Merge remote-tracking branch 'origin/development' into hotfix/deploy-…

…package
MissouriMRDT · Sep 23, 2024 · 90c24d9 · 90c24d9
2 parents 0e8055f + 28022f7
commit 90c24d9
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diff --git a/.devcontainer/Dockerfile_Jammy b/.devcontainer/Dockerfile_Jammy
@@ -36,7 +36,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     yasm libatlas-base-dev gfortran libpq-dev libavutil-dev libpostproc-dev \
     libxine2-dev libglew-dev libtiff5-dev zlib1g-dev cowsay locales \
     libeigen3-dev python3-dev python3-pip python3-numpy libx11-dev \
-    libboost-all-dev valgrind doxygen graphviz htop nano fortune fortunes
+    libboost-all-dev valgrind doxygen graphviz htop nano fortune fortunes mingw-w64
 
 # Install Required Python Packages
 RUN python3 -m pip install numpy opencv-python pyopengl
@@ -59,12 +59,6 @@ RUN if [ "${CMAKE_VERSION}" != "none" ]; then \
 # Set Working Directory
 WORKDIR /opt
 
-# Install Quill
-ARG QUILL_VERSION="7.0.0-pre"
-RUN wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/quill/amd64/quill_${QUILL_VERSION}_amd64.deb && \
-    dpkg -i quill_${QUILL_VERSION}_amd64.deb && \
-    rm quill_${QUILL_VERSION}_amd64.deb
-
 # Install Google Test
 ARG GTEST_VERSION="1.15.2"
 RUN wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/gtest/amd64/gtest_${GTEST_VERSION}_amd64.deb && \
@@ -92,4 +86,4 @@ LABEL maintainer="Mars Rover Design Team <[email protected]>"
 LABEL org.opencontainers.image.source=https://github.com/missourimrdt/rovecomm_cpp
 LABEL org.opencontainers.image.licenses=GPL-3.0-onlyLABEL
 LABEL org.opencontainers.image.version="v24.5.0"
-LABEL org.opencontainers.image.description="Docker Image for Ubuntu ${UBUNTU_MAJOR}.${UBUNTU_MINOR} with CUDA ${CUDA_MAJOR}.${CUDA_MINOR}, Quill v${QUILL_VERSION}, and Google Test v${GTEST_VERSION}."
+LABEL org.opencontainers.image.description="Docker Image for Ubuntu ${UBUNTU_MAJOR}.${UBUNTU_MINOR} with CUDA ${CUDA_MAJOR}.${CUDA_MINOR}, Google Test v${GTEST_VERSION}."
diff --git a/.devcontainer/Dockerfile_JetPack b/.devcontainer/Dockerfile_JetPack
@@ -33,7 +33,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     libjpeg8-dev libjpeg-turbo8-dev liblapack-dev liblapacke-dev libopenblas-dev libpng-dev \
     libpostproc-dev libswscale-dev libtbb-dev libtbb2 libtesseract-dev libtiff-dev libv4l-dev \
     libxine2-dev libxvidcore-dev libx264-dev libgtkglext1 libgtkglext1-dev pkg-config qv4l2 \
-    v4l-utils zlib1g-dev python3-dev python3-numpy libboost-all-dev valgrind doxygen graphviz nano
+    v4l-utils zlib1g-dev python3-dev python3-numpy libboost-all-dev valgrind doxygen graphviz nano mingw-w64
 
 #This symbolic link is needed to use the streaming features on Jetson inside a container
 RUN ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so
@@ -55,12 +55,6 @@ RUN if [ "${CMAKE_VERSION}" != "none" ]; then \
 # Set Working Directory
 WORKDIR /opt
 
-# Install Quill
-ARG QUILL_VERSION="7.0.0-pre"
-RUN wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/quill/arm64/quill_${QUILL_VERSION}_arm64.deb && \
-    dpkg -i quill_${QUILL_VERSION}_arm64.deb && \
-    rm quill_${QUILL_VERSION}_arm64.deb
-
 # Install Google Test
 ARG GTEST_VERSION="1.15.2"
 RUN wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/gtest/arm64/gtest_${GTEST_VERSION}_arm64.deb && \
@@ -82,4 +76,4 @@ LABEL maintainer="Mars Rover Design Team <[email protected]>"
 LABEL org.opencontainers.image.source=https://github.com/missourimrdt/rovecomm_cpp
 LABEL org.opencontainers.image.licenses=GPL-3.0-only
 LABEL org.opencontainers.image.version="v24.2.5"
-LABEL org.opencontainers.image.description="Docker Image for ${L4T_BASE} ${L4T_MAJOR}.${L4T_MINOR}.${L4T_PATCH}, Quill v${QUILL_VERSION}, and Google Test v${GTEST_VERSION}."
+LABEL org.opencontainers.image.description="Docker Image for ${L4T_BASE} ${L4T_MAJOR}.${L4T_MINOR}.${L4T_PATCH}, and Google Test v${GTEST_VERSION}."
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -12,7 +12,7 @@
     // "image": "ghcr.io/missourimrdt/rovecomm-jetpack:latest",
     // "build": {
     //     "dockerfile": "Dockerfile_Jammy"
-    //     "dockerfile": "Dockerfile_JetPack"
+    //     // "dockerfile": "Dockerfile_JetPack"
     // },
     // Features to add to the dev container. More info: https://containers.dev/features.
     // "features": {},
@@ -62,8 +62,6 @@
                 "C_Cpp.default.compilerPath": "/usr/bin/g++",
                 "C_Cpp.default.cppStandard": "c++20",
                 "C_Cpp.default.includePath": [
-                    "/usr/local/include/quill/",
-                    "/usr/local/include/quill/**",
                     "/usr/local/include/gmock/",
                     "/usr/local/include/gmock/**",
                     "/usr/local/include/gtest/",

diff --git a/.github/workflows/deploy_rovecomm.yml b/.github/workflows/deploy_rovecomm.yml
@@ -46,18 +46,14 @@ jobs:
 
       - name: Install Project Dependencies
         run: |
-          sudo apt update && sudo apt install -y libeigen3-dev zip
-          wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/quill/amd64/quill_${QUILL_VERSION}_amd64.deb
-          sudo dpkg -i quill_${QUILL_VERSION}_amd64.deb
-          rm quill_${QUILL_VERSION}_amd64.deb
+          sudo apt update && sudo apt install -y libeigen3-dev zip mingw-w64
           wget -q https://github.com/MissouriMRDT/Autonomy_Packages/raw/main/gtest/amd64/gtest_${GTEST_VERSION}_amd64.deb
           sudo dpkg -i gtest_${GTEST_VERSION}_amd64.deb
           rm gtest_${GTEST_VERSION}_amd64.deb
         env:
-          QUILL_VERSION: "7.0.0-pre"
           GTEST_VERSION: "1.15.2"
 
-      - name: Build and Create Executable
+      - name: Build and Create Unix Executable
         run: |
           cd /opt/RoveComm_CPP/
           if [ -d "build" ]; then rm -Rf build; fi
@@ -77,13 +73,34 @@ jobs:
           zip -r RoveComm_CPP_AMD64.zip include/* external/* lib/*
           cp RoveComm_CPP_AMD64.zip /opt/RoveComm_CPP/build/
 
+      - name: Build and Create Windows Executable
+        run: |
+          cd /opt/RoveComm_CPP/
+          if [ -d "build" ]; then rm -Rf build; fi
+          mkdir build
+          cd build
+          cmake -DBUILD_WIN=ON ..
+          make
+          make package
+
+      - name: Rename Executable and Create ZIP
+        run: |
+          mv /opt/RoveComm_CPP/build/RoveComm_CPP**.sh /opt/RoveComm_CPP/build/RoveComm_CPP_AMD64.sh
+          tar xzf /opt/RoveComm_CPP/build/RoveComm_CPP**.tar.gz -C /opt/RoveComm_CPP/build/
+          mkdir -p /opt/RoveComm_CPP/build/RoveComm_CPP
+          mv /opt/RoveComm_CPP/build/RoveComm_CPP**/* /opt/RoveComm_CPP/build/RoveComm_CPP/
+          cd /opt/RoveComm_CPP/build/RoveComm_CPP/
+          zip -r RoveComm_CPP_WIN64.zip include/* external/* lib/*
+          cp RoveComm_CPP_WIN64.zip /opt/RoveComm_CPP/build/
+
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4
         with:
           name: RoveComm-Packages
           path: |
             /opt/RoveComm_CPP/build/RoveComm_CPP_AMD64_Installer.sh
             /opt/RoveComm_CPP/build/RoveComm_CPP_AMD64.zip
+            /opt/RoveComm_CPP/build/RoveComm_CPP_WIN64.zip
 
   create-release:
     runs-on: ubuntu-latest

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -24,6 +24,7 @@ if(NOT CTest_CMake_INCLUDED)
     include(CTest)
 endif()
 
+# Check if the project is standalone or within another project.
 if(NOT DEFINED __ROVECOMM_LIBRARY_MODE__)
     if(PROJECT_IS_TOP_LEVEL)
         set(__ROVECOMM_LIBRARY_MODE__ 0)
@@ -32,30 +33,106 @@ if(NOT DEFINED __ROVECOMM_LIBRARY_MODE__)
     endif()
 endif()
 
-message("RoveComm Build Mode: ${__ROVECOMM_LIBRARY_MODE__}")
+# Check if we are on Windows or Linux or for windows mode if cross-compiling.
+option(BUILD_WIN "Windows Cross-Compile Mode" OFF)
+if(NOT DEFINED __ROVECOMM_WINDOWS_MODE__)
+    if(WIN32 OR BUILD_WIN)
+        set(__ROVECOMM_WINDOWS_MODE__ 1)
+        include(ExternalProject)
+    else()
+        set(__ROVECOMM_WINDOWS_MODE__ 0)
+    endif()
+endif()
 
+message("-- RoveComm Build Mode: ${__ROVECOMM_LIBRARY_MODE__}")
 add_definitions(-D__ROVECOMM_LIBRARY_MODE__=${__ROVECOMM_LIBRARY_MODE__})
+message("-- RoveComm Windows Mode: ${__ROVECOMM_WINDOWS_MODE__}")
+add_definitions(-D__ROVECOMM_WINDOWS_MODE__=${__ROVECOMM_WINDOWS_MODE__})
+
+## Detect if we are cross-compiling or should compile for windows.
+if(__ROVECOMM_WINDOWS_MODE__)
+    message("-- RoveComm_CPP -- Cross-compiling for Windows on Linux")
+
+    ## Set the cross-compilation toolchain
+    set(CMAKE_C_COMPILER x86_64-w64-mingw32-gcc-posix)
+    set(CMAKE_CXX_COMPILER x86_64-w64-mingw32-g++-posix)
+    set(CMAKE_RC_COMPILER x86_64-w64-mingw32-windres)
+
+    ## Set necessary paths for MinGW
+    set(CMAKE_FIND_ROOT_PATH /usr/x86_64-w64-mingw32)
+    set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+    set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+    set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+    ## Check if we are using this as a library or just testing within the repo scope
+    if(PROJECT_IS_TOP_LEVEL)
+        message("-- RoveComm_CPP -- STAND ALONE MODE")
+
+        ## Force CMAKE to build a completely static binary.
+        set(CMAKE_EXE_LINKER_FLAGS "-static")
+
+        ## Find Eigen3.
+        find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+
+        ## ExternalProject configuration for pulling and building GTest
+        ExternalProject_Add(GTest
+            GIT_REPOSITORY  https://github.com/google/googletest.git
+            GIT_TAG         v1.15.2  # Specify the GTest version tag or commit
+            PREFIX          ${CMAKE_BINARY_DIR}/gtest
+            CMAKE_ARGS      -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gtest_install
+                            -DCMAKE_C_COMPILER=x86_64-w64-mingw32-gcc-posix
+                            -DCMAKE_CXX_COMPILER=x86_64-w64-mingw32-g++-posix
+                            -DCMAKE_SYSTEM_NAME=Windows
+        )
+
+        ## Create an imported target for GTest
+        add_library(GTest::gtest IMPORTED INTERFACE)
+        add_library(GTest::gtest_main IMPORTED INTERFACE)
+
+        ## Specify where to find GTest once they're built
+        ExternalProject_Get_Property(GTest install_dir)
+        set(GTEST_INCLUDE_DIR ${install_dir}_install/include)
+        set(GTEST_LIB_DIR ${install_dir}_install/lib)
+
+        ## Must create empty install dirs.
+        file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/gtest_install/include)
+        file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/gtest_install/lib)
+
+        ## Set the imported target properties for GTest
+        set_target_properties(GTest::gtest PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES ${GTEST_INCLUDE_DIR}
+            INTERFACE_LINK_LIBRARIES ${GTEST_LIB_DIR}/libgtest.a
+        )
+        set_target_properties(GTest::gtest_main PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES ${GTEST_INCLUDE_DIR}
+            INTERFACE_LINK_LIBRARIES ${GTEST_LIB_DIR}/libgtest_main.a
+        )
+
+        ## Enable to CTest and Google Test Frameworks
+        enable_testing()
+    else()
+        message("-- RoveComm_CPP -- LIBRARY MODE")
+    endif()
+else()
+    message(STATUS "RoveComm_CPP -- Configuring for native platform: ${CMAKE_SYSTEM_NAME}")
+    ## Check if we are using this as a library or just testing within the repo scope
+    if(PROJECT_IS_TOP_LEVEL)
+        message("-- RoveComm_CPP -- STAND ALONE MODE")
 
-## Check if we are using this as a library or just testing within the repo scope
-if(PROJECT_IS_TOP_LEVEL)
-    message("RoveComm_CPP -- STAND ALONE MODE")
-
-    ## Find Quill
-    find_package(quill REQUIRED)
-
-    ## Find Google Test
-    find_package(GTest CONFIG REQUIRED)
-    include(GoogleTest)
-    add_library(GTest::GTest INTERFACE IMPORTED)
-    target_link_libraries(GTest::GTest INTERFACE gtest_main)
+        ## Find Google Test
+        find_package(GTest CONFIG REQUIRED)
+        include(GoogleTest)
+        add_library(GTest::GTest INTERFACE IMPORTED)
+        target_link_libraries(GTest::GTest INTERFACE gtest_main)
 
-    ## Find Eigen3.
-    find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+        ## Find Eigen3.
+        find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
-    ## Enable to CTest and Google Test Frameworks
-    enable_testing()
-else()
-    message("RoveComm_CPP -- LIBRARY MODE")
+        ## Enable to CTest and Google Test Frameworks
+        enable_testing()
+    else()
+        message("-- RoveComm_CPP -- LIBRARY MODE")
+    endif()
 endif()
 
 ## Set ThreadPool Variables
@@ -133,7 +210,14 @@ if(PROJECT_IS_TOP_LEVEL)
     endif()
 
     ## Attach libraries to Executable
-    target_link_libraries(${PROJECT_NAME}_App PRIVATE quill::quill RoveComm_CPP)
+    if (__ROVECOMM_WINDOWS_MODE__)
+        message("-- RoveComm_CPP -- USING WINDOWS SOCKETS")
+        # Set link libraries.
+        target_link_libraries(${PROJECT_NAME}_App PRIVATE RoveComm_CPP ws2_32)
+    else()
+        message("-- RoveComm_CPP -- USING UNIX SOCKETS")
+        target_link_libraries(${PROJECT_NAME}_App PRIVATE RoveComm_CPP)
+    endif()
 
     ## Find all test source files
     file(GLOB UnitTests_SRC             CONFIGURE_DEPENDS  "tests/Unit/**/*.cc")
@@ -146,14 +230,26 @@ if(PROJECT_IS_TOP_LEVEL)
     ## Create Unit Tests if found
     if (UnitTests_LEN GREATER 0)
         add_executable(${PROJECT_NAME}_UnitTests "tests/Unit/main.cc" "tests/TestUtils.cc" ${UnitTests_SRC})
-        target_link_libraries(${PROJECT_NAME}_UnitTests GTest::gtest GTest::gtest_main RoveComm_CPP)
+        if (__ROVECOMM_WINDOWS_MODE__)
+            ## Ensure GTest are built before project
+            add_dependencies(${PROJECT_NAME}_UnitTests GTest)
+            target_link_libraries(${PROJECT_NAME}_UnitTests RoveComm_CPP ws2_32 GTest::gtest GTest::gtest_main)
+        else()
+            target_link_libraries(${PROJECT_NAME}_UnitTests GTest::gtest GTest::gtest_main RoveComm_CPP)
+        endif()
         add_test(Unit_Tests ${PROJECT_NAME}_UnitTests)
     endif()
 
     ## Create Integration Tests if found
     if (IntegrationTests_LEN GREATER 0)
         add_executable(${PROJECT_NAME}_IntegrationTests "tests/Unit/main.cc" "tests/TestUtils.cc" ${IntegrationTests_SRC})
-        target_link_libraries(${PROJECT_NAME}_IntegrationTests GTest::gtest GTest::gtest_main RoveComm_CPP)
+        if (__ROVECOMM_WINDOWS_MODE__)
+            ## Ensure GTest are built before project
+            add_dependencies(${PROJECT_NAME}_IntegrationTests GTest)
+            target_link_libraries(${PROJECT_NAME}_IntegrationTests RoveComm_CPP ws2_32 GTest::gtest GTest::gtest_main)
+        else()
+            target_link_libraries(${PROJECT_NAME}_IntegrationTests GTest::gtest GTest::gtest_main RoveComm_CPP)
+        endif()
         add_test(Integration_Tests ${PROJECT_NAME}_IntegrationTests)
     endif()
 endif()
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -89,7 +89,6 @@ Examples: `int g_nExampleGlobalInteger` or `int m_nExampleMemberInteger`
 #### External Types
 - Boost:
     - Asio > `asio`  > Example: `asio::io_context io_context`
-- Quill  > `q` > Example: `quill::Config qConfig`
 
 ### Macro Names
 Macros should be in all caps using underscores to seperate words. They should be detailed enough to not require an additional comment.

diff --git a/src/RoveComm/RoveCommGlobals.h b/src/RoveComm/RoveCommGlobals.h
@@ -16,13 +16,10 @@
 #include "./RoveCommPacket.h"
 
 // \cond
-#include <arpa/inet.h>
 #include <csignal>
 #include <cstring>
 #include <functional>
 #include <iostream>
-#include <netinet/in.h>
-#include <sys/socket.h>
 #include <unistd.h>
 #include <vector>
 

diff --git a/src/RoveComm/RoveCommPacket.h b/src/RoveComm/RoveCommPacket.h
@@ -17,9 +17,24 @@
 /// \cond
 #include <cstdint>
 #include <cstring>
-#include <netinet/in.h>
 #include <vector>
 
+#if defined(__ROVECOMM_WINDOWS_MODE__) && __ROVECOMM_WINDOWS_MODE__ == 1
+#ifndef _WIN32_WINNT
+#define _WIN32_WINNT 0x0600
+#elif _WIN32_WINNT < 0x0600
+#undef _WIN32_WINNT
+#define _WIN32_WINNT 0x0600
+#endif
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#else
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#endif
+
 /// \endcond
 
 // These are used to convert 64-bit doubles to network bit order and back.