Feature/rdk 4115/windows port

.github/workflows/win-build.yml

@@ -0,0 +1,22 @@
+name: Windows build and tests
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  win-build:
+    timeout-minutes: 30
+    runs-on: windows-2022
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: configure
+        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1
+        #run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1
+      - name: build
+        run: cmake --build build --config Debug
+      - name: test
+        run: cd build && ctest --output-on-failure -C Debug

3rdparty/endian/endian.h

@@ -0,0 +1,103 @@
+//
+// endian.h
+//
+// https://gist.github.com/panzi/6856583
+//
+// I, Mathias Panzenböck, place this file hereby into the public domain. Use
+// it at your own risk for whatever you like. In case there are
+// jurisdictions that don't support putting things in the public domain you
+// can also consider it to be "dual licensed" under the BSD, MIT and Apache
+// licenses, if you want to. This code is trivial anyway. Consider it an
+// example on how to get the endian conversion functions on different
+// platforms.
+
+#ifndef PORTABLE_ENDIAN_H__
+#define PORTABLE_ENDIAN_H__
+
+// Byte order
+#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__CYGWIN__)
+#  include <endian.h>
+#elif defined(__APPLE__)
+#  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)
+
+#  define __BYTE_ORDER BYTE_ORDER
+#  define __BIG_ENDIAN BIG_ENDIAN
+#  define __LITTLE_ENDIAN LITTLE_ENDIAN
+#  define __PDP_ENDIAN PDP_ENDIAN
+#elif defined(__OpenBSD__)
+#  include <sys/endian.h>
+#elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
+#  include <sys/endian.h>
+
+#  define be16toh(x) betoh16(x)
+#  define le16toh(x) letoh16(x)
+
+#  define be32toh(x) betoh32(x)
+#  define le32toh(x) letoh32(x)
+
+#  define be64toh(x) betoh64(x)
+#  define le64toh(x) letoh64(x)
+#elif defined(_WIN32)
+#  include <stdlib.h>
+#  if BYTE_ORDER == LITTLE_ENDIAN
+#    if defined(_MSC_VER)
+#      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 Compiler is not supported
+#    endif
+#  else
+#    error Byte order is not supported
+#  endif
+
+#  define __BYTE_ORDER BYTE_ORDER
+#  define __BIG_ENDIAN BIG_ENDIAN
+#  define __LITTLE_ENDIAN LITTLE_ENDIAN
+#  define __PDP_ENDIAN PDP_ENDIAN
+#else
+#  error Platform is not supported
+#endif
+
+#endif  // PORTABLE_ENDIAN_H__

CMakeLists.txt

@@ -7,8 +7,14 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 endif()
 
 option(WITH_ASAN "Compile with address sanitizer support" OFF)
+option(BUILD_SHARED_LIBS "Build using shared libraries" ON)
 
-add_library(urcl SHARED
+if(MSVC)
+set(BUILD_SHARED_LIBS OFF)
+endif()
+
+
+add_library(urcl
     src/comm/tcp_socket.cpp
     src/comm/tcp_server.cpp
     src/control/reverse_interface.cpp
@@ -46,12 +52,21 @@ add_library(urcl SHARED
     src/helpers.cpp
 )
 add_library(ur_client_library::urcl ALIAS urcl)
-target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
 target_compile_features(urcl PUBLIC cxx_std_17)
-if(WITH_ASAN)
-  target_compile_options(urcl PUBLIC -fsanitize=address)
-  target_link_options(urcl PUBLIC -fsanitize=address)
+
+if(MSVC)
+  include_directories(${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/endian)
+  target_link_libraries(urcl ws2_32)
+else()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
+  target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
+
+  if(WITH_ASAN)
+    target_compile_options(urcl PUBLIC -fsanitize=address)
+    target_link_options(urcl PUBLIC -fsanitize=address)
+  endif()
 endif()
+
 target_include_directories( urcl PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>

examples/dashboard_example.cpp

@@ -33,10 +33,8 @@
 #include <ur_client_library/log.h>
 #include <ur_client_library/ur/dashboard_client.h>
 
-#include <iostream>
 #include <memory>
 #include <thread>
-#include <unistd.h>
 
 using namespace urcl;
 
@@ -100,7 +98,7 @@ int main(int argc, char* argv[])
     return 1;
   }
 
-  sleep(1);
+  std::this_thread::sleep_for(std::chrono::seconds(1));
 
   // Play loaded program
   if (!my_dashboard->commandPlay())

include/ur_client_library/comm/socket_t.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright 2024, RoboDK Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#ifdef _WIN32
+
+#  define NOMINMAX
+#  define WIN32_LEAN_AND_MEAN
+#  include <WinSock2.h>
+#  include <ws2tcpip.h>
+
+#  ifndef TCP_QUICKACK
+#    define TCP_QUICKACK 12
+#  endif
+
+#  ifdef ERROR
+#    undef ERROR
+#  endif  // ERROR
+
+typedef SOCKET socket_t;
+typedef SSIZE_T ssize_t;
+
+static inline int ur_setsockopt(socket_t s, int level, int optname, const void* optval, unsigned int optlen)
+{
+  return ::setsockopt(s, level, optname, reinterpret_cast<const char*>(optval), static_cast<int>(optlen));
+}
+
+static inline int ur_close(socket_t s)
+{
+  return ::closesocket(s);
+}
+
+#else  // _WIN32
+
+#  include <netdb.h>
+#  include <sys/socket.h>
+#  include <sys/types.h>
+#  include <unistd.h>
+
+typedef int socket_t;
+
+#  ifndef INVALID_SOCKET
+#    define INVALID_SOCKET (-1)
+#  endif
+
+#  define ur_setsockopt setsockopt
+#  define ur_close close
+
+#endif  //  _WIN32

include/ur_client_library/comm/stream.h

@@ -19,9 +19,6 @@
  */
 
 #pragma once
-#include <netdb.h>
-#include <sys/socket.h>
-#include <sys/types.h>
 #include <atomic>
 #include <chrono>
 #include <mutex>

include/ur_client_library/comm/tcp_server.h

@@ -29,16 +29,13 @@
 #ifndef UR_CLIENT_LIBRARY_TCP_SERVER_H_INCLUDED
 #define UR_CLIENT_LIBRARY_TCP_SERVER_H_INCLUDED
 
-#include <netdb.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include <atomic>
 #include <chrono>
 #include <functional>
 #include <thread>
 
+#include "ur_client_library/comm/socket_t.h"
+
 namespace urcl
 {
 namespace comm
@@ -80,7 +77,7 @@ class TCPServer
    * \param func Function handling the event information. The file descriptor created by the
    * connection event will be passed to the function.
    */
-  void setConnectCallback(std::function<void(const int)> func)
+  void setConnectCallback(std::function<void(const socket_t)> func)
   {
     new_connection_callback_ = func;
   }
@@ -91,7 +88,7 @@ class TCPServer
    * \param func Function handling the event information. The file descriptor created by the
    * connection event will be passed to the function.
    */
-  void setDisconnectCallback(std::function<void(const int)> func)
+  void setDisconnectCallback(std::function<void(const socket_t)> func)
   {
     disconnect_callback_ = func;
   }
@@ -102,7 +99,7 @@ class TCPServer
    * \param func Function handling the event information. The file client's file_descriptor will be
    * passed to the function as well as the actual message received from the client.
    */
-  void setMessageCallback(std::function<void(const int, char*, int)> func)
+  void setMessageCallback(std::function<void(const socket_t, char*, int)> func)
   {
     message_callback_ = func;
   }
@@ -133,7 +130,7 @@ class TCPServer
    *
    * \returns True on success, false otherwise
    */
-  bool write(const int fd, const uint8_t* buf, const size_t buf_len, size_t& written);
+  bool write(const socket_t fd, const uint8_t* buf, const size_t buf_len, size_t& written);
 
   /*!
    * \brief Get the maximum number of clients allowed to connect to this server
@@ -164,10 +161,10 @@ class TCPServer
   //! Handles connection events
   void handleConnect();
 
-  void handleDisconnect(const int fd);
+  void handleDisconnect(const socket_t fd);
 
   //! read data from socket
-  void readData(const int fd);
+  void readData(const socket_t fd);
 
   //! Event handler. Blocks until activity on any client or connection attempt
   void spin();
@@ -178,25 +175,22 @@ class TCPServer
   std::atomic<bool> keep_running_;
   std::thread worker_thread_;
 
-  std::atomic<int> listen_fd_;
+  std::atomic<socket_t> listen_fd_;
   int port_;
 
-  int maxfd_;
+  socket_t maxfd_;
   fd_set masterfds_;
   fd_set tempfds_;
 
   uint32_t max_clients_allowed_;
-  std::vector<int> client_fds_;
-
-  // Pipe for the self-pipe trick (https://cr.yp.to/docs/selfpipe.html)
-  int self_pipe_[2];
+  std::vector<socket_t> client_fds_;
 
   static const int INPUT_BUFFER_SIZE = 100;
   char input_buffer_[INPUT_BUFFER_SIZE];
 
-  std::function<void(const int)> new_connection_callback_;
-  std::function<void(const int)> disconnect_callback_;
-  std::function<void(const int, char* buffer, int nbytesrecv)> message_callback_;
+  std::function<void(const socket_t)> new_connection_callback_;
+  std::function<void(const socket_t)> disconnect_callback_;
+  std::function<void(const socket_t, char* buffer, int nbytesrecv)> message_callback_;
 };
 
 }  // namespace comm