From 63097f37ef3d33bf54e91b318a2892154191e97f Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 2 Apr 2024 14:46:27 +0200
Subject: [PATCH 1/2] Use separate directory for external dependencies

Clearly separate them from MotoROS2 proper and additionally, prevent GCC
from treating them as part of MotoROS2 itself (conversely, prevent GCC
from treating MotoROS2 sources as 'external', and thus disabling many of
its checks and warnings).
---
 {src => lib}/CmosParameterExtraction.h      |   0
 {src => lib}/CmosParameterTypes.h           |   0
 {src => lib}/MotoPlusExterns.h              |   0
 {src => lib}/MotoROS_PlatformLib.dnLib      | Bin
 {src => lib}/MotoROS_PlatformLib.h          |   0
 {src => lib}/MotoROS_PlatformLib.yrcLib     | Bin
 {src => lib}/MotoROS_PlatformLib.yrcmLib    | Bin
 {src => lib}/ParameterExtraction.dnLib      | Bin
 {src => lib}/ParameterExtraction.yrcLib     | Bin
 {src => lib}/ParameterExtraction.yrcmLib    | Bin
 src/MotoROS2_AllControllers.vcxproj         |  56 ++++++++++----------
 src/MotoROS2_AllControllers.vcxproj.filters |  18 +++----
 12 files changed, 37 insertions(+), 37 deletions(-)
 rename {src => lib}/CmosParameterExtraction.h (100%)
 rename {src => lib}/CmosParameterTypes.h (100%)
 rename {src => lib}/MotoPlusExterns.h (100%)
 rename {src => lib}/MotoROS_PlatformLib.dnLib (100%)
 rename {src => lib}/MotoROS_PlatformLib.h (100%)
 rename {src => lib}/MotoROS_PlatformLib.yrcLib (100%)
 rename {src => lib}/MotoROS_PlatformLib.yrcmLib (100%)
 rename {src => lib}/ParameterExtraction.dnLib (100%)
 rename {src => lib}/ParameterExtraction.yrcLib (100%)
 rename {src => lib}/ParameterExtraction.yrcmLib (100%)

diff --git a/src/CmosParameterExtraction.h b/lib/CmosParameterExtraction.h
similarity index 100%
rename from src/CmosParameterExtraction.h
rename to lib/CmosParameterExtraction.h
diff --git a/src/CmosParameterTypes.h b/lib/CmosParameterTypes.h
similarity index 100%
rename from src/CmosParameterTypes.h
rename to lib/CmosParameterTypes.h
diff --git a/src/MotoPlusExterns.h b/lib/MotoPlusExterns.h
similarity index 100%
rename from src/MotoPlusExterns.h
rename to lib/MotoPlusExterns.h
diff --git a/src/MotoROS_PlatformLib.dnLib b/lib/MotoROS_PlatformLib.dnLib
similarity index 100%
rename from src/MotoROS_PlatformLib.dnLib
rename to lib/MotoROS_PlatformLib.dnLib
diff --git a/src/MotoROS_PlatformLib.h b/lib/MotoROS_PlatformLib.h
similarity index 100%
rename from src/MotoROS_PlatformLib.h
rename to lib/MotoROS_PlatformLib.h
diff --git a/src/MotoROS_PlatformLib.yrcLib b/lib/MotoROS_PlatformLib.yrcLib
similarity index 100%
rename from src/MotoROS_PlatformLib.yrcLib
rename to lib/MotoROS_PlatformLib.yrcLib
diff --git a/src/MotoROS_PlatformLib.yrcmLib b/lib/MotoROS_PlatformLib.yrcmLib
similarity index 100%
rename from src/MotoROS_PlatformLib.yrcmLib
rename to lib/MotoROS_PlatformLib.yrcmLib
diff --git a/src/ParameterExtraction.dnLib b/lib/ParameterExtraction.dnLib
similarity index 100%
rename from src/ParameterExtraction.dnLib
rename to lib/ParameterExtraction.dnLib
diff --git a/src/ParameterExtraction.yrcLib b/lib/ParameterExtraction.yrcLib
similarity index 100%
rename from src/ParameterExtraction.yrcLib
rename to lib/ParameterExtraction.yrcLib
diff --git a/src/ParameterExtraction.yrcmLib b/lib/ParameterExtraction.yrcmLib
similarity index 100%
rename from src/ParameterExtraction.yrcmLib
rename to lib/ParameterExtraction.yrcmLib
diff --git a/src/MotoROS2_AllControllers.vcxproj b/src/MotoROS2_AllControllers.vcxproj
index 7e3d6c01..0ddf6ce2 100644
--- a/src/MotoROS2_AllControllers.vcxproj
+++ b/src/MotoROS2_AllControllers.vcxproj
@@ -126,109 +126,109 @@
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);DX200;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_humble\include;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_humble\include;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_h" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_dx200_humble\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_dx200_humble\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='DX200_galactic|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);DX200;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_galactic\include;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_galactic\include;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_g" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_dx200_galactic\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_dx200_galactic\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='DX200_foxy|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);DX200;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_foxy\include;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(MP_VS_Install)DX200\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)DX200\inc;$(SolutionDir)libmicroros_dx200_foxy\include;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)DX200\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_dx2_f" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_dx200_foxy\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_dx200_foxy\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000_humble|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;$(SolutionDir)libmicroros_yrc1000_humble\include;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;$(SolutionDir)libmicroros_yrc1000_humble\include;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_h" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000_humble\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000_humble\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000_galactic|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000_galactic\include;$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000_galactic\include;$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_g" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000_galactic\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000_galactic\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000_foxy|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000_foxy\include;$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000_foxy\include;$(MP_VS_Install)YRC1000\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000\inc;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1_f" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000_foxy\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000_foxy\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000u_humble|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000u;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;$(SolutionDir)libmicroros_yrc1000u_humble\include;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;$(SolutionDir)libmicroros_yrc1000u_humble\include;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_h" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_h" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000u_humble\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000u_humble\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000u_galactic|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000u;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000u_galactic\include;$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000u_galactic\include;$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_g" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_g" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000u_galactic\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000u_galactic\include;</IncludePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='YRC1000u_foxy|Win32'">
     <NMakeBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeBuildCommandLine>
     <NMakeOutput>$(MP_VS_Install)DevTools\OnlineDownload.exe</NMakeOutput>
     <NMakePreprocessorDefinitions>$(NMakePreprocessorDefinitions);YRC1000u;MOTOROS2_MEM_TRACE_ENABLE</NMakePreprocessorDefinitions>
-    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000u_foxy\include;$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;</NMakeIncludeSearchPath>
+    <NMakeIncludeSearchPath>$(ProjectDir)..\libmicroros_yrc1000u_foxy\include;$(MP_VS_Install)YRC1000u\gnu\4.3.3-vxworks-6.9\lib\gcc\i586-wrs-vxworks\4.3.3\include;$(MP_VS_Install)YRC1000u\inc;$(SolutionDir)lib;</NMakeIncludeSearchPath>
     <NMakeReBuildCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_f" -b "$(SolutionDir)bin\$(Configuration)" -o build -i "$(MP_VS_Install)YRC1000u\inc"</NMakeReBuildCommandLine>
     <NMakeCleanCommandLine>"$(MP_VS_Install)mpBuilder.exe" -c $(Configuration) -p "$(ProjectDir)\" -n "mr2_yrc1m_f" -b "$(OutDir)\" -o clean</NMakeCleanCommandLine>
     <NMakeForcedIncludes />
     <OutDir>$(SolutionDir)bin\$(Configuration)\</OutDir>
     <IntDir />
-    <IncludePath>$(ProjectDir)..\libmicroros_yrc1000u_foxy\include;</IncludePath>
+    <IncludePath>$(ProjectDir)..\lib;$(ProjectDir)..\libmicroros_yrc1000u_foxy\include;</IncludePath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='DX200_humble|Win32'">
     <BuildLog>
@@ -294,12 +294,12 @@
     <None Include="DX200_foxyLinkerArguments.mps" />
     <None Include="DX200_galacticCompilerArguments.mps" />
     <None Include="DX200_galacticLinkerArguments.mps" />
-    <None Include="MotoROS_PlatformLib.dnLib" />
-    <None Include="MotoROS_PlatformLib.yrcLib" />
-    <None Include="MotoROS_PlatformLib.yrcmLib" />
-    <None Include="ParameterExtraction.dnLib" />
-    <None Include="ParameterExtraction.yrcLib" />
-    <None Include="ParameterExtraction.yrcmLib" />
+    <None Include="..\lib\MotoROS_PlatformLib.dnLib" />
+    <None Include="..\lib\MotoROS_PlatformLib.yrcLib" />
+    <None Include="..\lib\MotoROS_PlatformLib.yrcmLib" />
+    <None Include="..\lib\ParameterExtraction.dnLib" />
+    <None Include="..\lib\ParameterExtraction.yrcLib" />
+    <None Include="..\lib\ParameterExtraction.yrcmLib" />
     <None Include="..\README.md" />
     <None Include="..\CHANGELOG.md" />
     <None Include="..\robot_jobs\sda_dual_arm\INIT_ROS.JBI" />
@@ -369,7 +369,7 @@
     <ClInclude Include="MemoryAllocation.h" />
     <ClInclude Include="MemoryTracing.h" />
     <ClInclude Include="RosApiNameConstants.h" />
-    <ClInclude Include="MotoPlusExterns.h" />
+    <ClInclude Include="..\lib\MotoPlusExterns.h" />
     <ClInclude Include="ServiceQueueTrajPoint.h" />
     <ClInclude Include="ServiceReadWriteIO.h" />
     <ClInclude Include="ServiceStartPointQueueMode.h" />
@@ -384,14 +384,14 @@
     <ClInclude Include="MotionControl.h" />
     <ClInclude Include="ActionServer_FJT.h" />
     <ClInclude Include="MotoROS.h" />
-    <ClInclude Include="CmosParameterExtraction.h" />
-    <ClInclude Include="CmosParameterTypes.h" />
+    <ClInclude Include="..\lib\CmosParameterExtraction.h" />
+    <ClInclude Include="..\lib\CmosParameterTypes.h" />
     <ClInclude Include="Quaternion_Conversion.h" />
     <ClInclude Include="PositionMonitor.h" />
     <ClInclude Include="ServiceResetError.h" />
     <ClInclude Include="FauxCommandLineArgs.h" />
     <ClInclude Include="MathConstants.h" />
-    <ClInclude Include="MotoROS_PlatformLib.h" />
+    <ClInclude Include="..\lib\MotoROS_PlatformLib.h" />
     <ClInclude Include="Ros_mpGetRobotCalibrationData.h" />
     <ClInclude Include="RosMotoPlusConversionUtils.h" />
   </ItemGroup>
diff --git a/src/MotoROS2_AllControllers.vcxproj.filters b/src/MotoROS2_AllControllers.vcxproj.filters
index 96571cdc..6b585860 100644
--- a/src/MotoROS2_AllControllers.vcxproj.filters
+++ b/src/MotoROS2_AllControllers.vcxproj.filters
@@ -109,22 +109,22 @@
     <None Include="YRC1000_humbleLinkerArguments.mps">
       <Filter>Compile Settings</Filter>
     </None>
-    <None Include="ParameterExtraction.dnLib">
+    <None Include="..\lib\ParameterExtraction.dnLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
-    <None Include="ParameterExtraction.yrcLib">
+    <None Include="..\lib\ParameterExtraction.yrcLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
-    <None Include="ParameterExtraction.yrcmLib">
+    <None Include="..\lib\ParameterExtraction.yrcmLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
-    <None Include="MotoROS_PlatformLib.dnLib">
+    <None Include="..\lib\MotoROS_PlatformLib.dnLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
-    <None Include="MotoROS_PlatformLib.yrcLib">
+    <None Include="..\lib\MotoROS_PlatformLib.yrcLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
-    <None Include="MotoROS_PlatformLib.yrcmLib">
+    <None Include="..\lib\MotoROS_PlatformLib.yrcmLib">
       <Filter>MotoPlus Libraries</Filter>
     </None>
     <None Include="..\config\motoros2_config.yaml">
@@ -410,13 +410,13 @@
     <ClInclude Include="MathConstants.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="CmosParameterTypes.h">
+    <ClInclude Include="..\lib\CmosParameterTypes.h">
       <Filter>MotoPlus Libraries</Filter>
     </ClInclude>
-    <ClInclude Include="CmosParameterExtraction.h">
+    <ClInclude Include="..\lib\CmosParameterExtraction.h">
       <Filter>MotoPlus Libraries</Filter>
     </ClInclude>
-    <ClInclude Include="MotoROS_PlatformLib.h">
+    <ClInclude Include="..\lib\MotoROS_PlatformLib.h">
       <Filter>MotoPlus Libraries</Filter>
     </ClInclude>
     <ClInclude Include="TimeConversionUtils.h">

From 77a2903e2b07b47fc1d0c232f5678ca7fb9caa4a Mon Sep 17 00:00:00 2001
From: gavanderhoorn <g.a.vanderhoorn@tudelft.nl>
Date: Tue, 2 Apr 2024 15:38:21 +0200
Subject: [PATCH 2/2] Libs are now in 'lib' dir, update REUSE metadata

---
 .reuse/dep5 | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.reuse/dep5 b/.reuse/dep5
index 310bc955..9de29b9c 100644
--- a/.reuse/dep5
+++ b/.reuse/dep5
@@ -20,11 +20,11 @@ Files: src/*.mps
 Copyright: 2022-2023 Yaskawa America, Inc.
 License: Apache-2.0
 
-Files: src/ParameterExtraction.*
+Files: lib/ParameterExtraction.*
 Copyright: 2013-2023 Yaskawa America, Inc.
 License: BSD-3-Clause
 
-Files: src/MotoROS_PlatformLib.*Lib
+Files: lib/MotoROS_PlatformLib.*Lib
 Copyright: 2023 Yaskawa America, Inc.
   2023, Delft University of Technology
 License: Apache-2.0