Updated cmake for ARM/Android build

utilite/CMakeLists.txt

@@ -1,9 +1,9 @@
 SET(UTILITE_VERSION "0.3.0")
 ADD_DEFINITIONS(-DUTILITE_VERSION="${UTILITE_VERSION}")
 
-IF(UNIX)
+if(UNIX AND NOT ANDROID)
    FIND_PACKAGE(Pthreads REQUIRED)
-ENDIF(UNIX)
+ENDIF(UNIX AND NOT ANDROID)
 
 ADD_SUBDIRECTORY( src )
 ADD_SUBDIRECTORY( resource_generator )

utilite/include/rtabmap/utilite/Posix/UThreadC.h

@@ -84,9 +84,10 @@ class UThreadC
 
     static void Exit()
       { pthread_exit(0); }
-
+#ifndef ANDROID
     static void TestCancel()
       { pthread_testcancel(); }
+#endif
 
     static Handle Self()
       { return (Handle)pthread_self(); }
@@ -163,8 +164,10 @@ class UThreadC
     static int Join( Handle H )
       { return pthread_join(H,0); }
 
+#ifndef ANDROID
     static int Kill( Handle H )
       { return pthread_cancel(H); }
+#endif
 
     static int Detach( Handle H )
       { return pthread_detach(H); }
@@ -180,6 +183,7 @@ class UThreadC
       Thread_T  Data(I.Data);
       S_Create().release();
 
+#ifndef ANDROID
       if ( I.Flags & 1 /*CancelEnable*/ )
       {
         pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
@@ -193,6 +197,7 @@ class UThreadC
       {
         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
       }
+#endif
 
       if ( I.Owner )
         I.Owner->ThreadMain(Data);
@@ -237,8 +242,10 @@ class UThreadC<void>
     static void Exit()
       { pthread_exit(0); }
 
+#ifndef ANDROID
     static void TestCancel()
       { pthread_testcancel(); }
+#endif
 
     static Handle Self()
       { return (Handle)pthread_self(); }
@@ -347,8 +354,10 @@ class UThreadC<void>
     static int Join( Handle H )
       { return pthread_join(H,0); }
 
+#ifndef ANDROID
     static int Kill( Handle H )
       { return pthread_cancel(H); }
+#endif
 
     static int Detach( Handle H )
       { return pthread_detach(H); }
@@ -363,6 +372,7 @@ class UThreadC<void>
       Instance  I(*Param);
       S_Create().release();
 
+#ifndef ANDROID
       if ( I.Flags & 1 /*CancelEnable*/ )
       {
         pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
@@ -376,6 +386,7 @@ class UThreadC<void>
       {
         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
       }
+#endif
 
       if ( I.Owner )
         I.Owner->ThreadMain();

utilite/include/rtabmap/utilite/UThread.h

@@ -245,8 +245,10 @@ private:
     //Methods from UThread<void> class hided
     static int Join( Handle H )
 	  { return UThreadC<void>::Join(H); }
+#ifndef ANDROID
 	static int Kill( Handle H )
 	  { return UThreadC<void>::Kill(H); }
+#endif
 	static int Detach( Handle H )
 	  { return UThreadC<void>::Detach(H); }
 

utilite/src/UDirectory.cpp

@@ -29,7 +29,6 @@
   #include <sys/stat.h>
   #include <sys/types.h>
   #include <sys/param.h>
-  #include <sys/dir.h>
   #include <unistd.h>
   #include <stdlib.h>
   #include <string.h>