Windows support

.github/workflows/build_and_test.yaml

@@ -4,7 +4,7 @@ on: [pull_request]
 
 jobs:
   build_and_test:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v2
     - uses: ros-tooling/[email protected]

CMakeLists.txt

@@ -67,6 +67,12 @@ target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
 
 set_target_properties(${PROJECT_NAME}_lib PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
 
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME}_lib
+  PRIVATE "DOMAIN_BRIDGE_BUILDING_LIBRARY"
+)
+
 add_executable(${PROJECT_NAME}_exec
   src/domain_bridge.cpp
 )

include/domain_bridge/service_bridge_impl.inc

@@ -37,10 +37,12 @@ namespace detail
 // service_name, from_domain_id, to_domain_id
 using ServiceBridge = std::tuple<std::string, size_t, size_t>;
 
+DOMAIN_BRIDGE_PUBLIC
 bool
 is_bridging_service(
   const DomainBridgeImpl & impl, const ServiceBridge & service_bridge);
 
+DOMAIN_BRIDGE_PUBLIC
 void
 add_service_bridge(
   DomainBridgeImpl & impl,
@@ -49,9 +51,11 @@ add_service_bridge(
   std::function<std::shared_ptr<rclcpp::ServiceBase>()> create_service,
   std::shared_ptr<rclcpp::ClientBase> client);
 
+DOMAIN_BRIDGE_PUBLIC
 rclcpp::Node::SharedPtr
 get_node_for_domain(DomainBridgeImpl & impl, std::size_t domain_id);
 
+DOMAIN_BRIDGE_PUBLIC
 const std::string &
 get_node_name(const DomainBridgeImpl & impl);
 }  // namespace detail

package.xml

@@ -15,7 +15,7 @@
   <depend>rcutils</depend>
   <depend>rosbag2_cpp</depend>
   <depend>rosidl_typesupport_cpp</depend>
-  <depend>yaml-cpp</depend>
+  <depend>yaml_cpp_vendor</depend>
   <depend>zstd_vendor</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>

src/domain_bridge/parse_domain_bridge_yaml_config.cpp

@@ -12,7 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <yaml-cpp/yaml.h>
+#ifdef _WIN32
+// TODO(jacobperron): Remove after https://github.com/ros2/yaml_cpp_vendor/issues/10 is resolved
+#define YAML_CPP_DLL
+// TODO(jacobperron): Silence warnings until they are resolved upstream
+#pragma warning(push)
+#pragma warning(disable: 4251)
+#pragma warning(disable: 4275)
+#include "yaml-cpp/yaml.h"
+#pragma warning(pop)
+#else
+#include "yaml-cpp/yaml.h"
+#endif
 
 // cpplint thinks this is a C system header
 #include <filesystem>
@@ -173,7 +184,7 @@ update_domain_bridge_config_from_yaml(
     throw YamlParsingError(file_path, "file does not exist");
   }
 
-  YAML::Node config = YAML::LoadFile(file_path);
+  YAML::Node config = YAML::LoadFile(file_path.string());
 
   if (config["name"]) {
     domain_bridge_config.options.name(config["name"].as<std::string>());
@@ -248,7 +259,7 @@ update_domain_bridge_config_from_yaml(
       if (topic_info["remap"]) {
         options.remap_name(topic_info["remap"].as<std::string>());
       }
-      options.qos_options(parse_qos_options(topic_info, file_path));
+      options.qos_options(parse_qos_options(topic_info, file_path.string()));
 
       if (topic_info["bidirectional"]) {
         options.bidirectional(topic_info["bidirectional"].as<bool>());

test/domain_bridge/test_domain_bridge.cpp

@@ -47,7 +47,7 @@ TEST_F(TestDomainBridge, construction_destruction)
   }
   // With options
   {
-    domain_bridge::DomainBridge bridge(domain_bridge::DomainBridgeOptions());
+    domain_bridge::DomainBridge bridge{domain_bridge::DomainBridgeOptions()};
   }
 }
 

test/domain_bridge/wait_for_publisher.hpp

@@ -47,8 +47,8 @@ inline bool wait_for_publisher(
     node->wait_for_graph_change(graph_event, sleep_period);
     time_slept = std::chrono::duration_cast<std::chrono::microseconds>(
       std::chrono::steady_clock::now() - start);
-  } while (!predicate() &&
-    time_slept < std::chrono::duration_cast<std::chrono::microseconds>(timeout));
+  } while (
+    !predicate() && time_slept < std::chrono::duration_cast<std::chrono::microseconds>(timeout));
 
   return predicate();
 }