Fix osx and win32 builds

bondcpp/CMakeLists.txt

@@ -16,10 +16,14 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(smclib REQUIRED)
 find_package(Threads REQUIRED)
 
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(UUID REQUIRED uuid)
-# we have to find the absolute path to uuid as target_link_directories is not available before cmake 3.13
-find_library(uuid_ABS_PATH ${UUID_LIBRARIES} PATHS ${UUID_LIBRARY_DIRS})
+if(UNIX AND NOT APPLE)
+  find_package(PkgConfig REQUIRED)
+  pkg_check_modules(UUID REQUIRED uuid)
+  # we have to find the absolute path to uuid as target_link_directories is not available before cmake 3.13
+  find_library(uuid_ABS_PATH ${UUID_LIBRARIES} PATHS ${UUID_LIBRARY_DIRS})
+elseif(WIN32)
+  set(uuid_ABS_PATH Rpcrt4.lib)
+endif()
 
 add_library(${PROJECT_NAME}
   SHARED
@@ -29,6 +33,10 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
   ${UUID_INCLUDE_DIRS})
+if(WIN32)
+  target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "BONDCPP_BUILDING_LIBRARY" "NOMINMAX")
+endif()
 ament_target_dependencies(${PROJECT_NAME}
   bond
   rclcpp

bondcpp/include/bondcpp/bond.hpp

@@ -43,6 +43,7 @@
 #include "bond/msg/status.hpp"
 
 #include "bondcpp/BondSM_sm.hpp"
+#include "bondcpp/visibility_control.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
@@ -71,6 +72,7 @@ class Bond
    * \param on_broken callback that will be called when the bond is broken.
    * \param on_formed callback that will be called when the bond is formed.
    */
+  BONDCPP_PUBLIC
   Bond(
     const std::string & topic, const std::string & id,
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
@@ -90,6 +92,7 @@ class Bond
    * \param on_broken callback that will be called when the bond is broken.
    * \param on_formed callback that will be called when the bond is formed.
    */
+  BONDCPP_PUBLIC
   Bond(
     const std::string & topic, const std::string & id,
     rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
@@ -105,6 +108,7 @@ class Bond
    * \param on_broken callback that will be called when the bond is broken.
    * \param on_formed callback that will be called when the bond is formed.
    */
+  BONDCPP_PUBLIC
   Bond(
     const std::string & topic, const std::string & id,
     rclcpp::Node::SharedPtr nh,
@@ -113,45 +117,70 @@ class Bond
 
   /** \brief Destructs the object, breaking the bond if it is still formed.
    */
+  BONDCPP_PUBLIC
   ~Bond();
 
+  BONDCPP_PUBLIC
   void setupConnections();
 
+  BONDCPP_PUBLIC
   double getConnectTimeout() const {return connect_timeout_.seconds();}
+  BONDCPP_PUBLIC
   void setConnectTimeout(double dur);
+  BONDCPP_PUBLIC
   void connectTimerReset();
+  BONDCPP_PUBLIC
   void connectTimerCancel();
 
+  BONDCPP_PUBLIC
   double getDisconnectTimeout() const {return disconnect_timeout_.seconds();}
+  BONDCPP_PUBLIC
   void setDisconnectTimeout(double dur);
+  BONDCPP_PUBLIC
   void disconnectTimerReset();
+  BONDCPP_PUBLIC
   void disconnectTimerCancel();
 
+  BONDCPP_PUBLIC
   double getHeartbeatTimeout() const {return heartbeat_timeout_.seconds();}
+  BONDCPP_PUBLIC
   void setHeartbeatTimeout(double dur);
+  BONDCPP_PUBLIC
   void heartbeatTimerReset();
+  BONDCPP_PUBLIC
   void heartbeatTimerCancel();
 
+  BONDCPP_PUBLIC
   double getHeartbeatPeriod() const {return heartbeat_period_.seconds();}
+  BONDCPP_PUBLIC
   void setHeartbeatPeriod(double dur);
+  BONDCPP_PUBLIC
   void publishingTimerReset();
+  BONDCPP_PUBLIC
   void publishingTimerCancel();
 
+  BONDCPP_PUBLIC
   double getDeadPublishPeriod() const {return dead_publish_period_.seconds();}
+  BONDCPP_PUBLIC
   void setDeadPublishPeriod(double dur);
+  BONDCPP_PUBLIC
   void deadpublishingTimerReset();
+  BONDCPP_PUBLIC
   void deadpublishingTimerCancel();
 
   /** \brief Starts the bond and connects to the sister process.
    */
+  BONDCPP_PUBLIC
   void start();
 
   /** \brief Sets the formed callback.
    */
+  BONDCPP_PUBLIC
   void setFormedCallback(EventCallback on_formed);
 
   /** \brief Sets the broken callback
    */
+  BONDCPP_PUBLIC
   void setBrokenCallback(EventCallback on_broken);
 
   /** \brief Blocks until the bond is formed for at most 'duration'.
@@ -160,6 +189,7 @@ class Bond
    * \param timeout Maximum duration to wait.  If -1 then this call will not timeout.
    * \return true iff the bond has been formed.
    */
+  BONDCPP_PUBLIC
   bool waitUntilFormed(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)));
 
   /** \brief Blocks until the bond is broken for at most 'duration'.
@@ -168,18 +198,24 @@ class Bond
    * \param timeout Maximum duration to wait.  If -1 then this call will not timeout.
    * \return true iff the bond has been broken, even if it has never been formed.
    */
+  BONDCPP_PUBLIC
   bool waitUntilBroken(rclcpp::Duration timeout = rclcpp::Duration(std::chrono::seconds(-1)));
 
   /** \brief Indicates if the bond is broken.
    */
+  BONDCPP_PUBLIC
   bool isBroken();
 
   /** \brief Breaks the bond, notifying the other process.
    */
+  BONDCPP_PUBLIC
   void breakBond();
 
+  BONDCPP_PUBLIC
   std::string getTopic() const {return topic_;}
+  BONDCPP_PUBLIC
   std::string getId() const {return id_;}
+  BONDCPP_PUBLIC
   std::string getInstanceId() const {return instance_id_;}
 
 private:

bondcpp/include/bondcpp/visibility_control.hpp

@@ -0,0 +1,87 @@
+// Copyright (c) 2022, Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef BONDCPP__VISIBILITY_CONTROL_HPP_
+#define BONDCPP__VISIBILITY_CONTROL_HPP_
+
+/*! \file visibility_control.hpp
+  * \brief Macros for controlling visibilty of exported iterfaces.
+  *
+  * This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+  *     https://gcc.gnu.org/wiki/Visibility
+  */
+/**
+  * \def BONDCPP_EXPORT
+  * \brief Exposes the function with its decorated name in the compiled library object.
+  */
+/**
+  * \def BONDCPP_IMPORT
+  * \brief On Windows declares a function will be imported from a dll, otherwise it is empty
+  */
+/**
+  * \def BONDCPP_PUBLIC
+  * \brief Declares symbols and functions will be visible for export.
+  */
+/**
+  * \def BONDCPP_PUBLIC_TYPE
+  * \brief On Windows, this is a replica of BONDCPP_PUBLIC, otherwise it is empty.
+  */
+/**
+  * \def BONDCPP_LOCAL
+  * \brief Declares symbols cannot be exported from the dll.
+  */
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define BONDCPP_EXPORT __attribute__ ((dllexport))
+    #define BONDCPP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define BONDCPP_EXPORT __declspec(dllexport)
+    #define BONDCPP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef BONDCPP_BUILDING_LIBRARY
+    #define BONDCPP_PUBLIC BONDCPP_EXPORT
+  #else
+    #define BONDCPP_PUBLIC BONDCPP_IMPORT
+  #endif
+  #define BONDCPP_PUBLIC_TYPE BONDCPP_PUBLIC
+  #define BONDCPP_LOCAL
+#else
+  #define BONDCPP_EXPORT __attribute__ ((visibility("default")))
+  #define BONDCPP_IMPORT
+  #if __GNUC__ >= 4
+    #define BONDCPP_PUBLIC __attribute__ ((visibility("default")))
+    #define BONDCPP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define BONDCPP_PUBLIC
+    #define BONDCPP_LOCAL
+  #endif
+  #define BONDCPP_PUBLIC_TYPE
+#endif
+
+#endif  // BONDCPP__VISIBILITY_CONTROL_HPP_

bondcpp/src/bond.cpp

@@ -558,8 +558,8 @@ void Bond::publishStatus(bool active)
   msg.id = id_;
   msg.instance_id = instance_id_;
   msg.active = active;
-  msg.heartbeat_timeout = heartbeat_timeout_.seconds();
-  msg.heartbeat_period = heartbeat_period_.seconds();
+  msg.heartbeat_timeout = static_cast<float>(heartbeat_timeout_.seconds());
+  msg.heartbeat_period = static_cast<float>(heartbeat_period_.seconds());
   pub_->publish(msg);
 }
 

smclib/include/smclib/statemap.hpp

@@ -84,9 +84,13 @@ inline char * copyString(const char * s)
 {
   char * retval = NULL;
   if (s != NULL) {
-    retval = new char[MAX_NAME_LEN + 1];
-    retval[MAX_NAME_LEN] = '\0';
-    (void) std::strncpy(retval, s, MAX_NAME_LEN);
+    size_t copy_len = strlen(s);
+    if (copy_len > MAX_NAME_LEN) {
+      copy_len = MAX_NAME_LEN;
+    }
+    retval = new char[copy_len + 1];
+    memcpy(retval, s, copy_len);
+    retval[copy_len] = '\0';
   }
 
   return retval;

test_bond/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
+add_definitions(-DNOMINMAX)
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
@@ -30,10 +31,14 @@ if(BUILD_TESTING)
   find_package(rosidl_cmake REQUIRED)
   find_package(Threads REQUIRED)
 
+if(UNIX AND NOT APPLE)
   find_package(PkgConfig REQUIRED)
-  pkg_search_module(UUID REQUIRED uuid)
+  pkg_check_modules(UUID REQUIRED uuid)
   # we have to find the absolute path to uuid as target_link_directories is not available before cmake 3.13
   find_library(uuid_ABS_PATH ${UUID_LIBRARIES} PATHS ${UUID_LIBRARY_DIRS})
+elseif(WIN32)
+  set(uuid_ABS_PATH Rpcrt4.lib)
+endif()
 
   ament_lint_auto_find_test_dependencies()