Rosbag windows port

tools/rosbag/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rosbag)
 find_package(catkin REQUIRED COMPONENTS rosconsole roscpp topic_tools xmlrpcpp)
-find_package(Boost REQUIRED COMPONENTS regex program_options)
+find_package(Boost REQUIRED COMPONENTS date_time regex program_options filesystem)
 find_package(BZip2 REQUIRED)
 
 catkin_python_setup()

tools/rosbag/include/rosbag/bag.h

@@ -35,6 +35,7 @@
 #ifndef ROSBAG_BAG_H
 #define ROSBAG_BAG_H
 
+#include "rosbag/macros.h"
 #include "rosbag/buffer.h"
 #include "rosbag/chunked_file.h"
 #include "rosbag/constants.h"
@@ -74,7 +75,7 @@ class MessageInstance;
 class View;
 class Query;
 
-class Bag
+class ROSBAG_DECL Bag
 {
     friend class MessageInstance;
     friend class View;

tools/rosbag/include/rosbag/buffer.h

@@ -36,10 +36,11 @@
 #define ROSBAG_BUFFER_H
 
 #include <stdint.h>
+#include "macros.h"
 
 namespace rosbag {
 
-class Buffer
+class ROSBAG_DECL Buffer
 {
 public:
     Buffer();

tools/rosbag/include/rosbag/chunked_file.h

@@ -38,7 +38,7 @@
 #include <ios>
 #include <stdint.h>
 #include <string>
-
+#include "macros.h"
 #include <boost/shared_ptr.hpp>
 
 #include <bzlib.h>
@@ -48,7 +48,7 @@
 namespace rosbag {
 
 //! ChunkedFile reads and writes files which contain interleaved chunks of compressed and uncompressed data.
-class ChunkedFile
+class ROSBAG_DECL ChunkedFile
 {
     friend class Stream;
 

tools/rosbag/include/rosbag/macros.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2008, 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 ROSBAG_MACROS_H_
+#define ROSBAG_MACROS_H_
+
+#include <ros/macros.h> // for the DECL's
+
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef rosbag_EXPORTS // we are building a shared lib/dll
+    #define ROSBAG_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define ROSBAG_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define ROSBAG_DECL
+#endif
+
+#endif /* ROSBAG_MACROS_H_ */

tools/rosbag/include/rosbag/message_instance.h

@@ -40,6 +40,7 @@
 #include <ros/time.h>
 
 #include "rosbag/structures.h"
+#include "macros.h"
 
 namespace rosbag {
 
@@ -54,7 +55,7 @@ class Bag;
  *  It adheres to the necessary ros::message_traits to be directly
  *  serializable.
  */
-class MessageInstance
+class ROSBAG_DECL MessageInstance
 {
     friend class View;
 

tools/rosbag/include/rosbag/player.h

@@ -36,9 +36,11 @@
 #define ROSBAG_PLAYER_H
 
 #include <sys/stat.h>
-#include <termios.h>
+#if !defined(_MSC_VER)
+  #include <termios.h>
+  #include <unistd.h>
+#endif
 #include <time.h>
-#include <unistd.h>
 
 #include <queue>
 #include <string>
@@ -49,10 +51,11 @@
 #include "rosbag/bag.h"
 
 #include "rosbag/time_translator.h"
+#include "macros.h"
 
 namespace rosbag {
 
-struct PlayerOptions
+struct ROSBAG_DECL PlayerOptions
 {
     PlayerOptions();
 
@@ -81,7 +84,7 @@ struct PlayerOptions
 
 
 //! PRIVATE. A helper class to track relevant state for publishing time
-class TimePublisher {
+class ROSBAG_DECL TimePublisher {
 public:
     /*! Create a time publisher
      *  A publish_frequency of < 0 indicates that time shouldn't actually be published
@@ -142,7 +145,7 @@ class TimePublisher {
  *  This API is currently considered private, but will be released in the 
  * future after view.
  */
-class Player
+class ROSBAG_DECL Player
 {
 public:
     Player(PlayerOptions const& options);
@@ -177,8 +180,13 @@ class Player
 
     // Terminal
     bool    terminal_modified_;
+#if defined(_MSC_VER)
+    HANDLE input_handle;
+    DWORD stdin_set;
+#else
     termios orig_flags_;
     fd_set  stdin_fdset_;
+#endif
     int     maxfd_;
 
     TimeTranslator time_translator_;

tools/rosbag/include/rosbag/query.h

@@ -42,14 +42,15 @@
 #include <set>
 
 #include <boost/function.hpp>
+#include "macros.h"
 
 namespace rosbag {
 
 class Bag;
-class ConnectionInfo;
-class IndexEntry;
+struct ConnectionInfo;
+struct IndexEntry;
 
-class Query
+class ROSBAG_DECL Query
 {
 public:
     //! The base query takes an optional time-range
@@ -72,7 +73,7 @@ class Query
     ros::Time end_time_;
 };
 
-class TopicQuery
+class ROSBAG_DECL TopicQuery
 {
 public:
     TopicQuery(std::string const& topic);
@@ -84,7 +85,7 @@ class TopicQuery
     std::vector<std::string> topics_;
 };
 
-class TypeQuery
+class ROSBAG_DECL TypeQuery
 {
 public:
     TypeQuery(std::string const& type);
@@ -97,7 +98,7 @@ class TypeQuery
 };
 
 //! Pairs of queries and the bags they come from (used internally by View)
-struct BagQuery
+struct ROSBAG_DECL BagQuery
 {
     BagQuery(Bag const* _bag, Query const& _query, uint32_t _bag_revision);
 
@@ -106,7 +107,7 @@ struct BagQuery
     uint32_t   bag_revision;
 };
 
-struct MessageRange
+struct ROSBAG_DECL MessageRange
 {
     MessageRange(std::multiset<IndexEntry>::const_iterator const& _begin,
                  std::multiset<IndexEntry>::const_iterator const& _end,
@@ -120,15 +121,15 @@ struct MessageRange
 };
 
 //! The actual iterator data structure
-struct ViewIterHelper
+struct ROSBAG_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 ViewIterHelperCompare
+struct ROSBAG_DECL ViewIterHelperCompare
 {
     bool operator()(ViewIterHelper const& a, ViewIterHelper const& b);
 };

tools/rosbag/include/rosbag/recorder.h

@@ -36,9 +36,11 @@
 #define ROSBAG_RECORDER_H
 
 #include <sys/stat.h>
-#include <termios.h>
+#if !defined(_MSC_VER)
+  #include <termios.h>
+  #include <unistd.h>
+#endif
 #include <time.h>
-#include <unistd.h>
 
 #include <queue>
 #include <string>
@@ -56,10 +58,11 @@
 
 #include "rosbag/bag.h"
 #include "rosbag/stream.h"
+#include "rosbag/macros.h"
 
 namespace rosbag {
 
-class OutgoingMessage
+class ROSBAG_DECL OutgoingMessage
 {
 public:
     OutgoingMessage(std::string const& _topic, topic_tools::ShapeShifter::ConstPtr _msg, boost::shared_ptr<ros::M_string> _connection_header, ros::Time _time);
@@ -70,7 +73,7 @@ class OutgoingMessage
     ros::Time                           time;
 };
 
-class OutgoingQueue
+class ROSBAG_DECL OutgoingQueue
 {
 public:
     OutgoingQueue(std::string const& _filename, std::queue<OutgoingMessage>* _queue, ros::Time _time);
@@ -80,7 +83,7 @@ class OutgoingQueue
     ros::Time                    time;
 };
 
-struct RecorderOptions
+struct ROSBAG_DECL RecorderOptions
 {
     RecorderOptions();
 
@@ -106,7 +109,7 @@ struct RecorderOptions
     std::vector<std::string> topics;
 };
 
-class Recorder
+class ROSBAG_DECL Recorder
 {
 public:
     Recorder(RecorderOptions const& options);

tools/rosbag/include/rosbag/stream.h

@@ -44,6 +44,7 @@
 #include <bzlib.h>
 
 #include "rosbag/exceptions.h"
+#include "rosbag/macros.h"
 
 namespace rosbag {
 
@@ -59,7 +60,7 @@ typedef compression::CompressionType CompressionType;
 
 class ChunkedFile;
 
-class Stream
+class ROSBAG_DECL Stream
 {
 public:
     Stream(ChunkedFile* file);
@@ -93,7 +94,7 @@ class Stream
     ChunkedFile* file_;
 };
 
-class StreamFactory
+class ROSBAG_DECL StreamFactory
 {
 public:
     StreamFactory(ChunkedFile* file);
@@ -105,7 +106,7 @@ class StreamFactory
     boost::shared_ptr<Stream> bz2_stream_;
 };
 
-class UncompressedStream : public Stream
+class ROSBAG_DECL UncompressedStream : public Stream
 {
 public:
     UncompressedStream(ChunkedFile* file);
@@ -121,7 +122,7 @@ class UncompressedStream : public Stream
 /*!
  * BZ2Stream uses libbzip2 (http://www.bzip.org) for reading/writing compressed data in the BZ2 format.
  */
-class BZ2Stream : public Stream
+class ROSBAG_DECL BZ2Stream : public Stream
 {
 public:
     BZ2Stream(ChunkedFile* file);

tools/rosbag/include/rosbag/structures.h

@@ -40,10 +40,11 @@
 
 #include "ros/time.h"
 #include "ros/ros.h"
+#include "macros.h"
 
 namespace rosbag {
 
-struct ConnectionInfo
+struct ROSBAG_DECL ConnectionInfo
 {
     ConnectionInfo() : id(-1) { }
 
@@ -56,7 +57,7 @@ struct ConnectionInfo
     boost::shared_ptr<ros::M_string> header;
 };
 
-ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size);
+ROSBAG_DECL ros::AdvertiseOptions createAdvertiseOptions(const ConnectionInfo* c, uint32_t queue_size);
 
 struct ChunkInfo
 {
@@ -67,14 +68,14 @@ struct ChunkInfo
     std::map<uint32_t, uint32_t> connection_counts;   //! number of messages in each connection stored in the chunk
 };
 
-struct ChunkHeader
+struct ROSBAG_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 IndexEntry
+struct ROSBAG_DECL IndexEntry
 {
     ros::Time time;            //! timestamp of the message
     uint64_t  chunk_pos;       //! absolute byte offset of the chunk record containing the message
@@ -83,7 +84,7 @@ struct IndexEntry
     bool operator<(IndexEntry const& b) const { return time < b.time; }
 };
 
-struct IndexEntryCompare
+struct ROSBAG_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; }