From 037c045e9a2cbaf9de639e43f152a7ffac884e1f Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 6 Jul 2023 12:04:00 +0200
Subject: [PATCH 1/2] Fix yarp_add_idl use when cross-compiling

---
 cmake/YarpIDL.cmake | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/cmake/YarpIDL.cmake b/cmake/YarpIDL.cmake
index 76450f090c3..c8a3322ba11 100644
--- a/cmake/YarpIDL.cmake
+++ b/cmake/YarpIDL.cmake
@@ -565,8 +565,18 @@ function(YARP_ADD_IDL var)
       message(FATAL_ERROR "Unknown extension ${ext}. Supported extensions are .thrift, .msg, and .srv")
     endif()
 
-    # FIXME This should handle cross-compiling
-    set(YARPIDL_${family}_COMMAND YARP::yarpidl_${family})
+    if (CMAKE_CROSSCOMPILING)
+      find_program(YARPIDL_${_family}_LOCATION
+        NAMES yarpidl_${_family}
+        HINTS ${YARP_IDL_BINARY_HINT} # This is a list of directories defined
+                                      # in YarpOptions.cmake (for YARP) or in
+                                      # YARPConfig.cmake for dependencies
+        NO_DEFAULT_PATH
+      )
+      set(YARPIDL_${family}_COMMAND YARPIDL_${_family}_LOCATION)
+    else()
+      set(YARPIDL_${family}_COMMAND YARP::yarpidl_${family})
+    endif()
 
     # Set output directories and remove extra "/" and ensure that the directory
     # exists.
@@ -603,7 +613,9 @@ function(YARP_ADD_IDL var)
     endforeach()
 
     if(NOT "${output}" STREQUAL "")
-      set(depends ${YARPIDL_${family}_COMMAND})
+      if(TARGET ${YARPIDL_${family}_COMMAND})
+        set(depends ${YARPIDL_${family}_COMMAND})
+      endif()
       if(NOT native)
         list(APPEND depends ${file})
       endif()

From 0f523edabc797a1ae001823c7b5557f372c66fbd Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Thu, 6 Jul 2023 22:27:34 +0200
Subject: [PATCH 2/2] Update YarpIDL.cmake

---
 cmake/YarpIDL.cmake | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/cmake/YarpIDL.cmake b/cmake/YarpIDL.cmake
index c8a3322ba11..1bc200e0dc6 100644
--- a/cmake/YarpIDL.cmake
+++ b/cmake/YarpIDL.cmake
@@ -566,14 +566,14 @@ function(YARP_ADD_IDL var)
     endif()
 
     if (CMAKE_CROSSCOMPILING)
-      find_program(YARPIDL_${_family}_LOCATION
-        NAMES yarpidl_${_family}
+      find_program(YARPIDL_${family}_LOCATION
+        NAMES yarpidl_${family}
         HINTS ${YARP_IDL_BINARY_HINT} # This is a list of directories defined
                                       # in YarpOptions.cmake (for YARP) or in
                                       # YARPConfig.cmake for dependencies
         NO_DEFAULT_PATH
       )
-      set(YARPIDL_${family}_COMMAND YARPIDL_${_family}_LOCATION)
+      set(YARPIDL_${family}_COMMAND ${YARPIDL_${family}_LOCATION})
     else()
       set(YARPIDL_${family}_COMMAND YARP::yarpidl_${family})
     endif()