Fix build on Windows

Changes to supporting building on Windows.

- Add missing visibility macros, including CMake target definition
- Fix build error passing std::filesystem::path instead of std::string
- Fix linker error building against yaml-cpp
- Quiet warnings caused by including "yaml-cpp/yaml.h"
- Fix build warning in test_domain_bridge.cpp

Signed-off-by: Jacob Perron <[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

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>
@@ -151,7 +162,7 @@ DomainBridgeConfig parse_domain_bridge_yaml_config(std::filesystem::path file_pa
     throw YamlParsingError(file_path, "file does not exist");
   }
 
-  YAML::Node config = YAML::LoadFile(file_path);
+  YAML::Node config = YAML::LoadFile(file_path.string());
 
   DomainBridgeConfig domain_bridge_config;
   if (config["name"]) {
@@ -227,7 +238,7 @@ DomainBridgeConfig parse_domain_bridge_yaml_config(std::filesystem::path file_pa
       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()};
   }
 }