ros-noetic-moveit-ros-warehouse.win.patch

diff --git a/warehouse/include/moveit/warehouse/constraints_storage.h b/warehouse/include/moveit/warehouse/constraints_storage.h
index 337a57dc5..e6dfa9d27 100644
--- a/warehouse/include/moveit/warehouse/constraints_storage.h
+++ b/warehouse/include/moveit/warehouse/constraints_storage.h
@@ -40,6 +40,18 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/Constraints.h>
 
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef moveit_warehouse_EXPORTS // we are building a shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define MOVEIT_WAREHOUSE_DECL
+#endif
+
 namespace moveit_warehouse
 {
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::Constraints>::ConstPtr ConstraintsWithMetadata;
@@ -50,11 +62,11 @@ MOVEIT_CLASS_FORWARD(ConstraintsStorage);
 class ConstraintsStorage : public MoveItMessageStorage
 {
 public:
-  static const std::string DATABASE_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string DATABASE_NAME;
 
-  static const std::string CONSTRAINTS_ID_NAME;
-  static const std::string CONSTRAINTS_GROUP_NAME;
-  static const std::string ROBOT_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string CONSTRAINTS_ID_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string CONSTRAINTS_GROUP_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string ROBOT_NAME;
 
   ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
diff --git a/warehouse/include/moveit/warehouse/planning_scene_storage.h b/warehouse/include/moveit/warehouse/planning_scene_storage.h
index e7899729a..1db257174 100644
--- a/warehouse/include/moveit/warehouse/planning_scene_storage.h
+++ b/warehouse/include/moveit/warehouse/planning_scene_storage.h
@@ -42,6 +42,18 @@
 #include <moveit_msgs/MotionPlanRequest.h>
 #include <moveit_msgs/RobotTrajectory.h>
 
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef moveit_warehouse_EXPORTS // we are building a shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define MOVEIT_WAREHOUSE_DECL
+#endif
+
 namespace moveit_warehouse
 {
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::PlanningScene>::ConstPtr PlanningSceneWithMetadata;
@@ -57,10 +69,10 @@ MOVEIT_CLASS_FORWARD(PlanningSceneStorage);
 class PlanningSceneStorage : public MoveItMessageStorage
 {
 public:
-  static const std::string DATABASE_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string DATABASE_NAME;
 
-  static const std::string PLANNING_SCENE_ID_NAME;
-  static const std::string MOTION_PLAN_REQUEST_ID_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string PLANNING_SCENE_ID_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string MOTION_PLAN_REQUEST_ID_NAME;
 
   PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
diff --git a/warehouse/include/moveit/warehouse/state_storage.h b/warehouse/include/moveit/warehouse/state_storage.h
index e008a5fbd..83f34a01c 100644
--- a/warehouse/include/moveit/warehouse/state_storage.h
+++ b/warehouse/include/moveit/warehouse/state_storage.h
@@ -40,6 +40,18 @@
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/RobotState.h>
 
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef moveit_warehouse_EXPORTS // we are building a shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define MOVEIT_WAREHOUSE_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define MOVEIT_WAREHOUSE_DECL
+#endif
+
 namespace moveit_warehouse
 {
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::RobotState>::ConstPtr RobotStateWithMetadata;
@@ -50,10 +62,10 @@ MOVEIT_CLASS_FORWARD(RobotStateStorage);
 class RobotStateStorage : public MoveItMessageStorage
 {
 public:
-  static const std::string DATABASE_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string DATABASE_NAME;
 
-  static const std::string STATE_NAME;
-  static const std::string ROBOT_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string STATE_NAME;
+  static MOVEIT_WAREHOUSE_DECL const std::string ROBOT_NAME;
 
   RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn);
 
diff --git a/warehouse/src/warehouse_connector.cpp b/warehouse/src/warehouse_connector.cpp
index d15e3cda8..216dfd6a1 100644
--- a/warehouse/src/warehouse_connector.cpp
+++ b/warehouse/src/warehouse_connector.cpp
@@ -36,7 +36,9 @@
 
 #include <sys/types.h>
 #include <signal.h>
+#ifndef WIN32
 #include <unistd.h>
+#endif
 #include <ros/ros.h>
 #include <moveit/warehouse/warehouse_connector.h>
 
@@ -48,12 +50,15 @@ WarehouseConnector::WarehouseConnector(const std::string& dbexec) : dbexec_(dbex
 
 WarehouseConnector::~WarehouseConnector()
 {
+#ifndef WIN32
   if (child_pid_ != 0)
     kill(child_pid_, SIGTERM);
+#endif
 }
 
 bool WarehouseConnector::connectToDatabase(const std::string& dirname)
 {
+#ifndef WIN32
   if (child_pid_ != 0)
     kill(child_pid_, SIGTERM);
 
@@ -98,5 +103,8 @@ bool WarehouseConnector::connectToDatabase(const std::string& dirname)
     ros::WallDuration(1.0).sleep();
   }
   return true;
+#else
+  return false;
+#endif
 }
 }  // namespace moveit_warehouse