[RSDK-10385] Basic windows and macos build compatibility improvements (#401)

Author: acmorrow

CMakeLists.txt

@@ -150,6 +150,10 @@ if (VIAMCPPSDK_ENFORCE_COMPILER_MINIMA)
     if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 10.0)
       message(FATAL_ERROR "Insufficient Apple clang version: XCode 10.0+ required")
     endif()
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 19.34)
+      message(FATAL_ERROR "Insufficient MSVC version: Visual Studio 2022 17.4 (MSVC 19.34) or later is required")
+    endif()
   else()
     message(FATAL_ERROR "Unknown / untested compiler ${CMAKE_CXX_COMPILER_ID}")
   endif()

src/viam/examples/camera/example_camera.cpp

@@ -1,6 +1,5 @@
 #include <fstream>
 #include <string>
-#include <unistd.h>
 #include <vector>
 
 #include <viam/sdk/common/instance.hpp>

src/viam/examples/dial/example_dial.cpp

@@ -4,7 +4,6 @@
 #include <memory>
 #include <ostream>
 #include <string>
-#include <unistd.h>
 #include <vector>
 
 #include <boost/optional.hpp>

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -4,7 +4,6 @@
 #include <memory>
 #include <ostream>
 #include <string>
-#include <unistd.h>
 #include <vector>
 
 #include <boost/optional.hpp>

src/viam/examples/modules/complex/client.cpp

@@ -3,7 +3,6 @@
 #include <memory>
 #include <ostream>
 #include <string>
-#include <unistd.h>
 #include <vector>
 
 #include <grpcpp/channel.h>

src/viam/examples/motor/example_motor.cpp

@@ -1,5 +1,3 @@
-#include <unistd.h>
-
 #include <chrono>
 #include <fstream>
 #include <iostream>

src/viam/sdk/CMakeLists.txt

@@ -34,8 +34,18 @@ configure_file(common/grpc_fwd.hpp.in common/grpc_fwd.hpp)
 
 # Set compile and link options based on arguments
 if (VIAMCPPSDK_USE_WALL_WERROR)
-  target_compile_options(viamsdk PRIVATE -Wall -Werror)
+  if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    target_compile_options(viamsdk PRIVATE -Wall -Werror)
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    target_compile_options(viamsdk PRIVATE -Wall -Werror)
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    # Note: Currently, the generated protos throw W4244 and W4267, so turn that back to a warning.
+    target_compile_options(viamsdk PRIVATE /W4 /WX /wd4244 /wd4267)
+  else()
+    message(ERROR "VIAMCPPSDK_USE_WALL_ERROR is set, but not known how to enable for compiler ID ${CMAKE_CXX_COMPILER_ID}")
+  endif()
 endif()
+
 if (VIAMCPPSDK_SANITIZED_BUILD)
   target_link_options(viamsdk PRIVATE -fsanitize=undefined -fno-omit-frame-pointer -fno-sanitize-recover)
   target_compile_options(viamsdk PRIVATE -fsanitize=undefined -fno-omit-frame-pointer -fno-sanitize-recover)

src/viam/sdk/components/camera.hpp

@@ -9,7 +9,12 @@
 #include <vector>
 
 #include <boost/endian/conversion.hpp>
+
+#if defined(__has_include) && (__has_include(<xtensor/containers/xarray.hpp>))
+#include <xtensor/containers/xarray.hpp>
+#else
 #include <xtensor/xarray.hpp>
+#endif
 
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/common/utils.hpp>

src/viam/sdk/module/service.cpp

@@ -4,8 +4,6 @@
 #include <memory>
 #include <sstream>
 #include <string>
-#include <sys/socket.h>
-#include <sys/stat.h>
 
 #include <boost/log/trivial.hpp>
 #include <boost/none.hpp>
@@ -115,8 +113,8 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
             Registry::get().lookup_model(cfg.name());
         if (reg) {
             try {
-                const std::shared_ptr<Resource> res = reg->construct_resource(deps, cfg);
-                manager->replace_one(cfg.resource_name(), res);
+                const std::shared_ptr<Resource> resource = reg->construct_resource(deps, cfg);
+                manager->replace_one(cfg.resource_name(), resource);
             } catch (const std::exception& exc) {
                 return grpc::Status(::grpc::INTERNAL, exc.what());
             }
@@ -252,13 +250,8 @@ ModuleService::~ModuleService() {
 }
 
 void ModuleService::serve() {
-    const mode_t old_mask = umask(0077);
-    const int sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
-    listen(sockfd, 10);
-    umask(old_mask);
-
     server_->register_service(impl_.get());
-    const std::string address = "unix://" + module_->addr();
+    const std::string address = "unix:" + module_->addr();
     server_->add_listening_port(address);
 
     module_->set_ready();

src/viam/sdk/robot/client.cpp

@@ -6,7 +6,6 @@
 #include <mutex>
 #include <string>
 #include <thread>
-#include <unistd.h>
 #include <vector>
 
 #include <boost/log/trivial.hpp>
@@ -216,7 +215,7 @@ void RobotClient::refresh_every() {
             std::this_thread::sleep_for(std::chrono::seconds(refresh_interval_));
             refresh();
 
-        } catch (std::exception& exc) {
+        } catch (std::exception&) {
             break;
         }
     }

src/viam/sdk/services/mlmodel.hpp

@@ -18,7 +18,12 @@
 #include <boost/mpl/list.hpp>
 #include <boost/mpl/transform_view.hpp>
 #include <boost/variant/variant.hpp>
+
+#if defined(__has_include) && (__has_include(<xtensor/containers/xadapt.hpp>))
+#include <xtensor/containers/xadapt.hpp>
+#else
 #include <xtensor/xadapt.hpp>
+#endif
 
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/service.hpp>

src/viam/sdk/services/private/mlmodel.cpp

@@ -150,6 +150,11 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
         shape_accum = next_shape_accum;
     }
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4127)
+#endif
+
     // We need to handle the special case of an odd number of 16-bit
     // elements because that will arrive appearing to have one more
     // element than the shape would indicate, and we don't want to
@@ -160,6 +165,10 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
         size -= 1;
     }
 
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
     if (size != shape_accum) {
         std::ostringstream message;
         // TODO: Provide the shape and details

src/viam/sdk/services/private/navigation_client.cpp

@@ -55,7 +55,7 @@ void NavigationClient::set_mode(const Navigation::Mode mode, const ProtoStruct&
             request.set_mode(viam::service::navigation::v1::Mode(mode));
             *request.mutable_extra() = to_proto(extra);
         })
-        .invoke([](auto& response) {});
+        .invoke([](auto&) {});
 }
 
 Navigation::LocationResponse NavigationClient::get_location(const ProtoStruct& extra) {
@@ -81,7 +81,7 @@ void NavigationClient::add_waypoint(const geo_point& location, const ProtoStruct
             *request.mutable_location() = to_proto(location);
             *request.mutable_extra() = to_proto(extra);
         })
-        .invoke([](auto& response) {});
+        .invoke([](auto&) {});
 }
 
 void NavigationClient::remove_waypoint(const std::string id, const ProtoStruct& extra) {
@@ -90,7 +90,7 @@ void NavigationClient::remove_waypoint(const std::string id, const ProtoStruct&
             *request.mutable_id() = id;
             *request.mutable_extra() = to_proto(extra);
         })
-        .invoke([](auto& response) {});
+        .invoke([](auto&) {});
 }
 
 std::vector<geo_geometry> NavigationClient::get_obstacles(const ProtoStruct& extra) {
@@ -107,7 +107,7 @@ std::vector<NavigationClient::Path> NavigationClient::get_paths(const ProtoStruc
 
 NavigationClient::Properties NavigationClient::get_properties() {
     return make_client_helper(this, *stub_, &StubType::GetProperties)
-        .with([&](auto& request) {})
+        .with([&](auto&) {})
         .invoke([](auto& response) { return Properties{MapType(response.map_type())}; });
 }