From f735ed664133bfa1bf08d8d8ce84784aa66f623f Mon Sep 17 00:00:00 2001
From: seanyen <seanyen@microsoft.com>
Date: Tue, 29 Dec 2020 12:59:32 -0800
Subject: [PATCH] Windows bringup.

---
 CMakeLists.txt                                |  9 +++
 include/control_toolbox/pid.hpp               |  4 +-
 include/control_toolbox/pid_ros.hpp           |  3 +-
 .../control_toolbox/visibility_control.hpp    | 69 +++++++++++++++++++
 4 files changed, 83 insertions(+), 2 deletions(-)
 create mode 100644 include/control_toolbox/visibility_control.hpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15924584..e8043922 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(WIN32)
+  # Enable Math Constants
+  # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
+  add_compile_definitions(
+    _USE_MATH_DEFINES
+  )
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -24,6 +32,7 @@ add_library(${PROJECT_NAME} SHARED
   src/sine_sweep.cpp
   src/sinusoid.cpp)
 target_include_directories(${PROJECT_NAME} PUBLIC include)
+target_compile_definitions(${PROJECT_NAME} PRIVATE "CONTROL_TOOLBOX_BUILDING_LIBRARY")
 ament_target_dependencies(${PROJECT_NAME}
     control_msgs
     rclcpp
diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index 3068e39f..6878a436 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -44,6 +44,8 @@
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 
+#include "control_toolbox/visibility_control.hpp"
+
 namespace control_toolbox
 {
 /***************************************************/
@@ -104,7 +106,7 @@ namespace control_toolbox
 */
 /***************************************************/
 
-class Pid
+class CONTROL_TOOLBOX_PUBLIC Pid
 {
 public:
   /*!
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index 3eb416a7..2e0e1c3a 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -47,11 +47,12 @@
 #include "realtime_tools/realtime_publisher.h"
 
 #include "control_toolbox/pid.hpp"
+#include "control_toolbox/visibility_control.hpp"
 
 namespace control_toolbox
 {
 
-class PidROS
+class CONTROL_TOOLBOX_PUBLIC PidROS
 {
 public:
   /*!
diff --git a/include/control_toolbox/visibility_control.hpp b/include/control_toolbox/visibility_control.hpp
new file mode 100644
index 00000000..e2f6d8e6
--- /dev/null
+++ b/include/control_toolbox/visibility_control.hpp
@@ -0,0 +1,69 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  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 Willow Garage 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 OWNER 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 CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_
+#define CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define CONTROL_TOOLBOX_EXPORT __attribute__ ((dllexport))
+    #define CONTROL_TOOLBOX_IMPORT __attribute__ ((dllimport))
+  #else
+    #define CONTROL_TOOLBOX_EXPORT __declspec(dllexport)
+    #define CONTROL_TOOLBOX_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef CONTROL_TOOLBOX_BUILDING_LIBRARY
+    #define CONTROL_TOOLBOX_PUBLIC CONTROL_TOOLBOX_EXPORT
+  #else
+    #define CONTROL_TOOLBOX_PUBLIC CONTROL_TOOLBOX_IMPORT
+  #endif
+  #define CONTROL_TOOLBOX_PUBLIC_TYPE CONTROL_TOOLBOX_PUBLIC
+  #define CONTROL_TOOLBOX_LOCAL
+#else
+  #define CONTROL_TOOLBOX_EXPORT __attribute__ ((visibility("default")))
+  #define CONTROL_TOOLBOX_IMPORT
+  #if __GNUC__ >= 4
+    #define CONTROL_TOOLBOX_PUBLIC __attribute__ ((visibility("default")))
+    #define CONTROL_TOOLBOX_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define CONTROL_TOOLBOX_PUBLIC
+    #define CONTROL_TOOLBOX_LOCAL
+  #endif
+  #define CONTROL_TOOLBOX_PUBLIC_TYPE
+#endif
+
+#endif  // CONTROL_TOOLBOX__VISIBILITY_CONTROL_HPP_
\ No newline at end of file