fix compilation with WIN32_LEAN_AND_MEAN

.github/workflows/colcon-workspace.yml

@@ -1,18 +1,24 @@
-name: colcon workspace
+name: ROS workspace CI
 
 on: [push, pull_request]
 
 jobs:
   # build on Ubuntu docker images
   build_linux:
-    name: "Ubuntu (${{ matrix.ros_distribution }})"
+    name: Ubuntu (${{ matrix.ros_distribution }}, ${{ matrix.config }})
 
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
-        ros_distribution: [noetic, humble]
+        ros_distribution: [melodic, noetic, humble]
+        config: ["default"] # nice name
+        cmake_args: ['[ ]'] # empty list of options
         include:
+          - docker_image: ubuntu:18.04
+            ros_distribution: melodic
+            ros_version: 1
+
           - docker_image: ubuntu:20.04
             ros_distribution: noetic
             ros_version: 1
@@ -21,6 +27,13 @@ jobs:
             ros_distribution: humble
             ros_version: 2
 
+          # build static library, this will set BUILD_PYTHON_WRAPPER to OFF
+          - docker_image: ubuntu:22.04
+            ros_distribution: humble
+            ros_version: 2
+            config: "static"
+            cmake_args: '[ "-DBUILD_SHARED_LIBS=OFF" ]'
+
     container:
       image: ${{ matrix.docker_image }}
 
@@ -30,29 +43,37 @@ jobs:
           apt update
           apt install --no-install-recommends -y git ca-certificates
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v3
+        #with:
+        #  submodules: recursive
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.7
+        uses: ros-tooling/setup-ros@v0.4
 
       - name: ROS 1 CI Action
         if: ${{ matrix.ros_version == 1 }}
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": ${{ matrix.cmake_args }}
+              }
+            }
 
 
   # build on Windows native
   build_windows:
-    name: "Windows (${{ matrix.ros_distribution }})"
+    name: Windows (${{ matrix.ros_distribution }})
 
     runs-on: windows-2019
 
@@ -67,51 +88,66 @@ jobs:
             ros_version: 2
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v3
         with:
           submodules: recursive
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.7
+        uses: ros-tooling/setup-ros@v0.4
 
       - name: ROS 1 CI Action
         if: ${{ matrix.ros_version == 1 }}
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF", "-DCMAKE_CXX_FLAGS='/DWIN32_MEAN_AND_LEAN'" ]
+              }
+            }
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF", "-DCMAKE_CXX_FLAGS='/DWIN32_MEAN_AND_LEAN'" ]
+              }
+            }
 
   # build on macOS native
   build_macos:
-    name: "macOS (${{ matrix.ros_distribution }})"
+    name: macOS (${{ matrix.ros_distribution }})
 
     runs-on: macos-latest
 
     strategy:
+      fail-fast: false
       matrix:
         ros_distribution: [humble]
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v3
         with:
           submodules: recursive
 
-      - uses: actions/setup-python@v4
-        with:
-          python-version: "3.10"
-
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.7
+        uses: ros-tooling/setup-ros@v0.4
 
       - name: ROS 2 CI Action
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
+          colcon-defaults: |
+            {
+              "build": {
+                "cmake-args": [ "-DBUILD_PYTHON_WRAPPER=OFF" ]
+              }
+            }

common/time_util.h

@@ -32,7 +32,7 @@ either expressed or implied, of the Regents of The University of Michigan.
 #include <time.h>
 
 #ifdef _WIN32
-#include <windows.h>
+#include <Winsock2.h>
 typedef long long suseconds_t;
 #endif