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add ublox gps win patch
Signed-off-by: wep21 <[email protected]>
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‎patch/ros-jazzy-ublox-gps.win.patch‎

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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 5a9fdf1..3122dd8 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -64,6 +64,8 @@ target_link_libraries(ublox_gps PUBLIC
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ublox_serialization::ublox_serialization
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)
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+target_compile_definitions(ublox_gps PRIVATE _USE_MATH_DEFINES)
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+
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install(TARGETS ublox_gps EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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diff --git a/include/ublox_gps/ublox_firmware7plus.hpp b/include/ublox_gps/ublox_firmware7plus.hpp
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index 84ffe7a..1b8043d 100644
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--- a/include/ublox_gps/ublox_firmware7plus.hpp
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+++ b/include/ublox_gps/ublox_firmware7plus.hpp
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@@ -175,7 +175,17 @@ class UbloxFirmware7Plus : public UbloxFirmware {
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}
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// Raise diagnostic level to error if no fix
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if (last_nav_pvt_.fix_type == ublox_msgs::msg::NavPVT::FIX_TYPE_NO_FIX) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "No fix";
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}
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diff --git a/src/gps.cpp b/src/gps.cpp
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index e71377d..9e91478 100644
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--- a/src/gps.cpp
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+++ b/src/gps.cpp
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@@ -138,12 +138,6 @@ void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
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RCLCPP_INFO(logger_, "U-Blox: Opened serial port %s", port.c_str());
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- int fd = serial->native_handle();
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- termios tio{};
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- tcgetattr(fd, &tio);
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- cfmakeraw(&tio);
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- tcsetattr(fd, TCSANOW, &tio);
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-
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// Set the I/O worker
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if (worker_) {
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return;
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diff --git a/src/hpg_ref_product.cpp b/src/hpg_ref_product.cpp
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index b12caaf..62c61b4 100644
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--- a/src/hpg_ref_product.cpp
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+++ b/src/hpg_ref_product.cpp
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@@ -224,7 +224,17 @@ void HpgRefProduct::tmode3Diagnostics(
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stat.message = "Disabled";
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} else if (mode_ == SURVEY_IN) {
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if (!last_nav_svin_.active && !last_nav_svin_.valid) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "Survey-In inactive and invalid";
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} else if (last_nav_svin_.active && !last_nav_svin_.valid) {
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
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diff --git a/src/hpg_rov_product.cpp b/src/hpg_rov_product.cpp
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index 7b524d5..b08a862 100644
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--- a/src/hpg_rov_product.cpp
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+++ b/src/hpg_rov_product.cpp
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@@ -65,7 +65,17 @@ void HpgRovProduct::carrierPhaseDiagnostics(
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if (carr_soln & ublox_msgs::msg::NavRELPOSNED::FLAGS_CARR_SOLN_NONE ||
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!(last_rel_pos_.flags & ublox_msgs::msg::NavRELPOSNED::FLAGS_DIFF_SOLN &&
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last_rel_pos_.flags & ublox_msgs::msg::NavRELPOSNED::FLAGS_REL_POS_VALID)) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "None";
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} else {
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if (carr_soln & ublox_msgs::msg::NavRELPOSNED::FLAGS_CARR_SOLN_FLOAT) {
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diff --git a/src/node.cpp b/src/node.cpp
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index 23f5172..2c7e499 100644
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--- a/src/node.cpp
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+++ b/src/node.cpp
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@@ -506,7 +506,17 @@ void UbloxNode::pollMessages() {
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}
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void UbloxNode::printInf(const ublox_msgs::msg::Inf &m, uint8_t id) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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if (id == ublox_msgs::Message::INF::ERROR) {
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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RCLCPP_ERROR(this->get_logger(), "INF: %s", std::string(m.str.begin(), m.str.end()).c_str());
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} else if (id == ublox_msgs::Message::INF::WARNING) {
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RCLCPP_WARN(this->get_logger(), "INF: %s", std::string(m.str.begin(), m.str.end()).c_str());
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@@ -546,10 +556,20 @@ void UbloxNode::subscribe() {
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}
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if (getRosBoolean(this, "inf.error")) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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gps_->subscribeId<ublox_msgs::msg::Inf>(
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std::bind(&UbloxNode::printInf, this, std::placeholders::_1,
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ublox_msgs::Message::INF::ERROR),
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ublox_msgs::Message::INF::ERROR);
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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}
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if (getRosBoolean(this, "inf.notice")) {
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diff --git a/src/ublox_firmware6.cpp b/src/ublox_firmware6.cpp
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index 0bb7f3b..24046c5 100644
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--- a/src/ublox_firmware6.cpp
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+++ b/src/ublox_firmware6.cpp
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@@ -151,7 +151,17 @@ void UbloxFirmware6::fixDiagnostic(
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}
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// Raise diagnostic level to error if no fix
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if (last_nav_sol_.gps_fix == ublox_msgs::msg::NavSOL::GPS_NO_FIX) {
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+#if defined(_WIN32)
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+# if defined(ERROR)
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+# pragma push_macro("ERROR")
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+# undef ERROR
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+# endif
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+#endif
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stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
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+#if defined(_WIN32)
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+# pragma warning(suppress : 4602)
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+# pragma pop_macro("ERROR")
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+#endif
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stat.message = "No fix";
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}
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