Fix test_roscpp build issues on Windows

test/test_roscpp/CMakeLists.txt

@@ -15,6 +15,10 @@ if(CATKIN_ENABLE_TESTING)
 
   include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
+  if(WIN32)
+    add_definitions(-DNOGDI)
+  endif()
+
   # Testing message and service files.  See comment below about subdirectory support.
   add_message_files(
     NOINSTALL

test/test_roscpp/test/CMakeLists.txt

@@ -11,6 +11,9 @@ endif()
 catkin_add_gtest(${PROJECT_NAME}-test_poll_set test_poll_set.cpp)
 if(TARGET ${PROJECT_NAME}-test_poll_set)
   target_link_libraries(${PROJECT_NAME}-test_poll_set ${catkin_LIBRARIES})
+  if(WIN32)
+    target_link_libraries(${PROJECT_NAME}-test_poll_set ws2_32)
+  endif()
 endif()
 
 catkin_add_gtest(${PROJECT_NAME}-test_transport_tcp test_transport_tcp.cpp)

test/test_roscpp/test/src/check_master.cpp

@@ -46,6 +46,20 @@ using namespace XmlRpc;
 
 bool g_should_exist = true;
 
+#ifdef _WIN32
+int setenv(const char *name, const char *value, int overwrite)
+{
+  if(!overwrite)
+  {
+    size_t envsize = 0;
+    const errno_t errcode = getenv_s(&envsize, NULL, 0, name);
+    if(errcode || envsize)
+      return errcode;
+  }
+  return _putenv_s(name, value);
+}
+#endif
+
 TEST(CheckMaster, checkMaster)
 {
   ASSERT_EQ(ros::master::check(), g_should_exist);

test/test_roscpp/test/src/service_adv_a.cpp

@@ -36,13 +36,6 @@
 #include "ros/ros.h"
 #include <test_roscpp/TestStringString.h>
 
-#include <unistd.h>
-#include <errno.h>
-#include <signal.h>
-#include <sys/types.h>
-#include <sys/wait.h>
-#include <cstdlib>
-
 bool srvCallback(test_roscpp::TestStringString::Request &,
                  test_roscpp::TestStringString::Response &res)
 {

test/test_roscpp/test/src/service_adv_zombie.cpp

@@ -53,7 +53,12 @@ int main(int argc, char** argv)
 	for(int i = 0; i < 10; ++i)
 	{
 		ros::spinOnce();
+
+#ifndef _WIN32
 		usleep(100*1000);
+#else
+		Sleep(100);
+#endif
 	}
 
 	// Exit immediately without calling any atexit hooks

test/test_roscpp/test/src/service_call_zombie.cpp

@@ -65,7 +65,11 @@ main(int argc, char** argv)
   ros::init(argc, argv, "service_call");
   ros::NodeHandle nh;
 
+#ifndef _WIN32
   sleep(10);
+#else
+  Sleep(10 * 1000);
+#endif
 
   int ret = RUN_ALL_TESTS();
 

test/test_roscpp/test/src/service_exception.cpp

@@ -5,6 +5,10 @@
 #include "ros/ros.h"
 #include "std_srvs/Empty.h"
 #include <log4cxx/appenderskeleton.h>
+#ifdef _MSC_VER
+  // Have to be able to encode wchar LogStrings on windows.
+# include <log4cxx/helpers/transcoder.h>
+#endif
 #include <ros/console.h>
 #include <ros/poll_manager.h>
 
@@ -72,7 +76,12 @@ TEST(roscpp, ServiceThrowingException)
   const std::list<log4cxx::spi::LoggingEventPtr>& list = appender->getList();
   for (std::list<log4cxx::spi::LoggingEventPtr>::const_iterator it = list.begin(); it != list.end(); it++)
   {
+#ifdef _MSC_VER
+    LOG4CXX_ENCODE_CHAR(tmpstr, (*it)->getMessage());  // has to handle LogString with wchar types.
+    const std::string& msg = tmpstr;  // tmpstr gets instantiated inside the LOG4CXX_ENCODE_CHAR macro
+#else
     const log4cxx::LogString& msg = (*it)->getMessage();
+#endif
     size_t pos_error = msg.find("Service call failed:");
     size_t pos_exception = msg.find(EXCEPTION);
     if (pos_error != std::string::npos && pos_exception != std::string::npos)

test/test_roscpp/test/test_poll_set.cpp

@@ -35,7 +35,9 @@
 
 #include <gtest/gtest.h>
 #include "ros/poll_set.h"
-#include <sys/socket.h>
+#ifndef _WIN32
+# include <sys/socket.h>
+#endif
 
 #include <fcntl.h>
 
@@ -44,22 +46,145 @@
 
 using namespace ros;
 
+int set_nonblocking(int &socket)
+{
+#ifndef _WIN32
+  if (fcntl(socket, F_SETFL, O_NONBLOCK) == -1)
+  {
+    return errno;
+  }
+#else
+  u_long non_blocking = 1;
+  if (ioctlsocket(socket, FIONBIO, &non_blocking) != 0)
+  {
+    return WSAGetLastError();
+  }
+#endif
+  return 0;
+}
+
+int create_socket_pair(int socket_pair[2])
+{
+#ifndef _WIN32
+  return socketpair(AF_UNIX, SOCK_STREAM, 0, socket_pair);
+#else
+  socket_pair[0] = INVALID_SOCKET;
+  socket_pair[1] = INVALID_SOCKET;
+
+  /*********************
+  ** Listen Socket
+  **********************/
+  socket_fd_t listen_socket = INVALID_SOCKET;
+  listen_socket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
+  if (listen_socket == INVALID_SOCKET)
+  {
+    return WSAGetLastError();
+  }
+
+  // allow it to be bound to an address already in use - do we actually need this?
+  int reuse = 1;
+  if (setsockopt(listen_socket, SOL_SOCKET, SO_REUSEADDR, reinterpret_cast<const char*>(&reuse), static_cast<socklen_t>(sizeof(reuse))) == SOCKET_ERROR)
+  {
+    ::closesocket(listen_socket);
+    return WSAGetLastError();
+  }
+
+  union
+  {
+    struct sockaddr_in inaddr;
+    struct sockaddr addr;
+  } a;
+
+  memset(&a, 0, sizeof(a));
+  a.inaddr.sin_family = AF_INET;
+  a.inaddr.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+  // For TCP/IP, if the port is specified as zero, the service provider assigns
+  // a unique port to the application from the dynamic client port range.
+  a.inaddr.sin_port = 0;
+
+  if (bind(listen_socket, &a.addr, sizeof(a.inaddr)) == SOCKET_ERROR)
+  {
+    ::closesocket(listen_socket);
+    return WSAGetLastError();
+  }
+
+  // we need this below because the system auto filled in some entries, e.g. port #
+  socklen_t addrlen = static_cast<socklen_t>(sizeof(a.inaddr));
+  if (getsockname(listen_socket, &a.addr, &addrlen) == SOCKET_ERROR)
+  {
+    ::closesocket(listen_socket);
+    return WSAGetLastError();
+  }
+  // max 1 connection permitted
+  if (listen(listen_socket, 1) == SOCKET_ERROR)
+  {
+    ::closesocket(listen_socket);
+    return WSAGetLastError();
+  }
+
+  /*********************
+  ** Connection
+  **********************/
+  DWORD overlapped_flag = 0;
+  socket_pair[0] = WSASocket(AF_INET, SOCK_STREAM, 0, NULL, 0, overlapped_flag);
+  if (socket_pair[0] == INVALID_SOCKET)
+  {
+    ::closesocket(listen_socket);
+    ::closesocket(socket_pair[0]);
+    return WSAGetLastError();
+  }
+
+  // reusing the information from above to connect to the listener
+  if (connect(socket_pair[0], &a.addr, sizeof(a.inaddr)) == SOCKET_ERROR)
+  {
+    ::closesocket(listen_socket);
+    ::closesocket(socket_pair[0]);
+    return WSAGetLastError();
+  }
+
+  /*********************
+  ** Accept
+  **********************/
+  socket_pair[1] = accept(listen_socket, NULL, NULL);
+  if (socket_pair[1] == INVALID_SOCKET)
+  {
+    ::closesocket(listen_socket);
+    ::closesocket(socket_pair[0]);
+    return WSAGetLastError();
+  }
+
+  /*********************
+  ** Cleanup
+  **********************/
+  ::closesocket(listen_socket);  // the listener has done its job.
+  return 0;
+#endif
+}
+
 class Poller : public testing::Test
 {
 public:
   Poller()
   {
+#ifdef _WIN32
+    WSADATA wsaData;
+    WSAStartup(MAKEWORD(2, 0), &wsaData);
+#endif    
   }
 
   ~Poller()
   {
     ::close(sockets_[0]);
     ::close(sockets_[1]);
+
+#ifdef _WIN32
+    WSACleanup();
+#endif    
   }
 
   void waitThenSignal()
   {
-    usleep(100000);
+    boost::this_thread::sleep(boost::posix_time::microseconds(100000));
 
     poll_set_.signal();
   }
@@ -68,15 +193,15 @@ class Poller : public testing::Test
 
   virtual void SetUp()
   {
-    if(socketpair(AF_UNIX, SOCK_STREAM, 0, sockets_) != 0)
+    if (create_socket_pair(sockets_) != 0)
     {
       FAIL();
     }
-    if(fcntl(sockets_[0], F_SETFL, O_NONBLOCK) == -1)
+    if(set_nonblocking(sockets_[0]) != 0)
     {
       FAIL();
     }
-    if(fcntl(sockets_[1], F_SETFL, O_NONBLOCK) == -1)
+    if(set_nonblocking(sockets_[1]) != 0)
     {
       FAIL();
     }
@@ -390,15 +515,17 @@ TEST_F(Poller, signal)
   poll_set_.update(-1);
 
   // wait for poll_set_.signal_mutex_ to be unlocked after invoking signal()
-  usleep(50000);
+  boost::this_thread::sleep(boost::posix_time::microseconds(50000));
 }
 
 
 int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
 
+#ifndef _WIN32
   signal(SIGPIPE, SIG_IGN);
+#endif
 
   return RUN_ALL_TESTS();
 }

test/test_roscpp/test/test_transport_tcp.cpp

@@ -417,7 +417,9 @@ int main(int argc, char** argv)
 {
   testing::InitGoogleTest(&argc, argv);
 
+#ifndef _WIN32
   signal(SIGPIPE, SIG_IGN);
+#endif
 
   return RUN_ALL_TESTS();
 }