX_2sensors.m               |  2 +-
 sensors/serialCommunications/compile_serialcomm.m |  6 ++++++
 5 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/compile_transformations.m b/compile_transformations.m
index ee44512..68344ec 100644
--- a/compile_transformations.m
+++ b/compile_transformations.m
@@ -19,7 +19,13 @@ function compile_transformations()
 
 if isfile('miniVR_projection_wparameters.cpp')
     fprintf('================== Compiling miniVR_projection_wparameters ============\n');
-    mex miniVR_projection_wparameters.cpp -R2018a
+    if ismac
+        % Newer Xcode linkers error on MATLAB's optional C++ MEX export
+        % symbols; the classic linker treats them as optional
+        mex('miniVR_projection_wparameters.cpp', '-R2018a', 'LDFLAGS=$LDFLAGS -Wl,-ld_classic');
+    else
+        mex miniVR_projection_wparameters.cpp -R2018a
+    end
 end
 
 
diff --git a/install_virmen.m b/install_virmen.m
index fdacb2e..5120430 100644
--- a/install_virmen.m
+++ b/install_virmen.m
@@ -3,11 +3,13 @@ function install_virmen()
 [scriptDir,scriptName]  = fileparts(mfilename('fullpath'));
 origLoc                 = cd(scriptDir);
 
-fprintf('::  Copying git hooks...\n');
-copyfile('git-hooks/*', '.git/hooks');
+if exist('git-hooks', 'dir')
+  fprintf('::  Copying git hooks...\n');
+  copyfile('git-hooks/*', '.git/hooks');
+end
 
 fprintf('::  Logging git status to version.txt...\n');
-system('git log -1 --pretty=oneline HEAD > $GIT_DIR/../version.txt');
+system('git log -1 --pretty=oneline HEAD > version.txt');
 
 
 try
@@ -35,14 +37,16 @@ function install_virmen()
             '   is properly configured, and then re-run ' scriptName '.\n'            ...
             '\n\n'                                                                    ...
          ]);
-  displayException(err);
+  disp(getReport(err));
   
 end
 
 cd(scriptDir);
      
 if exist('extras/RigParameters.m', 'file')
-  system('start winmerge extras/RigParameters.m extras/RigParameters.m.example');
+  if ispc
+    system('start winmerge extras/RigParameters.m extras/RigParameters.m.example');
+  end
   fprintf('::  Please edit your existing RigParameters.m to match RigParameters.m.example.\n');
 else
   copyfile('extras/RigParameters.m.example', 'extras/RigParameters.m');
diff --git a/sensors/calibrateBallMEX.m b/sensors/calibrateBallMEX.m
index 39c8bf5..cb0651d 100644
--- a/sensors/calibrateBallMEX.m
+++ b/sensors/calibrateBallMEX.m
@@ -17,7 +17,7 @@
 while true
   [dy1,dx1,dY,dX,dT]  = arduinoReader('get');
   arduinoReader('poll');
-  java.lang.Thread.sleep(8);
+  pause(0.008);
 
   dx = dx + dX;
   dy = dy + dY;
diff --git a/sensors/calibrateBallMEX_2sensors.m b/sensors/calibrateBallMEX_2sensors.m
index db1f85e..1ec3b21 100644
--- a/sensors/calibrateBallMEX_2sensors.m
+++ b/sensors/calibrateBallMEX_2sensors.m
@@ -19,7 +19,7 @@
 while true
   [dy1,dx1,dY,dX,dT]  = arduinoReader('get');
   arduinoReader('poll');
-  java.lang.Thread.sleep(8);
+  pause(0.008);
 
   dx_bottom = dx_bottom + dX;
   dy_bottom = dy_bottom + dY;
diff --git a/sensors/serialCommunications/compile_serialcomm.m b/sensors/serialCommunications/compile_serialcomm.m
index 30a6bc9..bcc6c38 100644
--- a/sensors/serialCommunications/compile_serialcomm.m
+++ b/sensors/serialCommunications/compile_serialcomm.m
@@ -1,5 +1,11 @@
 function compile_serialcomm()
 
+  % Serial.cpp uses the Windows COM-port API
+  if ~ispc
+    fprintf('!!  WARNING:  Serial communications MEX is only supported on Windows. Doing nothing.\n');
+    return;
+  end
+
   % Compilation options
   mexOpts       = {'-O'};