From 83853925e08a96f3e5449cc59aa4847eefa61a90 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 12 Feb 2020 09:32:25 +0100
Subject: [PATCH 1/4] Relax POSIX timers error

---
 src/time_unix.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/time_unix.c b/src/time_unix.c
index 028fb453..ea52711d 100644
--- a/src/time_unix.c
+++ b/src/time_unix.c
@@ -39,7 +39,7 @@ extern "C"
 // This id an appropriate check for clock_gettime() according to:
 //   http://man7.org/linux/man-pages/man2/clock_gettime.2.html
 # if !defined(_POSIX_TIMERS) || !_POSIX_TIMERS
-#  error no monotonic clock function available
+#  warning no monotonic clock function available
 # endif  // !defined(_POSIX_TIMERS) || !_POSIX_TIMERS
 #endif  // !defined(__MACH__)
 

From b7bf2ff6c7a9dd7ff504f92e0af614deddfec99a Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Wed, 12 Feb 2020 09:32:46 +0100
Subject: [PATCH 2/4] Do not use Thread_local storage

---
 include/rcutils/macros.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/rcutils/macros.h b/include/rcutils/macros.h
index e254df46..f9bc47a7 100644
--- a/include/rcutils/macros.h
+++ b/include/rcutils/macros.h
@@ -57,7 +57,7 @@ extern "C"
   #endif
 #else
 // Some other non-Windows, non-cygwin, non-apple OS
-  #define RCUTILS_THREAD_LOCAL _Thread_local
+  #define RCUTILS_THREAD_LOCAL
 #endif
 
 #define RCUTILS_STRINGIFY_IMPL(x) #x

From 7588a0670c2a6c61bfd970b4f55a05e1d270366c Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Fri, 6 Mar 2020 12:57:00 +0100
Subject: [PATCH 3/4] Added flag for Thread compatibility

---
 CMakeLists.txt           | 10 +++-------
 include/rcutils/macros.h |  6 ++++--
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8240c803..67ec94e6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,13 +29,9 @@ else()
   set(time_impl_c src/time_unix.c)
 endif()
 
-if(RCUTILS_NO_FILESYSTEM)
-  add_compile_options(-DRCUTILS_NO_FILESYSTEM=1)
-endif()
-
-if(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
-  add_compile_options(-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=1)
-endif()
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_FILESYSTEM") 
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_THREAD_SUPPORT") 
+target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_AVOID_DYNAMIC_ALLOCATION") 
 
 configure_file (
     "${PROJECT_SOURCE_DIR}/include/rcutils/error_handling.h.in"
diff --git a/include/rcutils/macros.h b/include/rcutils/macros.h
index f9bc47a7..11981683 100644
--- a/include/rcutils/macros.h
+++ b/include/rcutils/macros.h
@@ -28,7 +28,9 @@ extern "C"
 
 // Note: this block was migrated from rmw/macros.h
 // This block either sets RCUTILS_THREAD_LOCAL or RCUTILS_THREAD_LOCAL_PTHREAD.
-#if defined _WIN32 || defined __CYGWIN__
+#if RCUTILS_NO_THREAD_SUPPORT
+    #define RCUTILS_THREAD_LOCAL
+#elif defined _WIN32 || defined __CYGWIN__
 // Windows or Cygwin
   #define RCUTILS_THREAD_LOCAL __declspec(thread)
 #elif defined __APPLE__
@@ -57,7 +59,7 @@ extern "C"
   #endif
 #else
 // Some other non-Windows, non-cygwin, non-apple OS
-  #define RCUTILS_THREAD_LOCAL
+  #define RCUTILS_THREAD_LOCAL _Thread_local
 #endif
 
 #define RCUTILS_STRINGIFY_IMPL(x) #x

From bfcb7dd4da4208e3bfab047f1811a93db1dfbf4c Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Mon, 9 Mar 2020 10:14:56 +0100
Subject: [PATCH 4/4] Fix to make it work

---
 CMakeLists.txt | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67ec94e6..1af7100e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,9 +29,21 @@ else()
   set(time_impl_c src/time_unix.c)
 endif()
 
-target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_FILESYSTEM") 
-target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_THREAD_SUPPORT") 
-target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_AVOID_DYNAMIC_ALLOCATION") 
+if(RCUTILS_NO_FILESYSTEM)
+  add_compile_options(-DRCUTILS_NO_FILESYSTEM=1)
+endif()
+
+if(RCUTILS_NO_THREAD_SUPPORT)
+  add_compile_options(-DRCUTILS_NO_THREAD_SUPPORT=1)
+endif()
+
+if(RCUTILS_AVOID_DYNAMIC_ALLOCATION)
+  add_compile_options(-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=1)
+endif()
+
+# target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_FILESYSTEM") 
+# target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_NO_THREAD_SUPPORT") 
+# target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_AVOID_DYNAMIC_ALLOCATION") 
 
 configure_file (
     "${PROJECT_SOURCE_DIR}/include/rcutils/error_handling.h.in"