Add compatibility with Windows

Author: vdm-dev

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "3rdparty/pthread-win32"]
+	path = 3rdparty/pthread-win32
+	url = https://github.com/GerHobbelt/pthread-win32.git

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__

3rdparty/pthread-win32

@@ -9,15 +9,19 @@ 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)
+
+if(MSVC)
+set(BUILD_SHARED_LIBS OFF)
+endif()
 
 ##
 ## Check C++11 support / enable global pedantic and Wall
 ##
 include(DefineCXX17CompilerFlag)
 DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
 
-add_library(urcl SHARED
+add_library(urcl
     src/comm/tcp_socket.cpp
     src/comm/tcp_server.cpp
     src/control/reverse_interface.cpp
@@ -51,12 +55,24 @@ 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_options(urcl PUBLIC ${CXX17_FLAG})
-if(WITH_ASAN)
-  target_compile_options(urcl PUBLIC -fsanitize=address)
-  target_link_options(urcl PUBLIC -fsanitize=address)
+
+if(MSVC)
+  include_directories(${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/endian)
+  add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/pthread-win32)
+  target_link_libraries(urcl pthreadVCE3)
+  target_link_libraries(urcl ws2_32)
+else()
+  set(CMAKE_CXX_FLAGS "${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_compile_options(urcl PUBLIC ${CXX17_FLAG})
+
 target_include_directories( urcl PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>

CMakeLists.txt

@@ -33,23 +33,26 @@ include(CheckCXXCompilerFlag)
 macro (DEFINE_CXX_17_COMPILER_FLAG _RESULT)
   if(NOT DEFINED "${_RESULT}")
 
-    if(NOT CMAKE_REQUIRED_QUIET)
-      message(STATUS "Performing C++17 Test")
-    endif()
-
-    # Check for default argument (all newer compilers)
-    CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
-    if(COMPILER_SUPPORTS_CXX17)
-      set(${_RESULT} "-std=c++17" CACHE INTERNAL "C++17 flag")
+    if(MSVC AND MSVC_VERSION GREATER 1919)
+      set(${_RESULT} "/std:c++17" CACHE INTERNAL "C++17 flag")
     else()
-      # Check for older version (before 2017)
-      CHECK_CXX_COMPILER_FLAG("-std=c++1z" COMPILER_SUPPORTS_CXX1Z)
-      if(COMPILER_SUPPORTS_CXX1Z)
-	set(${_RESULT} "-std=c++1z" CACHE INTERNAL "C++17 flag")
+      if(NOT CMAKE_REQUIRED_QUIET)
+        message(STATUS "Performing C++17 Test")
+      endif()
+
+      # Check for default argument (all newer compilers)
+      CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
+      if(COMPILER_SUPPORTS_CXX17)
+        set(${_RESULT} "-std=c++17" CACHE INTERNAL "C++17 flag")
       else()
-	message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
+        # Check for older version (before 2017)
+        CHECK_CXX_COMPILER_FLAG("-std=c++1z" COMPILER_SUPPORTS_CXX1Z)
+        if(COMPILER_SUPPORTS_CXX1Z)
+          set(${_RESULT} "-std=c++1z" CACHE INTERNAL "C++17 flag")
+        else()
+          message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
+        endif()
       endif()
     endif()
-
   endif()
 endmacro()

CMakeModules/DefineCXX17CompilerFlag.cmake

@@ -32,11 +32,11 @@
 
 #include <ur_client_library/log.h>
 #include <ur_client_library/ur/dashboard_client.h>
+#include <ur_client_library/comm/socket_t.h>
 
 #include <iostream>
 #include <memory>
 #include <thread>
-#include <unistd.h>
 
 using namespace urcl;
 
@@ -97,7 +97,11 @@ int main(int argc, char* argv[])
     return 1;
   }
 
+#ifdef _WIN32
+  ::Sleep(1000);
+#else // _WIN32
   sleep(1);
+#endif  // _WIN32
 
   // Play loaded program
   if (!my_dashboard->commandPlay())

examples/dashboard_example.cpp

@@ -342,6 +342,7 @@ class Pipeline
     producer_.stopProducer();
     if (pThread_.joinable())
     {
+      printf("Join Thread");
       pThread_.join();
     }
     if (cThread_.joinable())
@@ -396,13 +397,15 @@ class Pipeline
     std::vector<std::unique_ptr<T>> products;
     while (running_)
     {
+      printf("runProducer() is running\n");
       if (!producer_.tryGet(products))
       {
         producer_.teardownProducer();
         running_ = false;
         break;
       }
 
+      printf("runProducer() for loop\n");
       for (auto& p : products)
       {
         if (!queue_.tryEnqueue(std::move(p)))
@@ -413,6 +416,7 @@ class Pipeline
 
       products.clear();
     }
+    printf("runProducer() ended\n");
     URCL_LOG_DEBUG("Pipeline producer ended! <%s>", name_.c_str());
     notifier_.stopped(name_);
   }

include/ur_client_library/comm/pipeline.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/socket_t.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/stream.h

@@ -29,16 +29,15 @@
 #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
@@ -178,25 +177,22 @@ 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