Added windows support

README.md

@@ -12,6 +12,11 @@ For information about the Design please visit [design](docs/design.md) page.
 ## Requirements
 - [ROS 2](https://docs.ros.org): Rolling/Jazzy/Iron
 
+### Windows
+
+```bash
+choco install -y rust mingw
+```
 
 ## Setup
 

rmw_zenoh_cpp/src/detail/rmw_data_types.hpp

@@ -374,6 +374,17 @@ class rmw_client_data_t final
   bool is_shutdown_{false};
   size_t num_in_flight_{0};
 };
+
+///=============================================================================
+template<typename T, typename H>
+T make_z_closure(void * context, void (*call)(H *, void *), void (*drop)(void *))
+{
+  T closure;
+  closure.context = context;
+  closure.call = call;
+  closure.drop = drop;
+  return closure;
+}
 }  // namespace rmw_zenoh_cpp
 
 #endif  // DETAIL__RMW_DATA_TYPES_HPP_

rmw_zenoh_cpp/src/detail/zenoh_router_check.cpp

@@ -22,28 +22,35 @@
 
 #include "logging_macros.hpp"
 #include "liveliness_utils.hpp"
+#include "rmw_data_types.hpp"
 
 namespace rmw_zenoh_cpp
 {
+// Define callback
+void callback_id(const struct z_id_t * id, void * ctx)
+{
+  const std::string id_str = liveliness::zid_to_str(*id);
+  RMW_ZENOH_LOG_INFO_NAMED(
+    "rmw_zenoh_cpp",
+    "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
+  // Note: Callback is guaranteed to never be called
+  // concurrently according to z_info_routers_zid docstring
+  (*(static_cast<int *>(ctx)))++;
+}
 ///=============================================================================
 rmw_ret_t zenoh_router_check(z_session_t session)
 {
   // Initialize context for callback
   int context = 0;
 
-  // Define callback
-  auto callback = [](const struct z_id_t * id, void * ctx) {
-      const std::string id_str = liveliness::zid_to_str(*id);
-      RMW_ZENOH_LOG_INFO_NAMED(
-        "rmw_zenoh_cpp",
-        "Successfully connected to a Zenoh router with id %s.", id_str.c_str());
-      // Note: Callback is guaranteed to never be called
-      // concurrently according to z_info_routers_zid docstring
-      (*(static_cast<int *>(ctx)))++;
-    };
-
   rmw_ret_t ret = RMW_RET_OK;
-  z_owned_closure_zid_t router_callback = z_closure(callback, nullptr /* drop */, &context);
+
+  z_owned_closure_zid_t router_callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_zid_t, const z_id_t>(
+      static_cast<void *>(&context),
+      &callback_id,
+      nullptr);
+
   if (z_info_routers_zid(session, z_move(router_callback))) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -171,10 +171,24 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   // If not already defined, set the logging environment variable for Zenoh sessions
   // to warning level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
-    RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
+
+  const char * value;
+  const char * error_message = rcutils_get_env(ZENOH_LOG_ENV_VAR_STR, &value);
+  if (error_message != NULL) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error configuring Zenoh logging. Unable to get %s environment variable: %s",
+      ZENOH_LOG_ENV_VAR_STR,
+      error_message);
     return RMW_RET_ERROR;
   }
+  if (value == nullptr) {
+    if (!rcutils_set_env(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR)) {
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "Error configuring Zenoh logging. Unable to set %s environment variable.",
+        ZENOH_LOG_ENV_VAR_STR);
+      return RMW_RET_ERROR;
+    }
+  }
 
   // Initialize the zenoh configuration.
   z_owned_config_t config;
@@ -359,7 +373,11 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   //   z_move(callback),
   //   &sub_options);
   auto sub_options = zc_liveliness_subscriber_options_null();
-  z_owned_closure_sample_t callback = z_closure(graph_sub_data_handler, nullptr, context->impl);
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(context->impl), graph_sub_data_handler, nullptr
+    );
+
   context->impl->graph_subscriber = zc_liveliness_declare_subscriber(
     z_loan(context->impl->session),
     z_keyexpr(liveliness_str.c_str()),

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -1415,7 +1415,7 @@ rmw_create_subscription(
       allocator->deallocate(type_hash_c_str, allocator->state);
     });
 
-  // Everything above succeeded and is setup properly.  Now declare a subscriber
+  // Everything above succeeded and is setup properly. Now declare a subscriber
   // with Zenoh; after this, callbacks may come in at any time.
   sub_data->entity = rmw_zenoh_cpp::liveliness::Entity::make(
     z_info_zid(z_loan(node->context->impl->session)),
@@ -1439,7 +1439,13 @@ rmw_create_subscription(
       rmw_subscription->topic_name);
     return nullptr;
   }
-  z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+
+  z_owned_closure_sample_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_sample_t, const z_sample_t>(
+      static_cast<void *>(sub_data),
+      rmw_zenoh_cpp::sub_data_handler,
+      nullptr);
+
   z_owned_keyexpr_t keyexpr = z_keyexpr_new(sub_data->entity->topic_info()->topic_keyexpr_.c_str());
   auto always_free_ros_keyexpr = rcpputils::make_scope_exit(
     [&keyexpr]() {
@@ -2499,8 +2505,12 @@ rmw_send_request(
   // and any number.
   opts.consolidation = z_query_consolidation_latest();
   opts.value.payload = z_bytes_t{data_length, reinterpret_cast<const uint8_t *>(request_bytes)};
+
   z_owned_closure_reply_t zn_closure_reply =
-    z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_reply_t, z_owned_reply_t>(
+      static_cast<void *>(client_data),
+      &rmw_zenoh_cpp::client_data_handler,
+      rmw_zenoh_cpp::client_data_drop);
   z_get(
     z_loan(context_impl->session),
     z_loan(client_data->keyexpr), "",
@@ -2888,9 +2898,11 @@ rmw_create_service(
     return nullptr;
   }
 
-  z_owned_closure_query_t callback = z_closure(
-    rmw_zenoh_cpp::service_data_handler, nullptr,
-    service_data);
+  z_owned_closure_query_t callback =
+    rmw_zenoh_cpp::make_z_closure<z_owned_closure_query_t, const z_query_t>(
+      static_cast<void *>(service_data),
+      &rmw_zenoh_cpp::service_data_handler,
+      nullptr);
   // Configure the queryable to process complete queries.
   z_queryable_options_t qable_options = z_queryable_options_default();
   qable_options.complete = true;

rmw_zenoh_cpp/src/zenohd/main.cpp

@@ -30,6 +30,7 @@
 #include "../detail/zenoh_config.hpp"
 #include "../detail/liveliness_utils.hpp"
 
+#include "rcutils/env.h"
 #include "rmw/error_handling.h"
 
 #include "rcpputils/scope_exit.hpp"
@@ -63,9 +64,23 @@ int main(int argc, char ** argv)
   // If not already defined, set the logging environment variable for Zenoh router
   // to info level by default.
   // TODO(Yadunund): Switch to rcutils_get_env once it supports not overwriting values.
-  if (setenv(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
-    RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
-    return 1;
+
+  const char * value;
+  const char * error_message = rcutils_get_env(ZENOH_LOG_ENV_VAR_STR, &value);
+  if (error_message != NULL) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "Error configuring Zenoh logging. Unable to get %s environment variable: %s",
+      ZENOH_LOG_ENV_VAR_STR,
+      error_message);
+    return RMW_RET_ERROR;
+  }
+  if (value == nullptr) {
+    if (!rcutils_set_env(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR)) {
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "Error configuring Zenoh logging. Unable to set %s environment variable.",
+        ZENOH_LOG_ENV_VAR_STR);
+      return RMW_RET_ERROR;
+    }
   }
 
   // Initialize the zenoh configuration for the router.