[master] Windows bring-up (#1704)

* Windows bringup.

* nullity check.

* nullity check.

Author: seanyen

nav2_amcl/CMakeLists.txt

@@ -22,6 +22,9 @@ include_directories(
   include
 )
 
+include(CheckSymbolExists)
+check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
+
 add_subdirectory(src/pf)
 add_subdirectory(src/map)
 add_subdirectory(src/motion_model)
@@ -39,6 +42,11 @@ add_library(${library_name} SHARED
   src/amcl_node.cpp
 )
 
+target_include_directories(${library_name} PRIVATE src/include)
+if(HAVE_DRAND48)
+  target_compile_definitions(${library_name} PRIVATE "HAVE_DRAND48")
+endif()
+
 set(dependencies
   rclcpp
   rclcpp_lifecycle
@@ -70,9 +78,13 @@ target_link_libraries(${library_name}
   map_lib motions_lib sensors_lib
 )
 
-install(TARGETS ${executable_name} ${library_name}
+install(TARGETS ${library_name}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

nav2_amcl/src/amcl_node.cpp

@@ -48,6 +48,8 @@
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
 
+#include "portable_utils.h"
+
 using namespace std::placeholders;
 using namespace std::chrono_literals;
 

nav2_amcl/src/include/portable_utils.h

@@ -0,0 +1,28 @@
+#ifndef PORTABLE_UTILS_H
+#define PORTABLE_UTILS_H
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef HAVE_DRAND48
+// Some system (e.g., Windows) doesn't come with drand48(), srand48().
+// Use rand, and srand for such system.
+static double drand48(void)
+{
+  return ((double)rand()) / RAND_MAX;
+}
+
+static void srand48(long int seedval)
+{
+  srand(seedval);
+}
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

nav2_amcl/src/map/CMakeLists.txt

@@ -10,5 +10,5 @@ install(TARGETS
   map_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )

nav2_amcl/src/motion_model/CMakeLists.txt

@@ -12,5 +12,5 @@ install(TARGETS
   motions_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )

nav2_amcl/src/pf/CMakeLists.txt

@@ -11,9 +11,14 @@ add_library(pf_lib SHARED
   pf_draw.c
 )
 
+target_include_directories(pf_lib PRIVATE ../include)
+if(HAVE_DRAND48)
+  target_compile_definitions(pf_lib PRIVATE "HAVE_DRAND48")
+endif()
+
 install(TARGETS
   pf_lib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
 )

nav2_amcl/src/pf/eig3.c

@@ -7,8 +7,11 @@
 #define MAX(a, b) ((a) > (b) ? (a) : (b))
 #endif
 
-// #define n 3
-static const int n = 3;
+#ifdef _MSC_VER
+#define n 3
+#else
+static int n = 3;
+#endif
 
 static double hypot2(double x, double y)
 {

nav2_amcl/src/pf/pf.c

@@ -35,6 +35,8 @@
 #include "nav2_amcl/pf/pf_pdf.hpp"
 #include "nav2_amcl/pf/pf_kdtree.hpp"
 
+#include "portable_utils.h"
+
 
 // Compute the required number of samples, given that there are k bins
 // with samples in them.

nav2_amcl/src/pf/pf_pdf.c

@@ -34,6 +34,8 @@
 
 #include "nav2_amcl/pf/pf_pdf.hpp"
 
+#include "portable_utils.h"
+
 // Random number generator seed value
 static unsigned int pf_pdf_seed;
 

nav2_amcl/src/pf/pf_vector.c

@@ -53,7 +53,7 @@ int pf_vector_finite(pf_vector_t a)
   int i;
 
   for (i = 0; i < 3; i++) {
-    if (!finite(a.v[i])) {
+    if (!isfinite(a.v[i])) {
       return 0;
     }
   }
@@ -152,7 +152,7 @@ int pf_matrix_finite(pf_matrix_t a)
 
   for (i = 0; i < 3; i++) {
     for (j = 0; j < 3; j++) {
-      if (!finite(a.m[i][j])) {
+      if (!isfinite(a.m[i][j])) {
         return 0;
       }
     }