Have CI build under windows

.github/workflows/build.yml

@@ -0,0 +1,49 @@
+name: Build LibMultiSense
+
+on:
+  push:
+    branches:
+      - master
+  release:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    concurrency:
+      group: ${{ github.ref_name }}-build
+      cancel-in-progress: ${{ github.ref_name != 'main' }}
+    steps:
+      - id: setup
+        run: |
+          sudo apt-get install libgtest-dev -y
+      - uses: actions/checkout@v4
+      - id: build-release
+        run: |
+          cmake -B build -S . -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON -DCMAKE_INSTALL_PREFIX=install-release
+          cmake --build build -j "$(nproc)"
+          make -C build test
+          cmake --install build
+      - id: build-debug
+        run: |
+          cmake -B build -S . -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON -DCMAKE_INSTALL_PREFIX=install-debug
+          cmake --build build -j "$(nproc)"
+          make -C build test
+          cmake --install build
+
+  buildwindows:
+    name: build for windows
+    runs-on: windows-2022
+
+    steps:
+    - uses: actions/checkout@v4
+    - id: build-release
+      run: |
+          cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=Release
+          cmake --build ${{github.workspace}}/build --config Release --target install -- /m:10
+    - id: build-debug
+      run: |
+          cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=Debug
+          cmake --build ${{github.workspace}}/build --config Debug --target install -- /m:10

source/LibMultiSense/details/channel.cc

@@ -32,6 +32,7 @@
  *
  * Significant history (date, user, job code, action):
  *   2013-04-25, [email protected], PR1044, Created file.
+ *   2024-04-12, [email protected], IRAD.2033.1, support mingw64
  **/
 
 #include "MultiSense/details/channel.hh"
@@ -314,7 +315,11 @@ void impl::bind(const std::string& ifName)
     // Create the socket.
 
     m_serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+#if defined(__MINGW64__)
+    if (m_serverSocket == INVALID_SOCKET)
+#else
     if (m_serverSocket < 0)
+#endif
         CRL_EXCEPTION("failed to create the UDP socket: %s",
                       strerror(errno));
 
@@ -426,14 +431,14 @@ void impl::publish(const utility::BufferStreamWriter& stream)
     // Send the packet along
 
 // disable MSVC warning for narrowing conversion.
-#ifdef WIN32
+#if defined(WIN32) && !defined(__MINGW64__)
 #pragma warning (push)
 #pragma warning (disable : 4267)
 #endif
     const int32_t ret = sendto(m_serverSocket, (char*)stream.data(), stream.tell(), 0,
                                (struct sockaddr *) &m_sensorAddress,
                                sizeof(m_sensorAddress));
-#ifdef WIN32
+#if defined(WIN32) && !defined(__MINGW64__)
 #pragma warning (pop)
 #endif
 
@@ -557,6 +562,7 @@ uint32_t impl::hardwareApiToWire(uint32_t a)
     case system::DeviceInfo::HARDWARE_REV_MONO:                           return wire::SysDeviceInfo::HARDWARE_REV_MONO;
     case system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER:         return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER;
     case system::DeviceInfo::HARDWARE_REV_MULTISENSE_ST25:                return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25;
+    case system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21i:               return wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i;
     default:
         CRL_DEBUG("unknown API hardware type \"%d\"\n", a);
         return a; // pass through
@@ -583,6 +589,7 @@ uint32_t impl::hardwareWireToApi(uint32_t w)
     case wire::SysDeviceInfo::HARDWARE_REV_MONO:                           return system::DeviceInfo::HARDWARE_REV_MONO;
     case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER:         return system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21_SILVER;
     case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_ST25:                return system::DeviceInfo::HARDWARE_REV_MULTISENSE_ST25;
+    case wire::SysDeviceInfo::HARDWARE_REV_MULTISENSE_KS21i:               return system::DeviceInfo::HARDWARE_REV_MULTISENSE_KS21i;
     default:
         CRL_DEBUG("unknown WIRE hardware type \"%d\"\n", w);
         return w; // pass through
@@ -799,7 +806,11 @@ void *impl::statusThread(void *userDataP)
         usleep(static_cast<unsigned int> (1e6));
     }
 
+#if defined(__MINGW64__)
+    return 0;
+#else
     return NULL;
+#endif
 }
 
 } // namespace details

source/LibMultiSense/details/dispatch.cc

@@ -32,6 +32,7 @@
  *
  * Significant history (date, user, job code, action):
  *   2013-05-15, [email protected], PR1044, Created file.
+ *   2024-04-12, [email protected], IRAD.2033.1, support mingw64
  **/
 
 #include "MultiSense/details/channel.hh"
@@ -857,15 +858,15 @@ void impl::handle()
         // Receive the packet
 
 // disable MSVC warning for narrowing conversion.
-#ifdef WIN32
+#if defined(WIN32) && !defined(__MINGW64__)
 #pragma warning (push)
 #pragma warning (disable : 4267)
 #endif
         const int bytesRead = recvfrom(m_serverSocket,
                                            (char*)m_incomingBuffer.data(),
                                            m_incomingBuffer.size(),
                                            0, NULL, NULL);
-#ifdef WIN32
+#if defined(WIN32) && !defined(__MINGW64__)
 #pragma warning (pop)
 #endif
 
@@ -925,7 +926,7 @@ void impl::handle()
 #endif
                     m_lastUnexpectedSequenceId = sequence;
 
-                    utility::ScopedLock lock(m_statisticsLock);
+                    utility::ScopedLock lock2(m_statisticsLock);
                     m_channelStatistics.numDroppedAssemblers += 1;
                 }
                 continue;
@@ -974,7 +975,7 @@ void impl::handle()
 #ifdef UDP_ASSEMBLER_DEBUG
                 CRL_DEBUG("UDP Assembler dropping sequence=%" PRId64 "\n", willBeDropped.second);
 #endif
-                utility::ScopedLock lock(m_statisticsLock);
+                utility::ScopedLock lock2(m_statisticsLock);
                 m_channelStatistics.numDroppedAssemblers += 1;
             }
             m_udpTrackerCache.insert(sequence, trP);
@@ -1036,7 +1037,11 @@ void *impl::rxThread(void *userDataP)
         }
     }
 
+#if defined(__MINGW64__)
+    return 0;
+#else
     return NULL;
+#endif
 }
 
 }}} // namespaces

source/LibMultiSense/details/public.cc

@@ -1343,6 +1343,51 @@ Status impl::getMtu(int32_t& mtu)
     return status;
 }
 
+Status impl::setBestMtu()
+{
+    uint32_t cur_mtu = MAX_MTU_SIZE;
+    uint32_t max_mtu = MAX_MTU_SIZE;
+    uint32_t min_mtu = MIN_MTU_SIZE;
+    uint32_t bisections = 0;
+    Status status = Status_Ok;
+
+    //
+    // v2.2 and older do not support testing MTU
+
+    if (m_sensorVersion.firmwareVersion <= 0x0202)
+        return Status_Unsupported;
+
+    while (bisections < 7){
+        wire::SysTestMtuResponse resp;
+        status = waitData(wire::SysTestMtu(cur_mtu), resp, 0.1, 1);
+        if ((Status_Ok == status) && (cur_mtu == MAX_MTU_SIZE))
+            break;
+
+        bisections++;
+
+        if (Status_Ok != status){
+            max_mtu = cur_mtu;
+            cur_mtu -= (cur_mtu - min_mtu) / 2;
+        } else if (bisections < 7){
+            min_mtu = cur_mtu;
+            cur_mtu += (max_mtu - cur_mtu) / 2;
+        }
+
+        if ((Status_Ok != status) && (bisections == 7)){
+            cur_mtu = min_mtu;
+            status = waitData(wire::SysTestMtu(cur_mtu), resp, 0.1, 1);
+        }
+    }
+
+    if (Status_Ok == status)
+        status = waitAck(wire::SysMtu(cur_mtu));
+    if (Status_Ok == status)
+        m_sensorMtu = cur_mtu;
+
+    return status;
+
+}
+
 Status impl::getMotorPos(int32_t& pos)
 {
     wire::MotorPoll resp;

source/LibMultiSense/details/utility/Exception.cc

@@ -36,6 +36,7 @@
  *
  * Significant history (date, user, job code, action):
  *   2012-05-07, [email protected], IRAD, Created file.
+ *   2024-04-12, [email protected], IRAD.2033.1, support mingw64
  **/
 
 #include "MultiSense/details/utility/Exception.hh"
@@ -92,7 +93,11 @@ Exception::Exception(const char *failureReason, ...)
     int returnValue;
 
     va_start(ap, failureReason);
-    returnValue = vasprintf(&stringP, failureReason, ap);
+    #if defined(__MINGW64__)
+        returnValue = __mingw_vasprintf(&stringP, failureReason, ap);
+    #else
+        returnValue = vasprintf(&stringP, failureReason, ap);
+    #endif
     va_end(ap);
 
     if ((NULL != stringP) && (returnValue != -1)) {

source/LibMultiSense/details/utility/TimeStamp.cc

@@ -51,7 +51,9 @@ namespace crl {
 namespace multisense {
 namespace details {
 namespace utility {
-
+#if defined (WIN32)
+ULARGE_INTEGER TimeStamp::offsetSecondsSince1970;
+#endif
 /*
  * Constructor. Empty. We rely on the getter methods to do
  * things that are more useful.

source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh

@@ -954,6 +954,16 @@ public:
 
     virtual Status setMtu              (int32_t mtu)                        = 0;
 
+    /**
+     * Binary search for best path MTU (within ~118B).
+     *
+     *
+     * @return A crl::multisense::Status indicating if the mtu configuration
+     * was successfully received
+     */
+
+    virtual Status setBestMtu          ()                                   = 0;
+
     /**
      * Query the current sensor's network configuration.
      *