Use windows CI build (#204)

* Use windows CI build

* WIN32 CMake changes

* Add CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS

* Rename ERROR->FAILURE for win builds

(cherry picked from commit 252b136)

Author: christophfroehlich

.github/workflows/binary-build-win.yml

@@ -0,0 +1,29 @@
+name: Windows Binary Build
+# author: Christoph Fröhlich <[email protected]>
+# description: 'Build & test all dependencies from released (binary) windows packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    # types:
+    #   - labeled
+  push:
+    branches:
+      - master
+  # issue_comment:
+  #   types:
+  #     - created
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref_for_scheduled_build: master
+      os_name: windows-2019

CMakeLists.txt

@@ -6,6 +6,18 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
   -Werror=return-type -Werror=shadow -Werror=format)
 endif()
 
+if(WIN32)
+  add_compile_definitions(
+    # For math constants
+    _USE_MATH_DEFINES
+    # Minimize Windows namespace collision
+    NOMINMAX
+    WIN32_LEAN_AND_MEAN
+  )
+  # set the same behavior for windows as it is on linux
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+endif()
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp
   rclcpp_action

test/realtime_box_tests.cpp

@@ -27,7 +27,10 @@
 // POSSIBILITY OF SUCH DAMAGE.
 
 #include <gmock/gmock.h>
-#include <realtime_tools/realtime_box.h>
+
+#include <array>
+
+#include "realtime_tools/realtime_box.h"
 
 using realtime_tools::RealtimeBox;
 

test/test_async_function_handler.cpp

@@ -303,9 +303,9 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering_with_different_return_state_an
   ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
   ASSERT_EQ(async_class.get_counter(), 1);
 
-  // Trigger one more cycle to return ERROR at the end of cycle,
+  // Trigger one more cycle to return FAILURE at the end of cycle,
   // so return from this cycle should be last cycle's return
-  async_class.set_return_state(realtime_tools::return_type::ERROR);
+  async_class.set_return_state(realtime_tools::return_type::FAILURE);
   trigger_status = async_class.trigger();
   ASSERT_TRUE(trigger_status.first);
   ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
@@ -316,20 +316,22 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering_with_different_return_state_an
   ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::OK);
   async_class.get_handler().wait_for_trigger_cycle_to_finish();
   ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
-  ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::ERROR);
+  ASSERT_EQ(
+    async_class.get_handler().get_last_return_value(), realtime_tools::return_type::FAILURE);
   ASSERT_LE(async_class.get_counter(), 2);
 
   // Trigger one more cycle to return DEACTIVATE at the end of cycle,
   async_class.set_return_state(realtime_tools::return_type::DEACTIVATE);
   trigger_status = async_class.trigger();
   ASSERT_TRUE(trigger_status.first);
-  ASSERT_EQ(realtime_tools::return_type::ERROR, trigger_status.second);
+  ASSERT_EQ(realtime_tools::return_type::FAILURE, trigger_status.second);
   ASSERT_TRUE(async_class.get_handler().is_initialized());
   ASSERT_TRUE(async_class.get_handler().is_running());
   ASSERT_FALSE(async_class.get_handler().is_stopped());
   ASSERT_FALSE(async_class.get_handler().is_stopped());
   ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
-  ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::ERROR);
+  ASSERT_EQ(
+    async_class.get_handler().get_last_return_value(), realtime_tools::return_type::FAILURE);
   async_class.get_handler().wait_for_trigger_cycle_to_finish();
   ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
   ASSERT_EQ(

test/test_async_function_handler.hpp

@@ -25,7 +25,7 @@ namespace realtime_tools
 {
 enum class return_type : std::uint8_t {
   OK = 0,
-  ERROR = 1,
+  FAILURE = 1,
   DEACTIVATE = 2,
 };