JSBSim-Team · scienceasdf · Dec 27, 2021 · Dec 28, 2021 · bcoconni · Dec 28, 2021
diff --git a/doc/DevelopersDocs.md b/doc/DevelopersDocs.md
@@ -104,6 +104,42 @@ From Visual Studio, you can open the project file `JSBSim.vcxproj` to open a pro
 
 For more detailed instructions on using Visual Studio project files and CMake via Visual Studio to build JSBSim take a look at the following documentation link - [Building using Visual Studio](https://jsbsim-team.github.io/jsbsim-reference-manual/mypages/quickstart-building-using-visualstudio/).
 
+### Building with MinGW toolset
+
+With the help of cmake, you can build JSBSim under Windows using MinGW toolset. The whole configuration and building command is
+as simple as that in unix bash:
+
+```bash
+> cd jsbsim-code
+> mkdir build
+> cd build
+> cmake ..
+> mingw32-make
+```
+
+#### Building python module with MinGW toolset
+If cython executable is installed in your PATH enviroment or provided to cmake command, the python module will be built as well. 
+Usually, there is nothing special with MinGW toolset. But if you get `cannot find -lmsvcrt140`, you may need to modify your cygwinccompiler.py, 
+which is in distutils folder (In anaconda, it should be `Anaconda3\lib\distutils\cygwinccompiler.py`)
+
+```python
+    elif int(msc_ver) >= 1900:
+        # VS2015 / MSVC 14.0
+        # return ['msvcr140']
+        return ['vcruntime140']
+```
+
+And then copy `vcruntime140.dll` to `/path/to/mingw-w64/lib`. This problem is due to msvc runtime library naming convention broken after VS2015. See [here](https://stackoverflow.com/questions/52943590/cython-missing-msvcr140-dll).
 # distutils assumes that all the files must be compiled with the same compiler 
 # flags regardless of their file extension .c or .cpp. 
 # JSBSim C++ files must be compiled with -std=c++1x but compilation on MacOSX 
 # fails when trying to compile C files with -std=c++1x. 
 # The class C_CxxCompiler adds C++ flags to compilation flags for C++ files only. 
 class C_CxxCompiler(UnixCCompiler): 
     def _compile(self, obj, src, ext, cc_args, extra_postargs, pp_opts): 
         _cc_args = cc_args 
         # Add the C++ flags to the compile flags if we are dealing with a C++ 
         # source file. 
         if os.path.splitext(src)[-1] in ('.cpp', '.cxx', '.cc'): 
             _cc_args = cpp_compile_flag + cc_args 
         UnixCCompiler._compile(self, obj, src, ext, _cc_args, 
                                 extra_postargs, pp_opts) 
 # The class BuildC_CxxExtension intercepts the build of the Python module and 
 # replaces the compiler by an instance of C_CxxCompiler that select the compile 
 # flags depending on whether it is a C++ source file or not. 
 class BuildC_CxxExtension(build_ext): 
     def build_extension(self, ext): 
         if self.compiler.compiler_type == 'unix': 
             old_compiler = self.compiler 
             self.compiler = C_CxxCompiler() 
             # Copy the attributes to the new compiler instance 
             for attr, value in old_compiler.__dict__.items(): 
                 setattr(self.compiler, attr, value) 
         return build_ext.build_extension(self, ext) 
 # distutils assumes that all the files must be compiled with the same compiler 
 # flags regardless of their file extension .c or .cpp. 
 # JSBSim C++ files must be compiled with -std=c++1x but compilation on MacOSX 
 # fails when trying to compile C files with -std=c++1x. 
 # The class C_CxxCompiler adds C++ flags to compilation flags for C++ files only. 
 class C_CxxCompiler(UnixCCompiler): 
     def _compile(self, obj, src, ext, cc_args, extra_postargs, pp_opts): 
         _cc_args = cc_args 
         # Add the C++ flags to the compile flags if we are dealing with a C++ 
         # source file. 
         if os.path.splitext(src)[-1] in ('.cpp', '.cxx', '.cc'): 
             _cc_args = cpp_compile_flag + cc_args 
  
         UnixCCompiler._compile(self, obj, src, ext, _cc_args, 
                                 extra_postargs, pp_opts) 
  
 # The class BuildC_CxxExtension intercepts the build of the Python module and 
 # replaces the compiler by an instance of C_CxxCompiler that select the compile 
 # flags depending on whether it is a C++ source file or not. 
 class BuildC_CxxExtension(build_ext): 
     def build_extension(self, ext): 
         if self.compiler.compiler_type == 'unix': 
  
             old_compiler = self.compiler 
             self.compiler = C_CxxCompiler() 
             # Copy the attributes to the new compiler instance 
             for attr, value in old_compiler.__dict__.items(): 
                 setattr(self.compiler, attr, value) 
         return build_ext.build_extension(self, ext) 
+
+#### Building matlab mex file with MinGW toolset
+To compile matlab mex file, gcc major version needs to be greater than 8 to support c++14 language features. The official matlab support MinGW-w64 
+version is 6.3, so you have to set your own MinGW toolset environment: 
+* Download a newer MinGW-w64 toolset in your local machine
+* Set `MW_MINGW64_LOC` environment variable in your local machine or in matlab command shell
+* Run matlab command `mex -setup` to set up toolset
+
+After setting up your Mingw-w64 toolset in matlab, you can build the JSBSim mex file running `JSBSimSimulinkCompile.m`.
+
 ## Testing JSBSim
 
 JSBSim comes with a test suite to automatically check that the build is correct. This test suite is located in the `tests` directory and is coded in Python so you need to [build the Python module of JSBSim](#building-the-python-module-of-jsbsim) first.

diff --git a/matlab/JSBSimSimulinkCompile.m b/matlab/JSBSimSimulinkCompile.m
@@ -1,8 +1,10 @@
 disp('Compiling S-function from JSBSim...');
 % For Linux: 
 mex -v -R2017b CXXFLAGS='$CXXFLAGS -std=c++14' ./matlab/JSBSim_SFunction.cpp ./matlab/JSBSimInterface.cpp -I./src -L./src/.libs -lJSBSim
-% For Windows: 
+% For Windows MSVC: 
 %mex -v -R2017b COMPFLAGS='$COMPFLAGS' ./matlab/JSBSim_SFunction.cpp ./matlab/JSBSimInterface.cpp -I".\out\install\x64-Release\include\JSBSim" -L".\out\install\x64-Release\lib" -lJSBSim  wsock32.lib ws2_32.lib
+% For Windows MinGW
+%mex -v -R2017b CXXFLAGS='$CXXFLAGS -std=c++14' COMPFLAGS='$COMPFLAGS' ./matlab/JSBSim_SFunction.cpp ./matlab/JSBSimInterface.cpp -I".\out\install\x64-Release\include\JSBSim" -L".\out\install\x64-Release\lib" -lJSBSim -L"/path/to/mingw/lib" -lwsock32 -lws2_32
 disp('Finished.')
 
 % -v verbose 

diff --git a/python/fpectl/CMakeLists.txt b/python/fpectl/CMakeLists.txt
@@ -23,7 +23,7 @@ else()
 
   add_custom_command(OUTPUT ${FPECTL_PYTHON_MODULE}
     DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/fpectlmodule.h ${CMAKE_CURRENT_SOURCE_DIR}/fpectlmodule.cpp ${CMAKE_SOURCE_DIR}/python/ExceptionManagement.h
-    COMMAND ${PYTHON_EXECUTABLE} ${SETUP_PY} build_ext -b ${CMAKE_BINARY_DIR}/tests
+    COMMAND ${PYTHON_EXECUTABLE} ${SETUP_PY} build_ext -b ${CMAKE_BINARY_DIR}/tests $<IF:$<BOOL:${MINGW}>,--compiler,> $<IF:$<BOOL:${MINGW}>,mingw32,>
     COMMENT "Building fpectl module...")
 
   add_custom_target(fpectl ALL DEPENDS ${FPECTL_PYTHON_MODULE})

diff --git a/python/fpectl/fpectlmodule.cpp b/python/fpectl/fpectlmodule.cpp
@@ -75,7 +75,7 @@
 #include <signal.h>
 #include <iostream>
 
-#if defined(_MSC_VER)
+#if defined(_WIN32)
 #  include <float.h>
 static unsigned int fp_flags = 0;
 #elif (defined(__GNUC__) || defined(__clang__)) && !defined(sgi)
@@ -139,7 +139,7 @@ static void sigfpe_handler(int signo)
 
 static PyObject *turnon_sigfpe(PyObject *self, PyObject *args)
 {
-#ifdef _MSC_VER
+#ifdef _WIN32
   _clearfp();
   fp_flags = _controlfp(_controlfp(0, 0) & ~(_EM_INVALID | _EM_ZERODIVIDE | _EM_OVERFLOW),
                         _MCW_EM);
@@ -164,7 +164,7 @@ static PyObject *turnon_sigfpe(PyObject *self, PyObject *args)
 
 static PyObject *turnoff_sigfpe(PyObject *self, PyObject *args)
 {
-#ifdef _MSC_VER
+#ifdef _WIN32
   _controlfp(fp_flags, _MCW_EM);
 
 #elif defined(__clang__)

diff --git a/python/fpectl/setup.py.in b/python/fpectl/setup.py.in
@@ -56,6 +56,9 @@ compiler = new_compiler(compiler=compiler_name)
 if compiler.compiler_type == 'unix':
     cpp_compile_flags = ['-std=c++11']
     cpp_link_flags = []
+elif compiler.compiler_type == 'mingw32':
+    cpp_compile_flags = ['-std=c++11', '-D_hypot=hypot']
+    cpp_link_flags = []
 elif compiler.compiler_type == 'msvc':
     # These flags are equivalent to a RelWithDebInfo configuration.
     # Since the module fpectl is not supposed to be used in production, these

diff --git a/python/setup.py.in b/python/setup.py.in
@@ -140,6 +140,10 @@ if compiler.compiler_type == 'unix':
     cpp_compile_flag = ['-std=c++14']
     cpp_link_flags = []
     link_libraries = [${JSBSIM_LINK_LIBRARIES}]
+elif compiler.compiler_type == 'mingw32':
+    cpp_compile_flag = ['-std=c++14', '-D_hypot=hypot']
+    cpp_link_flags = ['-Wl,-Bstatic']
+    link_libraries = ['wsock32', 'ws2_32']
 elif compiler.compiler_type == 'msvc':
     if args.config in ('Debug', 'RelWithDebInfo'):
         # These flags are equivalent to a RelWithDebInfo configuration.