Added windows support

README.md

@@ -12,6 +12,11 @@ For information about the Design please visit [design](docs/design.md) page.
 ## Requirements
 - [ROS 2](https://docs.ros.org): Rolling/Jazzy/Iron
 
+### Windows
+
+```bash
+choco install -y rust mingw
+```
 
 ## Setup
 

rmw_zenoh_cpp/src/detail/attachment_helpers.cpp

@@ -78,7 +78,7 @@ int64_t get_int64_from_attachment(
 
   errno = 0;
   char * endptr;
-  int64_t num = strtol(int64_str, &endptr, 10);
+  int64_t num = std::strtoll(int64_str, &endptr, 10);
   if (num == 0) {
     // This is an error regardless; the client should never send this
     return -1;

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <array>
 #include <functional>
 #include <memory>
 #include <mutex>
@@ -233,7 +234,7 @@ void GraphCache::handle_matched_events_for_put(
       update_event_counters(
         topic_info.name_,
         ZENOH_EVENT_PUBLICATION_MATCHED,
-        match_count_for_entity);
+        static_cast<int32_t>(match_count_for_entity));
       if (is_entity_local(*entity) && match_count_for_entity > 0) {
         local_entities_with_events[entity].insert(ZENOH_EVENT_PUBLICATION_MATCHED);
       }
@@ -260,7 +261,7 @@ void GraphCache::handle_matched_events_for_put(
       update_event_counters(
         topic_info.name_,
         ZENOH_EVENT_SUBSCRIPTION_MATCHED,
-        match_count_for_entity);
+        static_cast<int32_t>(match_count_for_entity));
       if (is_entity_local(*entity) && match_count_for_entity > 0) {
         local_entities_with_events[entity].insert(ZENOH_EVENT_SUBSCRIPTION_MATCHED);
       }

rmw_zenoh_cpp/src/detail/rmw_client_data.cpp

@@ -473,7 +473,10 @@ rmw_ret_t ClientData::send_request(
   // capture shared_from_this() instead of this.
   num_in_flight_++;
   z_owned_closure_reply_t zn_closure_reply =
-    z_closure(client_data_handler, client_data_drop, this);
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_reply_t, z_owned_reply_t>(
+      static_cast<void *>(this),
+      &client_data_handler,
+      client_data_drop);
   z_get(
     context_impl->session(),
     z_loan(keyexpr_), "",

rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

@@ -33,6 +33,7 @@
 #include "rmw_node_data.hpp"
 #include "zenoh_config.hpp"
 #include "zenoh_router_check.hpp"
+#include "zenoh_utils.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 #include "rmw/error_handling.h"
@@ -78,11 +79,11 @@ class rmw_context_impl_s::Data final
     }
 
     // Check if shm is enabled.
-    z_owned_str_t shm_enabled = zc_config_get(z_loan(config), "transport/shared_memory/enabled");
-    auto always_free_shm_enabled = rcpputils::make_scope_exit(
-      [&shm_enabled]() {
-        z_drop(z_move(shm_enabled));
-      });
+    // z_owned_str_t shm_enabled = zc_config_get(z_loan(config), "transport/shared_memory/enabled");
+    // auto always_free_shm_enabled = rcpputils::make_scope_exit(
+    //   [&shm_enabled]() {
+    //     z_drop(z_move(shm_enabled));
+    //   });
 
     // Initialize the zenoh session.
     session_ = z_open(z_move(config));
@@ -164,34 +165,35 @@ class rmw_context_impl_s::Data final
 
     // Initialize the shm manager if shared_memory is enabled in the config.
     shm_manager_ = std::nullopt;
-    if (shm_enabled._cstr != nullptr &&
-      strcmp(shm_enabled._cstr, "true") == 0)
-    {
-      char idstr[sizeof(zid.id) * 2 + 1];  // 2 bytes for each byte of the id, plus the trailing \0
-      static constexpr size_t max_size_of_each = 3;  // 2 for each byte, plus the trailing \0
-      for (size_t i = 0; i < sizeof(zid.id); ++i) {
-        snprintf(idstr + 2 * i, max_size_of_each, "%02x", zid.id[i]);
-      }
-      idstr[sizeof(zid.id) * 2] = '\0';
-      // TODO(yadunund): Can we get the size of the shm from the config even though it's not
-      // a standard parameter?
-      shm_manager_ =
-        zc_shm_manager_new(
-        z_loan(session_),
-        idstr,
-        SHM_BUFFER_SIZE_MB * 1024 * 1024);
-      if (!shm_manager_.has_value() ||
-        !zc_shm_manager_check(&shm_manager_.value()))
-      {
-        throw std::runtime_error("Unable to create shm manager.");
-      }
-    }
-    auto free_shm_manager = rcpputils::make_scope_exit(
-      [this]() {
-        if (shm_manager_.has_value()) {
-          z_drop(z_move(shm_manager_.value()));
-        }
-      });
+    // if (shm_enabled._cstr != nullptr &&
+    //   strcmp(shm_enabled._cstr, "true") == 0)
+    // {
+    //   // 2 bytes for each byte of the id, plus the trailing \0
+    //   char idstr[sizeof(zid.id) * 2 + 1];
+    //   static constexpr size_t max_size_of_each = 3;  // 2 for each byte, plus the trailing \0
+    //   for (size_t i = 0; i < sizeof(zid.id); ++i) {
+    //     snprintf(idstr + 2 * i, max_size_of_each, "%02x", zid.id[i]);
+    //   }
+    //   idstr[sizeof(zid.id) * 2] = '\0';
+    //   // TODO(yadunund): Can we get the size of the shm from the config even though it's not
+    //   // a standard parameter?
+    //   shm_manager_ =
+    //     zc_shm_manager_new(
+    //     z_loan(session_),
+    //     idstr,
+    //     SHM_BUFFER_SIZE_MB * 1024 * 1024);
+    //   if (!shm_manager_.has_value() ||
+    //     !zc_shm_manager_check(&shm_manager_.value()))
+    //   {
+    //     throw std::runtime_error("Unable to create shm manager.");
+    //   }
+    // }
+    // auto free_shm_manager = rcpputils::make_scope_exit(
+    //   [this]() {
+    //     if (shm_manager_.has_value()) {
+    //       z_drop(z_move(shm_manager_.value()));
+    //     }
+    //   });
 
     graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
     graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
@@ -200,8 +202,11 @@ class rmw_context_impl_s::Data final
     // Setup the liveliness subscriber to receives updates from the ROS graph
     // and update the graph cache.
     auto sub_options = zc_liveliness_subscriber_options_null();
-    z_owned_closure_sample_t callback = z_closure(
-      graph_sub_data_handler, nullptr, this);
+    z_owned_closure_sample_t callback =
+      rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+        static_cast<void *>(this),
+        graph_sub_data_handler,
+        nullptr);
     graph_subscriber_ = zc_liveliness_declare_subscriber(
       z_loan(session_),
       z_keyexpr(liveliness_str.c_str()),
@@ -218,7 +223,7 @@ class rmw_context_impl_s::Data final
     }
 
     close_session.cancel();
-    free_shm_manager.cancel();
+    // free_shm_manager.cancel();
     undeclare_z_sub.cancel();
   }
 

rmw_zenoh_cpp/src/detail/rmw_service_data.cpp

@@ -36,6 +36,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "zenoh_utils.hpp"
+
 namespace rmw_zenoh_cpp
 {
 ///==============================================================================
@@ -160,7 +162,11 @@ std::shared_ptr<ServiceData> ServiceData::make(
 
   // TODO(Yadunund): Instead of passing a rawptr, rely on capturing weak_ptr<ServiceData>
   // in the closure callback once we switch to zenoh-cpp.
-  z_owned_closure_query_t callback = z_closure(service_data_handler, nullptr, service_data.get());
+  z_owned_closure_query_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_query_t, const z_query_t>(
+      static_cast<void *>(service_data.get()),
+      &rmw_zenoh_cpp::service_data_handler,
+      nullptr);
   service_data->keyexpr_ =
     z_keyexpr_new(service_data->entity_->topic_info().value().topic_keyexpr_.c_str());
   auto free_ros_keyexpr = rcpputils::make_scope_exit(
@@ -325,14 +331,14 @@ rmw_ret_t ServiceData::take_request(
   request_header->request_id.sequence_number =
     get_int64_from_attachment(&attachment, "sequence_number");
   if (request_header->request_id.sequence_number < 0) {
-    RMW_SET_ERROR_MSG("Failed to get sequence_number from client call attachment");
+    RMW_SET_ERROR_MSG("Failed to get sequence_number from service call attachment");
     return RMW_RET_ERROR;
   }
   request_header->source_timestamp = get_int64_from_attachment(
     &attachment,
     "source_timestamp");
   if (request_header->source_timestamp < 0) {
-    RMW_SET_ERROR_MSG("Failed to get source_timestamp from client call attachment");
+    RMW_SET_ERROR_MSG("Failed to get source_timestamp from service call attachment");
     return RMW_RET_ERROR;
   }
   if (!get_gid_from_attachment(

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -38,6 +38,8 @@
 #include "rmw/get_topic_endpoint_info.h"
 #include "rmw/impl/cpp/macros.hpp"
 
+#include "zenoh_utils.hpp"
+
 namespace rmw_zenoh_cpp
 {
 namespace
@@ -224,7 +226,9 @@ bool SubscriptionData::init()
 {
   // TODO(Yadunund): Instead of passing a rawptr, rely on capturing weak_ptr<SubscriptionData>
   // in the closure callback once we switch to zenoh-cpp.
-  z_owned_closure_sample_t callback = z_closure(sub_data_handler, nullptr, this);
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(this), sub_data_handler, nullptr);
   z_owned_keyexpr_t keyexpr =
     z_keyexpr_new(entity_->topic_info()->topic_keyexpr_.c_str());
   auto always_free_ros_keyexpr = rcpputils::make_scope_exit(

rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp

@@ -23,26 +23,34 @@
 #include "logging_macros.hpp"
 #include "liveliness_utils.hpp"
 
+#include "zenoh_utils.hpp"
+
 namespace rmw_zenoh_cpp
 {
+
+// Define callback
+void callback_id(const struct z_id_t * id, void * ctx)
+{
+  const std::string id_str = liveliness::zid_to_str(*id);
+  RMW_ZENOH_LOG_INFO_NAMED(
+    "rmw_zenoh_cpp",
+    "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
+  // Note: Callback is guaranteed to never be called
+  // concurrently according to z_info_routers_zid docstring
+  (*(static_cast<int *>(ctx)))++;
+}
+
 ///=============================================================================
 rmw_ret_t zenoh_router_check(z_session_t session)
 {
   // Initialize context for callback
   int context = 0;
 
-  // Define callback
-  auto callback = [](const struct z_id_t * id, void * ctx) {
-      const std::string id_str = liveliness::zid_to_str(*id);
-      RMW_ZENOH_LOG_INFO_NAMED(
-        "rmw_zenoh_cpp",
-        "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
-      // Note: Callback is guaranteed to never be called
-      // concurrently according to z_info_routers_zid docstring
-      (*(static_cast<int *>(ctx)))++;
-    };
-
-  z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
+  z_owned_closure_zid_t router_callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_zid_t, const z_id_t>(
+      static_cast<void *>(&context),
+      &callback_id,
+      nullptr);
   if (z_info_routers_zid(session, z_move(router_callback))) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",

rmw_zenoh_cpp/src/detail/zenoh_utils.hpp

@@ -68,6 +68,17 @@ class ZenohQuery final
   z_owned_query_t query_;
   std::chrono::nanoseconds::rep received_timestamp_;
 };
+
+///=============================================================================
+template<typename T, typename H>
+T make_z_closure(void * context, void (* call)(H *, void *), void (* drop)(void *))
+{
+  T closure;
+  closure.context = context;
+  closure.call = call;
+  closure.drop = drop;
+  return closure;
+}
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__ZENOH_UTILS_HPP_

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -89,7 +89,7 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   // If not already defined, set the logging environment variable for Zenoh sessions
   // to warning level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
+  if (!rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0)) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return RMW_RET_ERROR;
   }

rmw_zenoh_cpp/src/zenohd/main.cpp

@@ -30,6 +30,7 @@
 #include "../detail/zenoh_config.hpp"
 #include "../detail/liveliness_utils.hpp"
 
+#include "rcutils/env.h"
 #include "rmw/error_handling.h"
 
 #include "rcpputils/scope_exit.hpp"
@@ -63,7 +64,7 @@ int main(int argc, char ** argv)
   // If not already defined, set the logging environment variable for Zenoh router
   // to info level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
+  if (!rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0)) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return 1;
   }