Merge branch 'feat/msvc_support'

CMakeLists.txt

@@ -3,4 +3,36 @@ project(webots_controller LANGUAGES C CXX)
 
 option(WEBOTS_CONTROLLER_NO_PLUGINS "Disable runtime plugin loading (dlopen/LoadLibrary paths)." ON)
 
+if(MSVC)
+  find_package(dirent CONFIG REQUIRED)
+
+  file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/cmake")
+  file(
+    DOWNLOAD
+    https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
+    "${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake"
+    EXPECTED_HASH
+      SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791)
+  include("${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake")
+
+  CPMAddPackage(
+    NAME libunistd
+    GITHUB_REPOSITORY robinrowe/libunistd
+    GIT_TAG v1.4
+    DOWNLOAD_ONLY YES)
+
+  add_library(webots_controller_msvc_unix_headers INTERFACE)
+  target_include_directories(
+    webots_controller_msvc_unix_headers
+    SYSTEM
+    INTERFACE "$<TARGET_PROPERTY:dirent::dirent,INTERFACE_INCLUDE_DIRECTORIES>"
+              "${libunistd_SOURCE_DIR}/unistd")
+  target_link_libraries(webots_controller_msvc_unix_headers
+                        INTERFACE dirent::dirent)
+  target_compile_definitions(webots_controller_msvc_unix_headers
+                             INTERFACE _CRT_DECLARE_NONSTDC_NAMES=0)
+  target_compile_options(webots_controller_msvc_unix_headers
+                         INTERFACE /FIunistd.h)
+endif()
+
 add_subdirectory(src/controller)

conanfile.py

@@ -20,7 +20,7 @@ class WebotsControllerConan(ConanFile):
         "no_plugins": True,
     }
 
-    exports_sources = "CMakeLists.txt", "src/*", "include/*", "LICENSE", "README.md"
+    exports_sources = "CMakeLists.txt", "src/*", "include/*", "patches/*.patch", "LICENSE", "README.md"
 
     def config_options(self):
         if self.settings.os == "Windows":
@@ -36,7 +36,8 @@ class WebotsControllerConan(ConanFile):
 
     def requirements(self):
         # self.requires("stb/cci.20240531")
-        pass
+        if self.settings.os == "Windows" and self.settings.compiler != "gcc":
+            self.requires("dirent/1.24")
 
     def layout(self):
         cmake_layout(self)

lefthook.yml

@@ -7,6 +7,8 @@ pre-commit:
     # clang-format:
     #   run: uvx run-clang-format -i ./src ./include ./tests
     #   stage_fixed: true
+    gitleaks:
+      run: gitleaks protect --staged --redact --no-banner
 # post-checkout:
 #   commands:
 #     inkr-skill-sync:

patches/msvc-controller-c.patch

@@ -0,0 +1,28 @@
+diff --git a/motion.c b/motion.c
+index 02c5e62..3de3b2f 100644
+--- a/motion.c
++++ b/motion.c
+@@ -45,7 +45,7 @@ typedef struct WbMotionStructPrivate {
+ extern void wb_motor_set_position_no_mutex(WbDeviceTag, double);
+ 
+ static const int UNDEFINED_TIME = -1;
+-static const int MAX_LINE = 4096;
++#define MAX_LINE 4096
+ static const double UNDEFINED_POSITION = -9999999.9;
+ static WbMotionRef head = NULL;
+ static const char *HEADER = "#WEBOTS_MOTION";
+diff --git a/robot.c b/robot.c
+index 6bb2b81..4d4cb6b 100644
+--- a/robot.c
++++ b/robot.c
+@@ -65,6 +65,10 @@
+ #include "supervisor_private.h"
+ #include "tcp_client.h"
+ 
++#ifdef _WIN32
++#undef wb_robot_init
++#endif
++
+ #ifdef _WIN32
+ #include <windows.h>  // GetCommandLine
+ #else

src/controller/c/CMakeLists.txt

@@ -81,6 +81,30 @@ else()
   list(APPEND WEBOTS_CONTROLLER_C_SOURCES ${WEBOTS_CONTROLLER_C_PLUGIN_SOURCES})
 endif()
 
+if(MSVC)
+  find_package(Git REQUIRED)
+  set(WEBOTS_CONTROLLER_MSVC_SOURCE_DIR
+      "${CMAKE_CURRENT_BINARY_DIR}/msvc-patched-source")
+  file(REMOVE_RECURSE "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
+  file(COPY "${CMAKE_CURRENT_SOURCE_DIR}/"
+       DESTINATION "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
+  file(RELATIVE_PATH WEBOTS_CONTROLLER_MSVC_SOURCE_RELATIVE_DIR
+       "${CMAKE_SOURCE_DIR}" "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}")
+  execute_process(
+    COMMAND
+      "${GIT_EXECUTABLE}" apply
+      "--directory=${WEBOTS_CONTROLLER_MSVC_SOURCE_RELATIVE_DIR}"
+      "${CMAKE_SOURCE_DIR}/patches/msvc-controller-c.patch"
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+    RESULT_VARIABLE WEBOTS_CONTROLLER_MSVC_PATCH_RESULT)
+  if(NOT WEBOTS_CONTROLLER_MSVC_PATCH_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to apply MSVC controller C source patch")
+  endif()
+
+  list(TRANSFORM WEBOTS_CONTROLLER_C_SOURCES
+       PREPEND "${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR}/")
+endif()
+
 # add_library without STATIC/SHARED follows BUILD_SHARED_LIBS automatically in
 # cmake.
 add_library(webots_controller ${WEBOTS_CONTROLLER_C_SOURCES})
@@ -112,12 +136,23 @@ if(WIN32)
   target_link_libraries(webots_controller PRIVATE ws2_32)
 endif()
 
+if(MSVC)
+  target_sources(webots_controller
+                 PRIVATE "${libunistd_SOURCE_DIR}/unistd/clock_gettime.cpp")
+  target_link_libraries(webots_controller
+                        PRIVATE webots_controller_msvc_unix_headers)
+  target_compile_definitions(webots_controller PRIVATE _USE_MATH_DEFINES
+                                                       O_TEXT=_O_TEXT)
+  target_compile_options(webots_controller PRIVATE /utf-8)
+endif()
+
 target_include_directories(
   webots_controller
   PUBLIC $<BUILD_INTERFACE:${WEBOTS_INCLUDE_ROOT}>
          $<BUILD_INTERFACE:${WEBOTS_HEADERS_ROOT}> $<INSTALL_INTERFACE:include>
          $<INSTALL_INTERFACE:include/controller/c>
-  PRIVATE ${WEBOTS_STB_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
+  PRIVATE ${WEBOTS_STB_DIR} ${CMAKE_CURRENT_SOURCE_DIR}
+          ${WEBOTS_CONTROLLER_MSVC_SOURCE_DIR})
 
 target_compile_definitions(webots_controller
                            PRIVATE LIBCONTROLLER_VERSION="R2025a")