Support Windows

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

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_context_impl_s.cpp

@@ -78,12 +78,12 @@ class rmw_context_impl_s::Data final
     }
 
     // Check if shm is enabled.
-    z_owned_string_t shm_enabled;
-    zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
-    auto always_free_shm_enabled = rcpputils::make_scope_exit(
-      [&shm_enabled]() {
-        z_drop(z_move(shm_enabled));
-      });
+    // z_owned_string_t shm_enabled;
+    // zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
+    // auto always_free_shm_enabled = rcpputils::make_scope_exit(
+    //   [&shm_enabled]() {
+    //     z_drop(z_move(shm_enabled));
+    //   });
 
     // Initialize the zenoh session.
     if (z_open(&session_, z_move(config), NULL) != Z_OK) {
@@ -166,29 +166,29 @@ class rmw_context_impl_s::Data final
 
     // Initialize the shm manager if shared_memory is enabled in the config.
     shm_provider_ = std::nullopt;
-    if (strncmp(
-        z_string_data(z_loan(shm_enabled)),
-        "true",
-        z_string_len(z_loan(shm_enabled))) == 0)
-    {
-      // TODO(yuyuan): determine the default alignment of SHM
-      z_alloc_alignment_t alignment = {5};
-      z_owned_memory_layout_t layout;
-      z_memory_layout_new(&layout, SHM_BUFFER_SIZE_MB * 1024 * 1024, alignment);
-
-      z_owned_shm_provider_t provider;
-      if (z_posix_shm_provider_new(&provider, z_loan(layout)) != Z_OK) {
-        RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to create an SHM provider.");
-        throw std::runtime_error("Unable to create an SHM provider.");
-      }
-      shm_provider_ = provider;
-    }
-    auto free_shm_provider = rcpputils::make_scope_exit(
-      [this]() {
-        if (shm_provider_.has_value()) {
-          z_drop(z_move(shm_provider_.value()));
-        }
-      });
+    // if (strncmp(
+    //     z_string_data(z_loan(shm_enabled)),
+    //     "true",
+    //     z_string_len(z_loan(shm_enabled))) == 0)
+    // {
+    //   // TODO(yuyuan): determine the default alignment of SHM
+    //   z_alloc_alignment_t alignment = {5};
+    //   z_owned_memory_layout_t layout;
+    //   z_memory_layout_new(&layout, SHM_BUFFER_SIZE_MB * 1024 * 1024, alignment);
+
+    //   z_owned_shm_provider_t provider;
+    //   if (z_posix_shm_provider_new(&provider, z_loan(layout)) != Z_OK) {
+    //     RMW_ZENOH_LOG_ERROR_NAMED("rmw_zenoh_cpp", "Unable to create an SHM provider.");
+    //     throw std::runtime_error("Unable to create an SHM provider.");
+    //   }
+    //   shm_provider_ = provider;
+    // }
+    // auto free_shm_provider = rcpputils::make_scope_exit(
+    //   [this]() {
+    //     if (shm_provider_.has_value()) {
+    //       z_drop(z_move(shm_provider_.value()));
+    //     }
+    //   });
 
     graph_guard_condition_ = std::make_unique<rmw_guard_condition_t>();
     graph_guard_condition_->implementation_identifier = rmw_zenoh_cpp::rmw_zenoh_identifier;
@@ -212,7 +212,7 @@ class rmw_context_impl_s::Data final
     }
 
     close_session.cancel();
-    free_shm_provider.cancel();
+    // free_shm_provider.cancel();
   }
 
   // Shutdown the Zenoh session.

rmw_zenoh_cpp/src/detail/zenoh_config.cpp

@@ -106,7 +106,7 @@ std::optional<uint64_t> zenoh_router_check_attempts()
   }
   // If the environment variable contains a value, handle it accordingly.
   if (envar_value[0] != '\0') {
-    const auto read_value = std::strtol(envar_value, nullptr, 10);
+    const auto read_value = std::strtoll(envar_value, nullptr, 10);
     if (read_value > 0) {
       return read_value;
     } else if (read_value < 0) {

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -86,10 +86,7 @@ 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

@@ -33,6 +33,7 @@
 #include "rmw/error_handling.h"
 
 #include "rcpputils/scope_exit.hpp"
+#include "rcutils/env.h"
 
 static bool running = true;
 static std::mutex run_mutex;
@@ -60,10 +61,7 @@ int main(int argc, char ** argv)
   (void)argc;
   (void)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;
   }