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/zenoh_router_check.cpp

@@ -43,7 +43,12 @@ rmw_ret_t zenoh_router_check(z_session_t session)
     };
 
   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 = z_closure(callback, nullptr /* drop */, &context);
+  z_owned_closure_zid_t router_callback;
+  router_callback.context = static_cast<void *>(&context);
+  router_callback.call = callback;
+  router_callback.drop = 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

@@ -171,7 +171,7 @@ 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) {
+  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_WARN_LEVEL_STR, 0) != 0) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return RMW_RET_ERROR;
   }
@@ -359,7 +359,12 @@ 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 = z_closure(graph_sub_data_handler, nullptr, context->impl);
+  z_owned_closure_sample_t callback;
+  callback.context = static_cast<void *>(context->impl);
+  callback.call = graph_sub_data_handler;
+  callback.drop = 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

@@ -1445,9 +1445,14 @@ 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.
-  z_owned_closure_sample_t callback = z_closure(rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+  // z_owned_closure_sample_t callback = z_closure(
+  //   rmw_zenoh_cpp::sub_data_handler, nullptr, sub_data);
+  z_owned_closure_sample_t callback;
+  callback.context = static_cast<void *>(sub_data);
+  callback.call = rmw_zenoh_cpp::sub_data_handler;
+  callback.drop = nullptr;
   z_owned_keyexpr_t keyexpr = ros_topic_name_to_zenoh_key(
     node->context->actual_domain_id,
     topic_name,
@@ -2494,8 +2499,12 @@ 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);
+  // z_owned_closure_reply_t zn_closure_reply =
+  //   z_closure(rmw_zenoh_cpp::client_data_handler, rmw_zenoh_cpp::client_data_drop, client_data);
+  z_owned_closure_reply_t zn_closure_reply;
+  zn_closure_reply.context = static_cast<void *>(client_data);
+  zn_closure_reply.call = rmw_zenoh_cpp::client_data_handler;
+  zn_closure_reply.drop = rmw_zenoh_cpp::client_data_drop;
   z_get(
     z_loan(context_impl->session),
     z_loan(client_data->keyexpr), "",
@@ -2865,9 +2874,13 @@ 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 = z_closure(
+  //   rmw_zenoh_cpp::service_data_handler, nullptr,
+  //   service_data);
+  z_owned_closure_query_t callback;
+  callback.context = static_cast<void *>(service_data);
+  callback.call = rmw_zenoh_cpp::service_data_handler;
+  callback.drop = 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"
@@ -63,7 +64,7 @@ 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) {
+  if (rcutils_set_env_overwrite(ZENOH_LOG_ENV_VAR_STR, ZENOH_LOG_INFO_LEVEL_STR, 0) != 0) {
     RMW_SET_ERROR_MSG("Error configuring Zenoh logging.");
     return 1;
   }

zenoh_c_vendor/CMakeLists.txt

@@ -25,7 +25,7 @@ set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=zenoh/shared
 # - https://github.com/eclipse-zenoh/zenoh/pull/1150 (fix deadlock issue https://github.com/ros2/rmw_zenoh/issues/182)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 548ee8dde0f53a58c06e68a2949949b31140c36c
+  VCS_VERSION 134dbfa06ca212def5fb51dd8e816734dfd8dff6
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
 )