From ff29a3e35e5f3e0918bf55e522372fa093127730 Mon Sep 17 00:00:00 2001
From: Taiju Yamada <taiju.yamada@mujin.co.jp>
Date: Fri, 8 Dec 2023 11:18:36 +0900
Subject: [PATCH] Fix msvc compilation

---
 include/mujincontrollerclient/mujinjson.h |  4 ++++
 src/mujinjson.cpp                         | 10 ++++++++++
 2 files changed, 14 insertions(+)

diff --git a/include/mujincontrollerclient/mujinjson.h b/include/mujincontrollerclient/mujinjson.h
index 6c7235bf..f8c4eeb0 100644
--- a/include/mujincontrollerclient/mujinjson.h
+++ b/include/mujincontrollerclient/mujinjson.h
@@ -358,6 +358,7 @@ inline void LoadJsonValue(const rapidjson::Value& v, unsigned long long& t) {
     }
 }
 
+#ifndef _MSC_VER
 inline void LoadJsonValue(const rapidjson::Value& v, uint64_t& t) {
     if (v.IsUint64()) {
         t = v.GetUint64();
@@ -381,6 +382,7 @@ inline void LoadJsonValue(const rapidjson::Value& v, int64_t& t) {
         throw MujinJSONException("Cannot convert json type " + GetJsonString(v) + " to Int64");
     }
 }
+#endif
 
 inline void LoadJsonValue(const rapidjson::Value& v, double& t) {
     if (v.IsNumber()) {
@@ -576,9 +578,11 @@ inline void SaveJsonValue(rapidjson::Value& v, long long t, rapidjson::Document:
     v.SetInt64(t);
 }
 
+#ifndef _MSC_VER
 inline void SaveJsonValue(rapidjson::Value& v, int64_t t, rapidjson::Document::AllocatorType& alloc) {
     v.SetInt64(t);
 }
+#endif
 
 inline void SaveJsonValue(rapidjson::Value& v, unsigned long long t, rapidjson::Document::AllocatorType& alloc) {
     v.SetUint64(t);
diff --git a/src/mujinjson.cpp b/src/mujinjson.cpp
index 2654a946..7a166836 100644
--- a/src/mujinjson.cpp
+++ b/src/mujinjson.cpp
@@ -4,7 +4,17 @@
 
 #include <fcntl.h>
 #include <sys/stat.h>
+
+#if defined(_WIN32)
+#include <io.h>
+#else
 #include <unistd.h>
+#endif
+
+#if defined(_MSC_VER)
+#include <BaseTsd.h>
+typedef SSIZE_T ssize_t;
+#endif
 
 namespace mujinjson {