ros-noetic-mavlink.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bd600b66..a4d62000 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,23 +17,7 @@ include(GNUInstallDirs)
 # hack from urdfdom: by default this would be 'lib/x86_64-linux-gnu'
 set(CMAKE_INSTALL_LIBDIR lib)
 
-if (DEFINED ENV{ROS_PYTHON_VERSION})
-    set(Py_VERSION $ENV{ROS_PYTHON_VERSION})
-else()
-    message(WARNING "ENV ROS_PYTHON_VERSION is not set. Use default: 2")
-    set(Py_VERSION "2")
-endif()
-
-if (NOT CMAKE_VERSION VERSION_LESS "3.12")
-    find_package(Python${Py_VERSION} COMPONENTS Interpreter)
-    set(Python_EXECUTABLE "${Python${Py_VERSION}_EXECUTABLE}")
-else()
-    # find libraries with cmake modules
-    find_package(PythonInterp ${Py_VERSION} REQUIRED)
-    set(Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
-endif()
-
-message(STATUS "Python ${Py_VERSION} iterpretator: ${Python_EXECUTABLE}")
+message(STATUS "Python iterpretator: ${PYTHON_EXECUTABLE}")
 
 # Try to read package version from package.xml
 if(EXISTS ${CMAKE_SOURCE_DIR}/package.xml)
@@ -50,7 +34,7 @@ if(EXISTS ${CMAKE_SOURCE_DIR}/package.xml)
         )
 
     execute_process(
-        COMMAND ${Python_EXECUTABLE} ${CMAKE_BINARY_DIR}/package_version.py
+        COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_BINARY_DIR}/package_version.py
         OUTPUT_VARIABLE XML_VERSION
         RESULT_VARIABLE XML_RESULT
         )
@@ -77,8 +61,7 @@ macro(generateMavlink_v10 definitions)
         message(STATUS "processing v1.0: ${definitionAbsPath}")
         add_custom_command(
             OUTPUT include/v1.0/${definition}/${definition}.h
-            COMMAND /usr/bin/env PYTHONPATH="${CMAKE_SOURCE_DIR}:$ENV{PYTHONPATH}"
-                ${Python_EXECUTABLE} ${mavgen_path} --lang=C --wire-protocol=1.0
+            COMMAND ${PYTHON_EXECUTABLE} ${mavgen_path} --lang=C --wire-protocol=1.0
                 --output=include/v1.0 ${definitionAbsPath}
             DEPENDS ${definitionAbsPath} ${common_xml_path} ${mavgen_path}
             )
@@ -96,8 +79,7 @@ macro(generateMavlink_v20 definitions)
         add_custom_command(
             OUTPUT ${definition}-v2.0-cxx-stamp
             #OUTPUT include/v2.0/${definition}/${definition}.hpp
-            COMMAND /usr/bin/env PYTHONPATH="${CMAKE_SOURCE_DIR}:$ENV{PYTHONPATH}"
-                ${Python_EXECUTABLE} ${mavgen_path} --lang=C++11 --wire-protocol=2.0
+            COMMAND ${PYTHON_EXECUTABLE} ${mavgen_path} --lang=C++11 --wire-protocol=2.0
                 --output=include/v2.0 ${definitionAbsPath}
             COMMAND touch ${definition}-v2.0-cxx-stamp
             DEPENDS ${definitionAbsPath} ${common_xml_path} ${mavgen_path}
diff --git a/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp b/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
index a3956aa2..34d7d287 100644
--- a/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
+++ b/pymavlink/generator/CPP11/include_v2.0/msgmap.hpp
@@ -2,10 +2,93 @@
 #pragma once
 
 #include <algorithm>
+
+#if defined(_MSC_VER)
+#include <BaseTsd.h>
+typedef SSIZE_T ssize_t;
+#endif
+
+#if (defined(_WIN16) || defined(_WIN32) || defined(_WIN64)) && !defined(__WINDOWS__)
+
+#      define __WINDOWS__
+
+#endif
+
 #ifdef FREEBSD
 #include <sys/endian.h>
 #elif __APPLE__
-#include <machine/endian.h>
+  #include <machine/endian.h>
+
+  #include <libkern/OSByteOrder.h>
+
+  #define htobe16(x) OSSwapHostToBigInt16(x)
+  #define htole16(x) OSSwapHostToLittleInt16(x)
+  #define be16toh(x) OSSwapBigToHostInt16(x)
+  #define le16toh(x) OSSwapLittleToHostInt16(x)
+
+  #define htobe32(x) OSSwapHostToBigInt32(x)
+  #define htole32(x) OSSwapHostToLittleInt32(x)
+  #define be32toh(x) OSSwapBigToHostInt32(x)
+  #define le32toh(x) OSSwapLittleToHostInt32(x)
+
+  #define htobe64(x) OSSwapHostToBigInt64(x)
+  #define htole64(x) OSSwapHostToLittleInt64(x)
+  #define be64toh(x) OSSwapBigToHostInt64(x)
+  #define le64toh(x) OSSwapLittleToHostInt64(x)
+  #undef TRUE
+  #undef FALSE
+#elif defined(__WINDOWS__)
+
+#      include <windows.h>
+#      if BYTE_ORDER == LITTLE_ENDIAN
+
+#               if defined(_MSC_VER)
+#                       include <stdlib.h>
+#                      define htobe16(x) _byteswap_ushort(x)
+#                      define htole16(x) (x)
+#                      define be16toh(x) _byteswap_ushort(x)
+#                      define le16toh(x) (x)
+
+#                      define htobe32(x) _byteswap_ulong(x)
+#                      define htole32(x) (x)
+#                      define be32toh(x) _byteswap_ulong(x)
+#                      define le32toh(x) (x)
+
+#                      define htobe64(x) _byteswap_uint64(x)
+#                      define htole64(x) (x)
+#                      define be64toh(x) _byteswap_uint64(x)
+#                      define le64toh(x) (x)
+
+#               elif defined(__GNUC__) || defined(__clang__)
+
+#                      define htobe16(x) __builtin_bswap16(x)
+#                      define htole16(x) (x)
+#                      define be16toh(x) __builtin_bswap16(x)
+#                      define le16toh(x) (x)
+
+#                      define htobe32(x) __builtin_bswap32(x)
+#                      define htole32(x) (x)
+#                      define be32toh(x) __builtin_bswap32(x)
+#                      define le32toh(x) (x)
+
+#                      define htobe64(x) __builtin_bswap64(x)
+#                      define htole64(x) (x)
+#                      define be64toh(x) __builtin_bswap64(x)
+#                      define le64toh(x) (x)
+#               else
+#                       error platform not supported
+#               endif
+
+#      else
+
+#              error byte order not supported
+
+#      endif
+
+#      define __BYTE_ORDER    BYTE_ORDER
+#      define __BIG_ENDIAN    BIG_ENDIAN
+#      define __LITTLE_ENDIAN LITTLE_ENDIAN
+#      define __PDP_ENDIAN    PDP_ENDIAN
 #else
 #include <endian.h>
 #endif
diff --git a/pymavlink/generator/mavgen_cpp11.py b/pymavlink/generator/mavgen_cpp11.py
index aaeb5f5a..c2e94e2b 100644
--- a/pymavlink/generator/mavgen_cpp11.py
+++ b/pymavlink/generator/mavgen_cpp11.py
@@ -67,6 +67,16 @@ def generate_main_hpp(directory, xml):
 
 #include "../message.hpp"
 
+#ifdef ERROR
+#undef ERROR
+#endif
+#ifdef TRUE
+#undef TRUE
+#endif
+#ifdef FALSE
+#undef FALSE
+#endif
+
 namespace mavlink {
 namespace ${basename} {
 
@@ -97,6 +107,11 @@ constexpr auto ${enum_end_name} = ${enum_end_value};
 } // namespace ${basename}
 } // namespace mavlink
 
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#define FALSE 0
+#define TRUE 1
+#endif
+
 // MESSAGE DEFINITIONS
 ${{message:#include "./mavlink_msg_${name_lower}.hpp"
 }}