From 9eb947ba99ad2c9515d8923c110d1f3184f9a61c Mon Sep 17 00:00:00 2001
From: Adrian Del Grosso <10929341+ad3154@users.noreply.github.com>
Date: Tue, 5 Nov 2024 17:30:22 -0700
Subject: [PATCH] [HW]: Fix some issues when compiling with MinGW

Fixed some compilation issues which happen on Windows when compiling
with MinGW. Specifically, the innomaker driver is not compatible with it
seemingly due to how it was compiled, and also std::this_thread was
not getting defined in the sys_tec plugin.
---
 hardware_integration/CMakeLists.txt           | 37 +++++++++++--------
 .../src/sys_tec_windows_plugin.cpp            |  2 +
 2 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/hardware_integration/CMakeLists.txt b/hardware_integration/CMakeLists.txt
index 8f1e8397..1836b022 100644
--- a/hardware_integration/CMakeLists.txt
+++ b/hardware_integration/CMakeLists.txt
@@ -178,24 +178,31 @@ if("WindowsInnoMakerUSB2CAN" IN_LIST CAN_DRIVER)
     set(CMAKE_SYSTEM_PROCESSOR ${MSVC_CXX_ARCHITECTURE_ID})
   endif()
 
-  message(STATUS "Target Arch: ${CMAKE_SYSTEM_PROCESSOR}")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL
-                                                "x64")
-    message(STATUS "Detected AMD64, linking to INNOMAKER USB2CAN x64 Library")
-    target_link_libraries(
-      HardwareIntegration
-      PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/InnoMakerUsb2CanLib64.lib)
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR
-                                                     STREQUAL "X86")
-    message(STATUS "Detected x86, linking to INNOMAKER USB2CAN x86 Library")
-    target_link_libraries(
-      HardwareIntegration
-      PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/InnoMakerUsb2CanLib32.lib)
-  else()
+  if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND MINGW)
     message(
       FATAL_ERROR
-        "Windows InnoMaker USB2CAN Selected but no supported processor arch was detected. Only x64 and x86 are supported."
+        "The InnoMaker driver is compatible only with MSVC, and won't work with mingw"
     )
+  else()
+    message(STATUS "Target Arch: ${CMAKE_SYSTEM_PROCESSOR}")
+    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64" OR CMAKE_SYSTEM_PROCESSOR
+                                                  STREQUAL "x64")
+      message(STATUS "Detected AMD64, linking to INNOMAKER USB2CAN x64 Library")
+      target_link_libraries(
+        HardwareIntegration
+        PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/InnoMakerUsb2CanLib64.lib)
+    elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR
+                                                       STREQUAL "X86")
+      message(STATUS "Detected x86, linking to INNOMAKER USB2CAN x86 Library")
+      target_link_libraries(
+        HardwareIntegration
+        PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/InnoMakerUsb2CanLib32.lib)
+    else()
+      message(
+        FATAL_ERROR
+          "Windows InnoMaker USB2CAN Selected but no supported processor arch was detected. Only x64 and x86 are supported."
+      )
+    endif()
   endif()
 endif()
 
diff --git a/hardware_integration/src/sys_tec_windows_plugin.cpp b/hardware_integration/src/sys_tec_windows_plugin.cpp
index 9f9841fb..d36b0533 100644
--- a/hardware_integration/src/sys_tec_windows_plugin.cpp
+++ b/hardware_integration/src/sys_tec_windows_plugin.cpp
@@ -12,6 +12,8 @@
 #include "isobus/hardware_integration/sys_tec_windows_plugin.hpp"
 #include "isobus/isobus/can_stack_logger.hpp"
 
+#include <thread>
+
 namespace isobus
 {
 	SysTecWindowsPlugin::SysTecWindowsPlugin(std::uint8_t channel, std::uint32_t baudrate) :