Bugfixes to make it work with VS2010 compiler.

include/c99_support.h

@@ -0,0 +1,33 @@
+#include <stdio.h>
+#include <stdarg.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1900
+
+#define snprintf c99_snprintf
+#define vsnprintf c99_vsnprintf
+
+inline int c99_vsnprintf(char *outBuf, size_t size, const char *format, va_list ap)
+{
+    int count = -1;
+
+    if (size != 0)
+        count = _vsnprintf_s(outBuf, size, _TRUNCATE, format, ap);
+    if (count == -1)
+        count = _vscprintf(format, ap);
+
+    return count;
+}
+
+inline int c99_snprintf(char *outBuf, size_t size, const char *format, ...)
+{
+    int count;
+    va_list ap;
+
+    va_start(ap, format);
+    count = c99_vsnprintf(outBuf, size, format, ap);
+    va_end(ap);
+
+    return count;
+}
+
+#endif

include/cros_api.h

@@ -5,6 +5,11 @@
 #include "cros_node.h"
 #include "cros_message.h"
 
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
 typedef enum CrosTransportType
 {
   CROS_TRANSPORT_TCPROS,
@@ -372,4 +377,8 @@ int cRosApiSearchParam(CrosNode *node, const char *key, SearchParamCallback call
 int cRosApiHasParam(CrosNode *node, const char *key, HasParamCallback callback, void *context);
 int cRosApiGetParamNames(CrosNode *node, GetParamNamesCallback callback, void *context);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif // _CROS_API_H_

include/cros_clock.h

@@ -1,7 +1,12 @@
 #ifndef _CROS_CLOCK_H_
 #define _CROS_CLOCK_H_
 
-#include <sys/time.h>
+#ifdef _WIN32 || _WIN64
+#  include <winsock.h>
+#else
+#  include <sys/time.h>
+#endif
+
 #include <stdint.h>
 
 /*! \defgroup cros_clock cROS clock
@@ -28,4 +33,4 @@ struct timeval cRosClockGetTimeVal( uint64_t msec );
 
 /*! @}*/
 
-#endif
+#endif

include/cros_message.h

@@ -42,7 +42,7 @@ struct cRosMessageField
 {
     char *name;
 
-    union data
+    union data_t
     {
       uint8_t opaque[8];
       int8_t as_int8;
@@ -86,18 +86,18 @@ typedef struct t_msgDef cRosMessageDef;
 struct cRosMessage
 {
     cRosMessageField **fields;
-    cRosMessageDef* msgDef;
-    char* md5sum;
+    cRosMessageDef *msgDef;
+    char *md5sum;
     int n_fields;
 };
 
 cRosMessage * cRosMessageNew();
 
 void cRosMessageInit(cRosMessage *message);
 
-int cRosMessageBuild(cRosMessage* message, const char* message_path);
+int cRosMessageBuild(cRosMessage *message, const char *message_path);
 
-void cRosMessageBuildFromDef(cRosMessage* message, cRosMessageDef* msg_def );
+void cRosMessageBuildFromDef(cRosMessage *message, cRosMessageDef *msg_def );
 
 void cRosMessageFree(cRosMessage *message);
 
@@ -111,9 +111,9 @@ void cRosMessageFieldRelease(cRosMessageField *field);
 
 void cRosMessageFieldFree(cRosMessageField *field);
 
-cRosMessageField* cRosMessageGetField(cRosMessage *message, char *field);
+cRosMessageField* cRosMessageGetField(cRosMessage *message, const char *field);
 
-int cRosMessageSetFieldValueString(cRosMessageField* field, const char* value);
+int cRosMessageSetFieldValueString(cRosMessageField *field, const char *value);
 
 int cRosMessageFieldArrayPushBackInt8(cRosMessageField *field, int8_t val);
 
@@ -175,7 +175,7 @@ void cRosMessageSerialize(cRosMessage *message, DynBuffer* buffer);
 
 void cRosMessageDeserialize(cRosMessage *message, DynBuffer *buffer);
 
-CrosMessageType getMessageType(const char* type);
+CrosMessageType getMessageType(const char *type);
 
 const char * getMessageTypeString(CrosMessageType type);
 

include/cros_node.h

@@ -20,7 +20,7 @@
 #define CN_MAX_SUBSCRIBED_TOPICS 5
 
 /*! Max num service providers */
-#define CN_MAX_SERVICE_PROVIDERS 8
+#define CN_MAX_SERVICE_PROVIDERS 10
 
 /*! Max num parameter subscriptions */
 #define CN_MAX_PARAMETER_SUBSCRIPTIONS 20
@@ -265,8 +265,8 @@ void cRosGetMsgFilePath(CrosNode *node, char *buffer, size_t bufsize, const char
  * 
  *  \return A pointer to the new CrosNode on success, NULL on failure
  */
-CrosNode *cRosNodeCreate(char* node_name, char *node_host, char *roscore_host, unsigned short roscore_port,
-                         char *message_root_path, uint64_t const *select_timeout_ms );
+CrosNode *cRosNodeCreate(const char *node_name, const char *node_host, const char *roscore_host, unsigned short roscore_port,
+                         const char *message_root_path, uint64_t const *select_timeout_ms );
 
 /*! \brief Release all the internal allocated memory for a CrosNode object previously crated with
  *         cRosNodeCreate()

include/tcpip_socket.h

@@ -1,7 +1,11 @@
 #ifndef _TCPIP_SOCKET_H_
 #define _TCPIP_SOCKET_H_
 
-# include <arpa/inet.h>
+#ifdef _WIN32 || _WIN64
+#  include <winsock2.h>
+#else
+#  include <arpa/inet.h>
+#endif
 
 #include "dyn_string.h"
 #include "dyn_buffer.h"
@@ -207,4 +211,4 @@ unsigned short tcpIpSocketGetPort( TcpIpSocket *s );
 
 /*! @}*/
 
-#endif
+#endif

include/winutils.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <string.h>
+
+#ifdef WIN32 || WIN64
+static inline void unix2win_filepath(char* filepath)
+{
+  int i;
+  for(i = 0; i < strlen(filepath); i++)
+  {
+    if(filepath[i] == '/')
+      filepath[i] = '\\';
+  }
+}
+#endif

src/cros_api.c

@@ -152,7 +152,7 @@ static CallbackResponse cRosNodePublisherCallback(DynBuffer *buffer, void* conte
   ProviderContext *context = (ProviderContext *)context_;
 
   // Cast to the appropriate public api callback and invoke it on the user context
-  PublisherApiCallback publisherApiCallback = (SubscriberApiCallback)context->api_callback;
+  PublisherApiCallback publisherApiCallback = (PublisherApiCallback)context->api_callback;
   CallbackResponse rc = publisherApiCallback(context->outgoing, context->context);
 
   cRosMessageSerialize(context->outgoing, buffer);
@@ -1513,7 +1513,7 @@ static GetParamNamesResult * fetchGetParamNamesResult(XmlrpcParamVector *respons
   int it = 0;
   for (; it < param_names->array_n_elem; it++)
   {
-    ret->parameter_names[it] = malloc(strlen(param_names->data.as_array[it].data.as_string) + 1);
+    ret->parameter_names[it] = (char *)malloc(strlen(param_names->data.as_array[it].data.as_string) + 1);
     if (ret->parameter_names[it] == NULL)
       goto clean;
 

src/cros_api_call.c

@@ -46,7 +46,7 @@ RosApiCall * peekApiCallQueue(ApiCallQueue *queue)
 
 int enqueueApiCall(ApiCallQueue *queue, RosApiCall* apiCall)
 {
-  ApiCallNode* node = malloc(sizeof(ApiCallNode));
+  ApiCallNode* node = (ApiCallNode *)malloc(sizeof(ApiCallNode));
 
   if(node == NULL)
   {

src/cros_clock.c

@@ -5,14 +5,18 @@
 uint64_t cRosClockGetTimeMs()
 {
   PRINT_VDEBUG ( "cRosClockGetTimeMs()\n" );
+#ifdef _WIN32 || _WIN64
+  return (uint64_t)timeGetTime();
+#else
   struct timeval tv;
   gettimeofday( &tv, NULL );
   return (uint64_t)tv.tv_sec*1000 + (uint64_t)tv.tv_usec/1000;
+#endif
 }
 
 struct timeval cRosClockGetTimeVal( uint64_t msec )
 {
-  PRINT_VDEBUG ( "cRosClockGetTimeVal()\n" );
+  PRINT_VDEBUG ( "cRosClockGetTimeVal() msec: %u\n", msec);
   struct timeval tv;
   if (msec > ( LONG_MAX * 1000ULL ))
   {
@@ -27,4 +31,4 @@ struct timeval cRosClockGetTimeVal( uint64_t msec )
   }
 
   return tv;
-}
+}

src/cros_gentools.c

@@ -20,7 +20,7 @@ char* cRosGentoolsMD5(char* filename)
 	  cRosMessage msg;
 	  cRosMessageInit(&msg);
 	  cRosMessageBuild(&msg,filename);
-	  char *md5sum = calloc(strlen(msg.md5sum)+1,sizeof(char));
+	  char *md5sum = (char *)calloc(strlen(msg.md5sum)+1,sizeof(char));
 	  strcpy(md5sum,msg.md5sum);
 	  cRosMessageRelease(&msg);
 	  return md5sum;
@@ -31,7 +31,7 @@ char* cRosGentoolsMD5(char* filename)
       cRosService srv;
       cRosServiceInit(&srv);
       cRosServiceBuild(&srv,filename);
-      char *md5sum = calloc(strlen(srv.md5sum)+1,sizeof(char));
+      char *md5sum = (char *)calloc(strlen(srv.md5sum)+1,sizeof(char));
       strcpy(md5sum,srv.md5sum);
       cRosServiceRelease(&srv);
       return md5sum;

src/cros_log.c

@@ -38,7 +38,7 @@ void cRosLogFree(CrosLog *log)
 
 CrosLogQueue* cRosLogQueueNew()
 {
-  CrosLogQueue* new_queue = calloc(1,sizeof(CrosLogQueue));
+  CrosLogQueue* new_queue = (CrosLogQueue *)calloc(1,sizeof(CrosLogQueue));
   cRosLogQueueInit(new_queue);
   return new_queue;
 }
@@ -60,7 +60,7 @@ CrosLog * cRosLogQueuePeek(CrosLogQueue *queue)
 
 int cRosLogQueueEnqueue(CrosLogQueue *queue, CrosLog* CrosLog)
 {
-  CrosLogNode* node = malloc(sizeof(CrosLogNode));
+  CrosLogNode* node = (CrosLogNode *)malloc(sizeof(CrosLogNode));
 
   if(node == NULL)
   {
@@ -148,7 +148,7 @@ void cRosLogPrint(CrosNode* node,
     printf("\n[%d,%d] ", (int)wall_time, 0);
     size_t msg_size = strlen(msg) + 512;
 
-    log_msg = calloc(msg_size + 1, sizeof(char));
+    log_msg = (char *)calloc(msg_size + 1, sizeof(char));
     vsprintf(log_msg,msg,args);
 
     switch(level)
@@ -188,10 +188,10 @@ void cRosLogPrint(CrosNode* node,
 
   log->level = level;
 
-  log->file =  calloc(strlen(file)+1, sizeof(char));
+  log->file = (char *)calloc(strlen(file)+1, sizeof(char));
   strncpy(log->file, file,strlen(file));
 
-  log->function =  calloc(strlen(function)+1, sizeof(char));
+  log->function = (char *)calloc(strlen(function)+1, sizeof(char));
   strncpy(log->function, function,strlen(function));
 
   log->line = line;
@@ -202,15 +202,15 @@ void cRosLogPrint(CrosNode* node,
 
   for(i = 0; i <node->n_pubs; i++)
   {
-    log->pubs[i] = calloc(strlen(node->pubs[i].topic_name) + 1, sizeof(char));
+    log->pubs[i] = (char *)calloc(strlen(node->pubs[i].topic_name) + 1, sizeof(char));
     strncpy(log->pubs[i], node->pubs[i].topic_name,strlen(node->pubs[i].topic_name));
   }
 
   printf("\n[%d,%d] ",log->secs, log->nsecs);
 
   size_t msg_size = vprintf(msg,args) + 512;
 
-  log_msg = calloc(msg_size + 1, sizeof(char));
+  log_msg = (char *)calloc(msg_size + 1, sizeof(char));
   vsprintf(log_msg,msg,args);
   log->msg = log_msg;