enable Windows build (#85)

* add dll import/export macros, use Sleep() on Windows

* revert changes to nodelet.cpp

nodelet/include/nodelet/detail/callback_queue.h

@@ -30,6 +30,8 @@
 #ifndef NODELET_CALLBACK_QUEUE_H
 #define NODELET_CALLBACK_QUEUE_H
 
+#include "nodelet/nodeletdecl.h"
+
 #include <ros/callback_queue.h>
 #include <ros/callback_queue_interface.h>
 #include <boost/enable_shared_from_this.hpp>
@@ -47,7 +49,7 @@ namespace detail
 
 class CallbackQueueManager;
 
-class CallbackQueue : public ros::CallbackQueueInterface,
+class NODELETLIB_DECL CallbackQueue : public ros::CallbackQueueInterface,
                       public boost::enable_shared_from_this<CallbackQueue>
 {
 public:

nodelet/include/nodelet/detail/callback_queue_manager.h

@@ -30,6 +30,8 @@
 #ifndef NODELET_CALLBACK_QUEUE_MANAGER_H
 #define NODELET_CALLBACK_QUEUE_MANAGER_H
 
+#include "nodelet/nodeletdecl.h"
+
 #include <ros/types.h>
 
 #include <boost/shared_ptr.hpp>
@@ -60,7 +62,7 @@ typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
  * single long-running callback can potentially block other callbacks from being executed.  Some kind of
  * work-stealing could mitigate this, and is a good direction for future work.
  */
-class CallbackQueueManager
+class NODELETLIB_DECL CallbackQueueManager
 {
 public:
   /**

nodelet/include/nodelet/loader.h

@@ -36,6 +36,8 @@
 #ifndef NODELET_LOADER_H
 #define NODELET_LOADER_H
 
+#include "nodeletdecl.h"
+
 #include <map>
 #include <vector>
 #include <boost/function.hpp>
@@ -57,7 +59,7 @@ typedef std::vector<std::string> V_string;
 /** \brief A class which will construct and sequentially call Nodelets according to xml
  * This is the primary way in which users are expected to interact with Nodelets
  */
-class Loader
+class NODELETLIB_DECL Loader
 {
 public:
   /** \brief Construct the nodelet loader with optional ros API at default location of NodeHandle("~")*/

nodelet/include/nodelet/nodelet.h

@@ -30,6 +30,7 @@
 #ifndef NODELET_NODELET_H
 #define NODELET_NODELET_H
 
+#include "nodeletdecl.h"
 #include "exception.h"
 
 #include <string>
@@ -182,7 +183,7 @@ class MultipleInitializationException : public Exception
   {}
 };
 
-class Nodelet
+class NODELETLIB_DECL Nodelet
 {
   // Protected data fields for use by the subclass.
 protected:

nodelet/include/nodelet/nodeletdecl.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2010, Willow Garage, Inc.
+ *
+ * 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 names of Stanford University or Willow Garage, Inc. 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 NODELETDECL_H
+#define NODELETDECL_H
+
+#include <ros/macros.h>
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef nodeletlib_EXPORTS // we are building a shared lib/dll
+    #define NODELETLIB_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define NODELETLIB_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define NODELETLIB_DECL
+#endif
+
+#endif // NODELETDECL_H
+
+