Fix issues when built or run on Windows

clients/roscpp/CMakeLists.txt

@@ -124,13 +124,21 @@ add_library(roscpp
   src/libros/steady_timer.cpp
   )
 
+if(WIN32)
+  add_definitions(-DNOGDI)
+endif()
+
 add_dependencies(roscpp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(roscpp
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
+if(WIN32)
+  target_link_libraries(roscpp ws2_32)
+endif()
+
 #explicitly install library and includes
 install(TARGETS roscpp
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

clients/roscpp/src/libros/init.cpp

@@ -316,13 +316,6 @@ void start()
     }
   }
 
-#ifdef _MSC_VER
-  if (env_ipv6)
-  {
-    free(env_ipv6);
-  }
-#endif
-
   param::param("/tcp_keepalive", TransportTCP::s_use_keepalive_, TransportTCP::s_use_keepalive_);
 
   PollManager::instance()->addPollThreadListener(checkForShutdown);
@@ -430,6 +423,13 @@ void check_ipv6_environment() {
   bool use_ipv6 = (env_ipv6 && strcmp(env_ipv6,"on") == 0);
   TransportTCP::s_use_ipv6_ = use_ipv6;
   XmlRpc::XmlRpcSocket::s_use_ipv6_ = use_ipv6;
+
+#ifdef _MSC_VER
+  if (env_ipv6)
+  {
+    free(env_ipv6);
+  }
+#endif
 }
 
 void init(const M_string& remappings, const std::string& name, uint32_t options)
@@ -454,6 +454,9 @@ void init(const M_string& remappings, const std::string& name, uint32_t options)
     // Disable SIGPIPE
 #ifndef WIN32
     signal(SIGPIPE, SIG_IGN);
+#else
+    WSADATA wsaData;
+    WSAStartup(MAKEWORD(2, 0), &wsaData);
 #endif
     check_ipv6_environment();
     network::init(remappings);

clients/roscpp/src/libros/internal_timer_manager.cpp

@@ -26,7 +26,7 @@
  */
 
 // Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#ifndef __APPLE__
+#if !defined(__APPLE__) && !defined(WIN32)
 #define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
 #endif
 

clients/roscpp/src/libros/steady_timer.cpp

@@ -26,7 +26,7 @@
  */
 
 // Make sure we use CLOCK_MONOTONIC for the condition variable if not Apple.
-#ifndef __APPLE__
+#if !defined(__APPLE__) && !defined(WIN32)
 #define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
 #endif
 
@@ -44,6 +44,7 @@
 namespace ros
 {
 
+#if !defined(WIN32)
 // specialization for SteadyTimer, to make sure we use a version with wait_until that uses the monotonic clock
 template<>
 void TimerManager<SteadyTime, WallDuration, SteadyTimerEvent>::threadFunc()
@@ -111,6 +112,7 @@ void TimerManager<SteadyTime, WallDuration, SteadyTimerEvent>::threadFunc()
     new_timer_ = false;
   }
 }
+#endif
 
 SteadyTimer::Impl::Impl()
   : started_(false)

clients/roscpp/src/libros/topic_manager.cpp

@@ -1000,8 +1000,6 @@ void TopicManager::getPublications(XmlRpcValue &pubs)
   }
 }
 
-extern std::string console::g_last_error_message;
-
 void TopicManager::pubUpdateCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
 {
   std::vector<std::string> pubs;

clients/roscpp/src/libros/transport/transport.cpp

@@ -34,11 +34,15 @@
 
 #include "ros/transport/transport.h"
 #include "ros/console.h"
+#if defined(WIN32)
+#include <winsock2.h>
+#else
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <netdb.h>
+#endif
 
-#if !defined(__ANDROID__)
+#if !defined(__ANDROID__) && !defined(WIN32)
 #include <ifaddrs.h>
 #endif
 
@@ -71,7 +75,7 @@ Transport::Transport()
   gethostname(our_hostname, sizeof(our_hostname)-1);
   allowed_hosts_.push_back(std::string(our_hostname));
   allowed_hosts_.push_back("localhost");
-#if !defined(__ANDROID__)
+#if !defined(__ANDROID__) && !defined(WIN32)
   // for ipv4 loopback, we'll explicitly search for 127.* in isHostAllowed()
   // now we need to iterate all local interfaces and add their addresses
   // from the getifaddrs manpage:  (maybe something similar for windows ?) 

tools/rosbag_storage/include/rosbag/bag.h

@@ -96,7 +96,7 @@ class MessageInstance;
 class View;
 class Query;
 
-class ROSBAG_DECL Bag
+class ROSBAG_STORAGE_DECL Bag
 {
     friend class MessageInstance;
     friend class View;

tools/rosbag_storage/include/rosbag/buffer.h

@@ -40,7 +40,7 @@
 
 namespace rosbag {
 
-class ROSBAG_DECL Buffer
+class ROSBAG_STORAGE_DECL Buffer
 {
 public:
     Buffer();

tools/rosbag_storage/include/rosbag/chunked_file.h

@@ -48,7 +48,7 @@
 namespace rosbag {
 
 //! ChunkedFile reads and writes files which contain interleaved chunks of compressed and uncompressed data.
-class ROSBAG_DECL ChunkedFile
+class ROSBAG_STORAGE_DECL ChunkedFile
 {
     friend class Stream;
 

tools/rosbag_storage/include/rosbag/macros.h

@@ -38,8 +38,16 @@
   #else // we are using shared lib/dll
     #define ROSBAG_DECL ROS_HELPER_IMPORT
   #endif
+
+  #ifdef rosbag_storage_EXPORTS // we are building a shared lib/dll
+    #define ROSBAG_STORAGE_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define ROSBAG_STORAGE_DECL ROS_HELPER_IMPORT
+  #endif
+
 #else // ros is being built around static libraries
   #define ROSBAG_DECL
+  #define ROSBAG_STORAGE_DECL
 #endif
 
 #endif /* ROSBAG_MACROS_H_ */

tools/rosbag_storage/include/rosbag/message_instance.h

@@ -56,7 +56,7 @@ class Bag;
  *  It adheres to the necessary ros::message_traits to be directly
  *  serializable.
  */
-class ROSBAG_DECL MessageInstance
+class ROSBAG_STORAGE_DECL MessageInstance
 {
     friend class View;
 

tools/rosbag_storage/include/rosbag/query.h

@@ -49,7 +49,7 @@ namespace rosbag {
 
 class Bag;
 
-class ROSBAG_DECL Query
+class ROSBAG_STORAGE_DECL Query
 {
 public:
     //! The base query takes an optional time-range
@@ -72,7 +72,7 @@ class ROSBAG_DECL Query
     ros::Time end_time_;
 };
 
-class ROSBAG_DECL TopicQuery
+class ROSBAG_STORAGE_DECL TopicQuery
 {
 public:
     TopicQuery(std::string const& topic);
@@ -84,7 +84,7 @@ class ROSBAG_DECL TopicQuery
     std::vector<std::string> topics_;
 };
 
-class ROSBAG_DECL TypeQuery
+class ROSBAG_STORAGE_DECL TypeQuery
 {
 public:
     TypeQuery(std::string const& type);
@@ -97,7 +97,7 @@ class ROSBAG_DECL TypeQuery
 };
 
 //! Pairs of queries and the bags they come from (used internally by View)
-struct ROSBAG_DECL BagQuery
+struct ROSBAG_STORAGE_DECL BagQuery
 {
     BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);
 
@@ -106,7 +106,7 @@ struct ROSBAG_DECL BagQuery
     uint32_t   bag_revision;
 };
 
-struct ROSBAG_DECL MessageRange
+struct ROSBAG_STORAGE_DECL MessageRange
 {
     MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                  std::multiset<IndexEntry>::const_iterator const& _end,
@@ -120,15 +120,15 @@ struct ROSBAG_DECL MessageRange
 };
 
 //! The actual iterator data structure
-struct ROSBAG_DECL ViewIterHelper
+struct ROSBAG_STORAGE_DECL ViewIterHelper
 {
     ViewIterHelper(std::multiset<IndexEntry>::const_iterator _iter, MessageRange const* _range);
 
     std::multiset<IndexEntry>::const_iterator iter;
     MessageRange const* range;  //!< pointer to vector of ranges in View
 };
 
-struct ROSBAG_DECL ViewIterHelperCompare
+struct ROSBAG_STORAGE_DECL ViewIterHelperCompare
 {
     bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
 };

tools/rosbag_storage/include/rosbag/stream.h

@@ -65,7 +65,7 @@ class ChunkedFile;
 
 class FileAccessor;
 
-class ROSBAG_DECL Stream
+class ROSBAG_STORAGE_DECL Stream
 {
     friend class FileAccessor;
 public:
@@ -100,7 +100,7 @@ class ROSBAG_DECL Stream
     ChunkedFile* file_;
 };
 
-class ROSBAG_DECL StreamFactory
+class ROSBAG_STORAGE_DECL StreamFactory
 {
 public:
     StreamFactory(ChunkedFile* file);
@@ -120,7 +120,7 @@ class FileAccessor {
     }
 };
 
-class ROSBAG_DECL UncompressedStream : public Stream
+class ROSBAG_STORAGE_DECL UncompressedStream : public Stream
 {
 public:
     UncompressedStream(ChunkedFile* file);
@@ -136,7 +136,7 @@ class ROSBAG_DECL UncompressedStream : public Stream
 /*!
  * BZ2Stream uses libbzip2 (http://www.bzip.org) for reading/writing compressed data in the BZ2 format.
  */
-class ROSBAG_DECL BZ2Stream : public Stream
+class ROSBAG_STORAGE_DECL BZ2Stream : public Stream
 {
 public:
     BZ2Stream(ChunkedFile* file);
@@ -164,7 +164,7 @@ class ROSBAG_DECL BZ2Stream : public Stream
 
 // LZ4Stream reads/writes compressed datat in the LZ4 format
 // https://code.google.com/p/lz4/
-class ROSBAG_DECL LZ4Stream : public Stream
+class ROSBAG_STORAGE_DECL LZ4Stream : public Stream
 {
 public:
     LZ4Stream(ChunkedFile* file);

tools/rosbag_storage/include/rosbag/structures.h

@@ -44,7 +44,7 @@
 
 namespace rosbag {
 
-struct ROSBAG_DECL ConnectionInfo
+struct ROSBAG_STORAGE_DECL ConnectionInfo
 {
     ConnectionInfo() : id(-1) { }
 
@@ -66,14 +66,14 @@ struct ChunkInfo
     std::map<uint32_t, uint32_t> connection_counts;   //! number of messages in each connection stored in the chunk
 };
 
-struct ROSBAG_DECL ChunkHeader
+struct ROSBAG_STORAGE_DECL ChunkHeader
 {
     std::string compression;          //! chunk compression type, e.g. "none" or "bz2" (see constants.h)
     uint32_t    compressed_size;      //! compressed size of the chunk in bytes
     uint32_t    uncompressed_size;    //! uncompressed size of the chunk in bytes
 };
 
-struct ROSBAG_DECL IndexEntry
+struct ROSBAG_STORAGE_DECL IndexEntry
 {
     ros::Time time;            //! timestamp of the message
     uint64_t  chunk_pos;       //! absolute byte offset of the chunk record containing the message
@@ -82,7 +82,7 @@ struct ROSBAG_DECL IndexEntry
     bool operator<(IndexEntry const& b) const { return time < b.time; }
 };
 
-struct ROSBAG_DECL IndexEntryCompare
+struct ROSBAG_STORAGE_DECL IndexEntryCompare
 {
     bool operator()(ros::Time const& a, IndexEntry const& b) const { return a < b.time; }
     bool operator()(IndexEntry const& a, ros::Time const& b) const { return a.time < b; }

tools/rosbag_storage/include/rosbag/view.h

@@ -45,7 +45,7 @@
 
 namespace rosbag {
 
-class ROSBAG_DECL View
+class ROSBAG_STORAGE_DECL View
 {
     friend class Bag;
 

tools/rosgraph/src/rosgraph/roslogging.py

@@ -59,7 +59,12 @@ def findCaller(self, dummy=False): # Dummy second arg to match Python3 function
         f = inspect.currentframe()
         if f is not None:
             f = f.f_back
+        else:
+            return file_name, lineno, func_name
+
         while hasattr(f, "f_code"):
+            if f.f_back is None:
+                break
             # Search for the right frame using the data already found by parent class.
             co = f.f_code
             filename = os.path.normcase(co.co_filename)

tools/roslaunch/src/roslaunch/nodeprocess.py

@@ -306,7 +306,14 @@ def start(self):
             _logger.info("process[%s]: cwd will be [%s]", self.name, cwd)
 
             try:
-                self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=True, preexec_fn=os.setsid)
+                preexec_function = os.setsid
+                close_file_descriptor = True
+            except AttributeError:
+                preexec_function = None
+                close_file_descriptor = False
+
+            try:
+                self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=close_file_descriptor, preexec_fn=preexec_function)
             except OSError as e:
                 self.started = True # must set so is_alive state is correct
                 _logger.error("OSError(%d, %s)", e.errno, e.strerror)