[RSDK-10385] Windows build system improvements and rust_utils workarounds (#402)

- Ensure `__cplusplus` is set right on Windows builds.
- Don't download or link to `viam_rust_utils` on Windows.
- Redirect the `viam_rust_utils` entry points to `abort` on Windows.
- Adjust `viamapi` library name on Windows and apply `/WHOLEARCHIVE`
- Use `std::invoke_result_t` instead of `result_of` in C++17, where the latter is deprecated
- Add windows headers where needed.

Author: acmorrow

CMakeLists.txt

@@ -173,6 +173,10 @@ if (NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 set(CMAKE_CXX_STANDARD_REQUIRED True)
+if(MSVC)
+  # https://discourse.cmake.org/t/set-cmake-cxx-standard-should-set-zc-cplusplus-for-msvc/1876
+  string(APPEND CMAKE_CXX_FLAGS " /Zc:__cplusplus")
+endif()
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 
@@ -255,7 +259,7 @@ if (viam_rust_utils_files)
     ${viam_rust_utils_file}
     ONLY_IF_DIFFERENT
   )
-else()
+elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even try downloading
   set(lvru_system_name ${CMAKE_SYSTEM_NAME})
   if (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(lvru_system_name "macosx")
@@ -275,21 +279,23 @@ else()
 
 endif()
 
-add_library(viam_rust_utils SHARED IMPORTED)
+# TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even declare the library
+if (NOT WIN32)
+  add_library(viam_rust_utils SHARED IMPORTED)
 
-target_link_directories(viam_rust_utils
-  INTERFACE
+  target_link_directories(viam_rust_utils
+    INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
     "$<INSTALL_INTERFACE:${CMAKE_INSTALL_LIBDIR}>"
-)
-
-set_property(TARGET viam_rust_utils PROPERTY IMPORTED_LOCATION ${viam_rust_utils_file})
+  )
 
-install(
-  IMPORTED_RUNTIME_ARTIFACTS viam_rust_utils
-  LIBRARY COMPONENT viam-cpp-sdk_runtime
-)
+  set_property(TARGET viam_rust_utils PROPERTY IMPORTED_LOCATION ${viam_rust_utils_file})
 
+  install(
+    IMPORTED_RUNTIME_ARTIFACTS viam_rust_utils
+    LIBRARY COMPONENT viam-cpp-sdk_runtime
+  )
+endif()
 
 # Install the license file
 install(FILES

conanfile.py

@@ -82,7 +82,11 @@ def package(self):
         CMake(self).install()
 
     def package_info(self):
-        self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
+
+        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
+        # and the C++ SDK just doesn't include it as a dependency on that platform
+        if not self.settings.os == "Windows":
+            self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
 
         self.cpp_info.components["viamsdk"].libs = ["viamsdk"]
 
@@ -103,10 +107,16 @@ def package_info(self):
         else:
             lib_folder = os.path.join(self.package_folder, "lib")
             lib_fullpath = os.path.join(lib_folder, "libviamapi.a")
+            if self.settings.os == "Windows":
+                lib_fullpath = os.path.join(lib_folder, "viamapi.lib")
+
             if is_apple_os(self):
                 whole_archive = f"-Wl,-force_load,{lib_fullpath}"
+            elif self.settings.os == "Windows":
+                whole_archive = f"/WHOLEARCHIVE:{lib_fullpath}"
             else:
                 whole_archive = f"-Wl,--push-state,--whole-archive,{lib_fullpath},--pop-state"
+
             self.cpp_info.components["viamapi"].exelinkflags.append(whole_archive)
             self.cpp_info.components["viamapi"].sharedlinkflags.append(whole_archive)
 
@@ -118,7 +128,13 @@ def package_info(self):
             "xtensor::xtensor",
 
             "viamapi",
-            "viam_rust_utils"
         ])
 
+        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
+        # and the C++ SDK just doesn't include it as a dependency on that platform
+        if self.settings.os != "Windows":
+            self.cpp_info.components["viamsdk"].requires.extend([
+                "viam_rust_utils"
+            ])
+
         self.cpp_info.components["viamsdk"].frameworks = ["Security"]

src/viam/sdk/CMakeLists.txt

@@ -267,10 +267,19 @@ target_link_libraries(viamsdk
   PRIVATE ${VIAMCPPSDK_GRPCXX_LIBRARIES}
   PRIVATE ${VIAMCPPSDK_GRPC_LIBRARIES}
   PRIVATE ${VIAMCPPSDK_PROTOBUF_LIBRARIES}
-  PRIVATE viam_rust_utils
   PRIVATE Threads::Threads
 )
 
+# TODO(RSDK-10366): Currently, rust_utils is not published for
+# windows, so don't link to it.  Instead, link a stub implementation
+# that just calls `abort`.
+if (NOT WIN32)
+  target_link_libraries(viamsdk
+    PRIVATE viam_rust_utils
+  )
+else()
+  target_sources(viamsdk PRIVATE rpc/private/viam_rust_utils_stubs.cpp)
+endif()
 
 if (APPLE)
   target_link_libraries(viamsdk PUBLIC "-framework Security")

src/viam/sdk/common/private/service_helper.hpp

@@ -55,8 +55,13 @@ class ServiceHelper : public ServiceHelperBase {
     }
 
    private:
+#if __cplusplus >= 201703L
+    template <typename Callable, typename... Args>
+    using is_void_result = std::is_void<std::invoke_result_t<Callable, Args...>>;
+#else
     template <typename Callable, typename... Args>
     using is_void_result = std::is_void<std::result_of_t<Callable(Args...)>>;
+#endif
 
     // Implementation of `invoke_` for a Callable returning non-void,
     // presumably an error return, which we return as a

src/viam/sdk/module/service.cpp

@@ -1,3 +1,13 @@
+#ifdef _WIN32
+#define NOMINMAX
+// clang-format off
+// Otherwise clang-format tries to alphabetize these headers,
+// but `winsock2.h` should definitely precede `windows.h`.
+#include <winsock2.h>
+#include <windows.h>
+// clang-format on
+#endif
+
 #include <viam/sdk/module/service.hpp>
 
 #include <exception>

src/viam/sdk/rpc/dial.cpp

@@ -13,17 +13,8 @@
 #include <viam/api/robot/v1/robot.pb.h>
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/rpc/private/viam_grpc_channel.hpp>
+#include <viam/sdk/rpc/private/viam_rust_utils.h>
 
-extern "C" void* init_rust_runtime();
-extern "C" int free_rust_runtime(void* ptr);
-extern "C" void free_string(const char* s);
-extern "C" char* dial(const char* uri,
-                      const char* entity,
-                      const char* type,
-                      const char* payload,
-                      bool allow_insecure,
-                      float timeout,
-                      void* ptr);
 namespace viam {
 namespace sdk {
 

src/viam/sdk/rpc/private/viam_rust_utils.h

@@ -0,0 +1,21 @@
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+// Prototypes for the entrypoints from viam_rust_utils
+// that we use in the SDK.
+
+void* init_rust_runtime();
+int free_rust_runtime(void* ptr);
+void free_string(const char* s);
+char* dial(const char* uri,
+           const char* entity,
+           const char* type,
+           const char* payload,
+           bool allow_insecure,
+           float timeout,
+           void* ptr);
+
+#if defined(__cplusplus)
+}  // extern "C"
+#endif

src/viam/sdk/rpc/private/viam_rust_utils_stubs.cpp

@@ -0,0 +1,19 @@
+#include <viam/sdk/rpc/private/viam_rust_utils.h>
+
+#include <cstdlib>
+
+void* init_rust_runtime() {
+    abort();
+}
+
+int free_rust_runtime(void*) {
+    abort();
+}
+
+void free_string(const char*) {
+    abort();
+}
+
+char* dial(const char*, const char*, const char*, const char*, bool, float, void*) {
+    abort();
+}