Improve ublox_gps Windows portability

ublox_gps/CMakeLists.txt

@@ -67,6 +67,9 @@ target_link_libraries(ublox_gps PUBLIC
   ${ublox_msgs_TARGETS}
   ublox_serialization::ublox_serialization
 )
+if(MSVC)
+  target_compile_definitions(ublox_gps PRIVATE _USE_MATH_DEFINES)
+endif()
 
 install(TARGETS ublox_gps EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib

ublox_gps/include/ublox_gps/ublox_firmware7plus.hpp

@@ -17,6 +17,12 @@
 #include <ublox_gps/ublox_firmware.hpp>
 #include <ublox_gps/utils.hpp>
 
+#if defined(_WIN32) && defined(ERROR)
+#pragma push_macro("ERROR")
+#undef ERROR
+#define UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 namespace ublox_node {
 
 /**
@@ -211,4 +217,9 @@ class UbloxFirmware7Plus : public UbloxFirmware {
 
 }  // namespace ublox_node
 
+#ifdef UBLOX_GPS_RESTORE_ERROR_MACRO
+#pragma pop_macro("ERROR")
+#undef UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 #endif  // UBLOX_GPS_UBLOX_FIRMWARE7PLUS_HPP

ublox_gps/src/gps.cpp

@@ -142,11 +142,13 @@ void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
 
   RCLCPP_INFO(logger_, "U-Blox: Opened serial port %s", port.c_str());
 
+#ifndef _WIN32
   int fd = serial->native_handle();
   termios tio{};
   tcgetattr(fd, &tio);
   cfmakeraw(&tio);
   tcsetattr(fd, TCSANOW, &tio);
+#endif
 
   // Set the I/O worker
   if (worker_) {

ublox_gps/src/hpg_ref_product.cpp

@@ -16,6 +16,12 @@
 #include <ublox_gps/rtcm.hpp>
 #include <ublox_gps/utils.hpp>
 
+#if defined(_WIN32) && defined(ERROR)
+#pragma push_macro("ERROR")
+#undef ERROR
+#define UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 namespace ublox_node {
 
 //
@@ -256,3 +262,8 @@ void HpgRefProduct::tmode3Diagnostics(
 }
 
 }  // namespace ublox_node
+
+#ifdef UBLOX_GPS_RESTORE_ERROR_MACRO
+#pragma pop_macro("ERROR")
+#undef UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif

ublox_gps/src/hpg_rov_product.cpp

@@ -15,6 +15,12 @@
 #include <ublox_gps/ublox_topic_diagnostic.hpp>
 #include <ublox_gps/utils.hpp>
 
+#if defined(_WIN32) && defined(ERROR)
+#pragma push_macro("ERROR")
+#undef ERROR
+#define UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 namespace ublox_node {
 
 //
@@ -101,3 +107,8 @@ void HpgRovProduct::callbackNavRelPosNed(const ublox_msgs::msg::NavRELPOSNED &m)
 }
 
 }  // namespace ublox_node
+
+#ifdef UBLOX_GPS_RESTORE_ERROR_MACRO
+#pragma pop_macro("ERROR")
+#undef UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif

ublox_gps/src/node.cpp

@@ -73,6 +73,12 @@
 #include <ublox_gps/ublox_firmware8.hpp>
 #include <ublox_gps/ublox_firmware9.hpp>
 
+#if defined(_WIN32) && defined(ERROR)
+#pragma push_macro("ERROR")
+#undef ERROR
+#define UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 namespace ublox_node {
 
 /**
@@ -653,8 +659,8 @@ void UbloxNode::processMonVer() {
     RCLCPP_DEBUG(this->get_logger(), "%s",
                  std::string(monVer.extension[i].field.begin(), monVer.extension[i].field.end()).c_str());
     // Find the end of the string (null character)
-    unsigned char* end = std::find(monVer.extension[i].field.begin(),
-                                   monVer.extension[i].field.end(), '\0');
+    auto end = std::find(
+      monVer.extension[i].field.begin(), monVer.extension[i].field.end(), '\0');
     extensions.emplace_back(std::string(monVer.extension[i].field.begin(), end));
   }
 
@@ -940,4 +946,9 @@ UbloxNode::~UbloxNode() {
 
 }  // namespace ublox_node
 
+#ifdef UBLOX_GPS_RESTORE_ERROR_MACRO
+#pragma pop_macro("ERROR")
+#undef UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 RCLCPP_COMPONENTS_REGISTER_NODE(ublox_node::UbloxNode)

ublox_gps/src/ublox_firmware6.cpp

@@ -22,6 +22,12 @@
 #include <ublox_gps/ublox_firmware6.hpp>
 #include <ublox_gps/utils.hpp>
 
+#if defined(_WIN32) && defined(ERROR)
+#pragma push_macro("ERROR")
+#undef ERROR
+#define UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif
+
 namespace ublox_node {
 
 //
@@ -244,3 +250,8 @@ void UbloxFirmware6::callbackNavSol(const ublox_msgs::msg::NavSOL& m) {
 }
 
 }  // namespace ublox_node
+
+#ifdef UBLOX_GPS_RESTORE_ERROR_MACRO
+#pragma pop_macro("ERROR")
+#undef UBLOX_GPS_RESTORE_ERROR_MACRO
+#endif