Windows version

CMakeLists.txt

@@ -1,26 +1,25 @@
 project(PID)
-
 cmake_minimum_required (VERSION 3.5)
-
 add_definitions(-std=c++11)
-
-set(CXX_FLAGS "-Wall")
+set(CXX_FLAGS "-W1")
 set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+
+    set(sources src/PID.cpp src/main.cpp src/uWS/Extensions.cpp src/uWS/Group.cpp src/uWS/WebSocketImpl.cpp src/uWS/Networking.cpp src/uWS/Hub.cpp src/uWS/Node.cpp src/uWS/WebSocket.cpp src/uWS/HTTPSocket.cpp src/uWS/Socket.cpp src/uWS/uUV.cpp)
+    set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-D_USE_MATH_DEFINES")
 
-set(sources src/PID.cpp src/main.cpp)
-
+else(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+    set(sources src/PID.cpp src/main.cpp)
+endif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
 
 if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
-
-include_directories(/usr/local/include)
-include_directories(/usr/local/opt/openssl/include)
-link_directories(/usr/local/lib)
-link_directories(/usr/local/opt/openssl/lib)
-link_directories(/usr/local/Cellar/libuv/1.11.0/lib)
-
+    include_directories(/usr/local/include)
+    include_directories(/usr/local/opt/openssl/include)
+    link_directories(/usr/local/lib)
+    link_directories(/usr/local/opt/openssl/lib)
+    link_directories(/usr/local/Cellar/libuv/1.11.0/lib)
 endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
-
-
 add_executable(pid ${sources})
-
-target_link_libraries(pid z ssl uv uWS)
+if(NOT ${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+    target_link_libraries(pid z ssl uv uWS)
+endif(NOT ${CMAKE_SYSTEM_NAME} MATCHES "Windows")

CMakeSettings.json

@@ -0,0 +1,44 @@
+{
+    // See https://go.microsoft.com//fwlink//?linkid=834763 for more information about this file.
+    "configurations": [
+      {
+        "name": "x86-Debug",
+        "generator": "Visual Studio 15 2017",
+        "configurationType": "Debug",
+        "buildRoot": "${env.LOCALAPPDATA}\\CMakeBuild\\${workspaceHash}\\build\\${name}",
+        "cmakeCommandArgs": "",
+        "buildCommandArgs": "-m -v:minimal",
+
+        "variables": [
+          {
+            "name": "DCMAKE_TOOLCHAIN_FILE",
+            "value": "C:/vcpkg/scripts/buildsystems/vcpkg.cmake"
+          }
+        ]
+      },
+        {
+        "name": "x86-Release",
+        "generator": "Visual Studio 15 2017",
+        "configurationType" : "Release",
+        "buildRoot":  "${env.LOCALAPPDATA}\\CMakeBuild\\${workspaceHash}\\build\\${name}",
+        "cmakeCommandArgs":  "",
+        "buildCommandArgs": "-m -v:minimal"
+        },
+        {
+        "name": "x64-Debug",
+        "generator": "Visual Studio 15 2017 Win64",
+        "configurationType" : "Debug",
+        "buildRoot":  "${env.LOCALAPPDATA}\\CMakeBuild\\${workspaceHash}\\build\\${name}",
+        "cmakeCommandArgs":  "",
+        "buildCommandArgs": "-m -v:minimal"
+        },
+        {
+        "name": "x64-Release",
+        "generator": "Visual Studio 15 2017 Win64",
+        "configurationType" : "Release",
+        "buildRoot":  "${env.LOCALAPPDATA}\\CMakeBuild\\${workspaceHash}\\build\\${name}",
+        "cmakeCommandArgs":  "",
+        "buildCommandArgs": "-m -v:minimal"
+        }
+    ]
+}

README.md

@@ -25,7 +25,17 @@ Self-Driving Car Engineer Nanodegree Program
 1. Clone this repo.
 2. Make a build directory: `mkdir build && cd build`
 3. Compile: `cmake .. && make`
-4. Run it: `./pid`. 
+4. Run it: `./pid`.
+
+## Windows Install Instructions 
+
+1. Install, in your root `c:/` directory, vcpkg https://github.com/Microsoft/vcpkg   (15 - 30 minutes)
+2. Be sure while installing vcpkg to carefully follow all instructions! This is NOT an easy install process.
+3. Install python 2.7 (dependency for libuv) 
+4. cd to directory with vcpkg .exe and `./vcpkg install uWebsockets` (20 min, mostly automatic)
+5. Open CMakeSetting.json, check if `C:/vcpkg/scripts/buildsystems/vcpkg.cmake` is the correct directory to your vcpkg and `DCMAKE_TOOLCHAIN_FILE` matches the output from vcpkg integrate.
+6. Open in VS17 community edition, build pid.exe in x86 debug.
+
 
 ## Editor Settings
 

src/PID.cpp

@@ -17,5 +17,6 @@ void PID::UpdateError(double cte) {
 }
 
 double PID::TotalError() {
+	return 1;
 }
 

src/main.cpp

@@ -1,9 +1,14 @@
-#include <uWS/uWS.h>
+#define _USE_MATH_DEFINES
+
+#include "uWS/uWS.h"
 #include <iostream>
 #include "json.hpp"
 #include "PID.h"
 #include <math.h>
 
+
+using namespace std;
+
 // for convenience
 using json = nlohmann::json;
 
@@ -12,52 +17,59 @@ constexpr double pi() { return M_PI; }
 double deg2rad(double x) { return x * pi() / 180; }
 double rad2deg(double x) { return x * 180 / pi(); }
 
+
+
 // Checks if the SocketIO event has JSON data.
 // If there is data the JSON object in string format will be returned,
 // else the empty string "" will be returned.
-std::string hasData(std::string s) {
+std::stringstream hasData(std::string s) {
   auto found_null = s.find("null");
   auto b1 = s.find_first_of("[");
   auto b2 = s.find_last_of("]");
   if (found_null != std::string::npos) {
-    return "";
+    return std::stringstream();
   }
   else if (b1 != std::string::npos && b2 != std::string::npos) {
-    return s.substr(b1, b2 - b1 + 1);
+    std::stringstream tmp = std::stringstream();
+    tmp.str(s.substr(b1, b2 - b1 + 1));
+    return tmp;
   }
-  return "";
+  return std::stringstream();
 }
 
+
 int main()
 {
+
   uWS::Hub h;
 
   PID pid;
   // TODO: Initialize the pid variable.
+
 
   h.onMessage([&pid](uWS::WebSocket<uWS::SERVER> ws, char *data, size_t length, uWS::OpCode opCode) {
     // "42" at the start of the message means there's a websocket message event.
     // The 4 signifies a websocket message
     // The 2 signifies a websocket event
     if (length && length > 2 && data[0] == '4' && data[1] == '2')
     {
-      auto s = hasData(std::string(data).substr(0, length));
-      if (s != "") {
+      auto s = hasData(std::string(data));
+      if (s.str() != "") {
         auto j = json::parse(s);
         std::string event = j[0].get<std::string>();
         if (event == "telemetry") {
           // j[1] is the data JSON object
           double cte = std::stod(j[1]["cte"].get<std::string>());
           double speed = std::stod(j[1]["speed"].get<std::string>());
           double angle = std::stod(j[1]["steering_angle"].get<std::string>());
-          double steer_value;
           /*
           * TODO: Calcuate steering value here, remember the steering value is
           * [-1, 1].
           * NOTE: Feel free to play around with the throttle and speed. Maybe use
           * another PID controller to control the speed!
           */
-
+
+
           // DEBUG
           std::cout << "CTE: " << cte << " Steering Value: " << steer_value << std::endl;
 
@@ -66,42 +78,28 @@ int main()
           msgJson["throttle"] = 0.3;
           auto msg = "42[\"steer\"," + msgJson.dump() + "]";
           std::cout << msg << std::endl;
-          ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
+          (ws).send(msg.data(), msg.length(), uWS::OpCode::TEXT);
         }
-      } else {
+      }
+      else {
         // Manual driving
         std::string msg = "42[\"manual\",{}]";
-        ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
+        (ws).send(msg.data(), msg.length(), uWS::OpCode::TEXT);
       }
     }
   });
 
-  // We don't need this since we're not using HTTP but if it's removed the program
-  // doesn't compile :-(
-  h.onHttpRequest([](uWS::HttpResponse *res, uWS::HttpRequest req, char *data, size_t, size_t) {
-    const std::string s = "<h1>Hello world!</h1>";
-    if (req.getUrl().valueLength == 1)
-    {
-      res->end(s.data(), s.length());
-    }
-    else
-    {
-      // i guess this should be done more gracefully?
-      res->end(nullptr, 0);
-    }
-  });
-
   h.onConnection([&h](uWS::WebSocket<uWS::SERVER> ws, uWS::HttpRequest req) {
     std::cout << "Connected!!!" << std::endl;
   });
 
   h.onDisconnection([&h](uWS::WebSocket<uWS::SERVER> ws, int code, char *message, size_t length) {
-    ws.close();
+    (ws).close();
     std::cout << "Disconnected" << std::endl;
   });
 
   int port = 4567;
-  if (h.listen(port))
+  if (h.listen("0.0.0.0", port))
   {
     std::cout << "Listening to port " << port << std::endl;
   }
@@ -111,4 +109,4 @@ int main()
     return -1;
   }
   h.run();
-}
+}

src/uWS/Extensions.cpp

@@ -0,0 +1,131 @@
+#include "Extensions.h"
+
+namespace uWS {
+
+enum ExtensionTokens {
+    TOK_PERMESSAGE_DEFLATE = 1838,
+    TOK_SERVER_NO_CONTEXT_TAKEOVER = 2807,
+    TOK_CLIENT_NO_CONTEXT_TAKEOVER = 2783,
+    TOK_SERVER_MAX_WINDOW_BITS = 2372,
+    TOK_CLIENT_MAX_WINDOW_BITS = 2348
+};
+
+class ExtensionsParser {
+private:
+    int *lastInteger = nullptr;
+
+public:
+    bool perMessageDeflate = false;
+    bool serverNoContextTakeover = false;
+    bool clientNoContextTakeover = false;
+    int serverMaxWindowBits = 0;
+    int clientMaxWindowBits = 0;
+
+    int getToken(const char *&in, const char *stop);
+    ExtensionsParser(const char *data, size_t length);
+};
+
+int ExtensionsParser::getToken(const char *&in, const char *stop) {
+    while (!isalnum(*in) && in != stop) {
+        in++;
+    }
+
+    int hashedToken = 0;
+    while (isalnum(*in) || *in == '-' || *in == '_') {
+        if (isdigit(*in)) {
+            hashedToken = hashedToken * 10 - (*in - '0');
+        } else {
+            hashedToken += *in;
+        }
+        in++;
+    }
+    return hashedToken;
+}
+
+ExtensionsParser::ExtensionsParser(const char *data, size_t length) {
+    const char *stop = data + length;
+    int token = 1;
+    for (; token && token != TOK_PERMESSAGE_DEFLATE; token = getToken(data, stop));
+
+    perMessageDeflate = (token == TOK_PERMESSAGE_DEFLATE);
+    while ((token = getToken(data, stop))) {
+        switch (token) {
+        case TOK_PERMESSAGE_DEFLATE:
+            return;
+        case TOK_SERVER_NO_CONTEXT_TAKEOVER:
+            serverNoContextTakeover = true;
+            break;
+        case TOK_CLIENT_NO_CONTEXT_TAKEOVER:
+            clientNoContextTakeover = true;
+            break;
+        case TOK_SERVER_MAX_WINDOW_BITS:
+            serverMaxWindowBits = 1;
+            lastInteger = &serverMaxWindowBits;
+            break;
+        case TOK_CLIENT_MAX_WINDOW_BITS:
+            clientMaxWindowBits = 1;
+            lastInteger = &clientMaxWindowBits;
+            break;
+        default:
+            if (token < 0 && lastInteger) {
+                *lastInteger = -token;
+            }
+            break;
+        }
+    }
+}
+
+template <bool isServer>
+ExtensionsNegotiator<isServer>::ExtensionsNegotiator(int wantedOptions) {
+    options = wantedOptions;
+}
+
+template <bool isServer>
+std::string ExtensionsNegotiator<isServer>::generateOffer() {
+    std::string extensionsOffer;
+    if (options & Options::PERMESSAGE_DEFLATE) {
+        extensionsOffer += "permessage-deflate";
+
+        if (options & Options::CLIENT_NO_CONTEXT_TAKEOVER) {
+            extensionsOffer += "; client_no_context_takeover";
+        }
+
+        if (options & Options::SERVER_NO_CONTEXT_TAKEOVER) {
+            extensionsOffer += "; server_no_context_takeover";
+        }
+    }
+
+    return extensionsOffer;
+}
+
+template <bool isServer>
+void ExtensionsNegotiator<isServer>::readOffer(std::string offer) {
+    if (isServer) {
+        ExtensionsParser extensionsParser(offer.data(), offer.length());
+        if ((options & PERMESSAGE_DEFLATE) && extensionsParser.perMessageDeflate) {
+            if (extensionsParser.clientNoContextTakeover || (options & CLIENT_NO_CONTEXT_TAKEOVER)) {
+                options |= CLIENT_NO_CONTEXT_TAKEOVER;
+            }
+
+            if (extensionsParser.serverNoContextTakeover) {
+                options |= SERVER_NO_CONTEXT_TAKEOVER;
+            } else {
+                options &= ~SERVER_NO_CONTEXT_TAKEOVER;
+            }
+        } else {
+            options &= ~PERMESSAGE_DEFLATE;
+        }
+    } else {
+        // todo!
+    }
+}
+
+template <bool isServer>
+int ExtensionsNegotiator<isServer>::getNegotiatedOptions() {
+    return options;
+}
+
+template class ExtensionsNegotiator<true>;
+template class ExtensionsNegotiator<false>;
+
+}