Support compilation on Windows (UniversalRobots#229)

This commit makes the ur_client_library compile on windows (with MSVC). This does not mark full Windows support and should be considered an experimental addition. It was tested that everything compiles fine using MSVC and that all examples work as expected. 

---------

Co-authored-by: Felix Exner <[email protected]>

Author: vdm-dev

.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