Now compiles on Windows w/ MINGW 4.8

.travis.yml

@@ -0,0 +1,35 @@
+language: cpp
+
+sudo: required
+
+os:
+    - linux
+    - osx
+
+compiler:
+    - gcc
+
+env:
+    - BUILD_TYPE=Release
+
+before_script:
+    - if [ "`uname`" != "Darwin" ] ; then export MOOS_CXX_FLAGS="-fPIC -Wno-long-long"; fi
+    - cd ..
+    - git clone -b wOnlineCI --depth=1 https://github.com/msis/core-moos
+    - cd core-moos
+    - mkdir build
+    - cd build
+    - cmake -DENABLE_EXPORT=ON -DUSE_ASYNC_COMMS=ON -DTIME_WARP_AGGLOMERATION=0.4 -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_FLAGS=$MOOS_CXX_FLAGS ..
+    - cmake --build . --config Release
+    - sudo cmake --build . --config Release --target install
+    - cd $TRAVIS_BUILD_DIR
+    - mkdir build/
+
+
+script:
+    - cd build/
+    - cmake -DBUILD_CONSOLE_TOOLS=ON -DBUILD_GRAPHICAL_TOOLS=ON -DBUILD_UPB=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_FLAGS=$MOOS_CXX_FLAGS ../
+    - cmake --build . --config Release
+
+after_script:
+    - sudo cmake --build . --config Release --target install

Essentials/CMakeLists.txt

@@ -1,4 +1,6 @@
-add_subdirectory(pMOOSBridge)
+IF (NOT WIN32)
+    add_subdirectory(pMOOSBridge)
+ENDIF (NOT WIN32)
 add_subdirectory(pAntler)
 add_subdirectory(pLogger)
 add_subdirectory(pScheduler)

Essentials/pAntler/CMakeLists.txt

@@ -6,6 +6,10 @@ find_package(MOOS 10)
 #what files are needed?
 SET(SRCS  AntlerMain.cpp Antler.cpp)
 
+IF (WIN32)
+    SET(SRCS ${SRCS} XPCProcess.cpp XPCProcessAttrib.cpp)
+ENDIF(WIN32)
+
 include_directories( ${${EXECNAME}_INCLUDE_DIRS} ${MOOS_INCLUDE_DIRS} ${MOOS_DEPEND_INCLUDE_DIRS})
 add_executable(${EXECNAME} ${SRCS} )
 target_link_libraries(${EXECNAME} ${MOOS_LIBRARIES} ${MOOS_DEPEND_LIBRARIES})

Essentials/pLogger/MOOSLogger.cpp

@@ -1032,7 +1032,7 @@ bool CMOOSLogger::CreateDirectory(const std::string & sDirectory)
 {
 
 #if _WIN32
-    int bOK  = ::CreateDirectory(sDirectory.c_str(),NULL);
+    int bOK  = ::CreateDirectoryA(sDirectory.c_str(),NULL);
 
     if(!bOK)
     {
@@ -1042,7 +1042,7 @@ bool CMOOSLogger::CreateDirectory(const std::string & sDirectory)
         {
 
             LPVOID lpMsgBuf;
-            FormatMessage(
+            FormatMessageA(
                 FORMAT_MESSAGE_ALLOCATE_BUFFER |
                 FORMAT_MESSAGE_FROM_SYSTEM |
                 FORMAT_MESSAGE_IGNORE_INSERTS,

Essentials/pLogger/MOOSLogger.h

@@ -39,6 +39,11 @@
 #include <string>
 #include "Zipper.h"
 
+#if _WIN32
+    #include <windows.h>
+    #include <winbase.h>
+#endif // windows
+
 typedef std::vector<std::string> STRING_VECTOR; 
 
 class CMOOSLogger : public CMOOSApp  

Essentials/pShare/Listener.cpp

@@ -7,10 +7,17 @@
 #ifndef _WIN32
 #include "unistd.h"
 #endif
+#ifdef UNIX
+    #include <sys/socket.h>
+    #include <arpa/inet.h>
+    #include <netinet/in.h>
+#elif _WIN32
+    #define _WIN32_WINNT 0x0600 //will only work with vista and above as XP does not support IPv6
+    #include <io.h>
+    #include <winsock2.h>
+    #include <Ws2tcpip.h>
+#endif
 
-#include <sys/socket.h>
-#include <arpa/inet.h>
-#include <netinet/in.h>
 #include <string>
 #include <cstring>
 #include <stdexcept>
@@ -52,7 +59,7 @@ bool Listener::ListenLoop()
 
 		//we want to be able to resuse it (multiple folk are interested)
 		int reuse = 1;
-		if (setsockopt(socket_fd, SOL_SOCKET,SO_REUSEADDR/* SO_REUSEPORT*/, &reuse, sizeof(reuse)) == -1)
+        if (setsockopt(socket_fd, SOL_SOCKET,SO_REUSEADDR/* SO_REUSEPORT*/, (char *)&reuse, sizeof(reuse)) == -1)
 			throw std::runtime_error("Listener::ListenLoop::setsockopt::reuse");
 
 /*		if (setsockopt(socket_fd, SOL_SOCKET, SO_REUSEPORT,
@@ -63,7 +70,7 @@ bool Listener::ListenLoop()
 		//give ourselves plenty of receive space
 		//set aside some space for receiving - just a few multiples of 64K
 		int rx_buffer_size = 64*1024*28;
-		if (setsockopt(socket_fd, SOL_SOCKET, SO_RCVBUF, &rx_buffer_size, sizeof(rx_buffer_size)) == -1)
+        if (setsockopt(socket_fd, SOL_SOCKET, SO_RCVBUF, (char *)&rx_buffer_size, sizeof(rx_buffer_size)) == -1)
 			throw std::runtime_error("Listener::ListenLoop()::setsockopt::rcvbuf");
 
 
@@ -91,7 +98,7 @@ bool Listener::ListenLoop()
 			struct ip_mreq mreq;
 			mreq.imr_multiaddr.s_addr = inet_addr(address_.host().c_str());
 			mreq.imr_interface.s_addr = INADDR_ANY;
-			if(setsockopt(socket_fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, &mreq, sizeof(mreq))==-1)
+            if(setsockopt(socket_fd, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *)&mreq, sizeof(mreq))==-1)
 				throw std::runtime_error("Listener::ListenLoop()::setsockopt::ADD_MEMBERSHIP");
 		}
 

Essentials/pShare/Share.cpp

@@ -4,9 +4,15 @@
  *  Created on: Aug 26, 2012
  *      Author: pnewman
  */
-#include <ifaddrs.h>
-#include <arpa/inet.h>
-#include <netdb.h>
+#ifdef UNIX
+    #include <ifaddrs.h>
+    #include <arpa/inet.h>
+    #include <netdb.h>
+#elif _WIN32
+//    #define _WIN32_WINNT 0x0600 //will only work with vista and above as XP does not support IPv6
+    #include <winsock2.h>
+    #include <Ws2tcpip.h>
+#endif
 
 #include <map>
 #include <stdexcept>
@@ -1091,7 +1097,7 @@ bool Share::Impl::ApplyRoutes(CMOOSMsg & msg)
 		}
 
 		//send here
-		if (sendto(relevant_socket.socket_fd, buffer.data(), buffer.size(), 0,
+        if (sendto(relevant_socket.socket_fd, (const char*)buffer.data(), buffer.size(), 0,
 				(struct sockaddr*) (&relevant_socket.sock_addr),
 				sizeof(relevant_socket.sock_addr)) < 0)
 		{
@@ -1138,7 +1144,7 @@ bool Share::Impl::AddOutputRoute(MOOS::IPV4Address address, bool multicast)
 
 	int reuse = 1;
 	if (setsockopt(new_socket.socket_fd, SOL_SOCKET, SO_REUSEADDR,
-		&reuse, sizeof(reuse)) == -1)
+        (char *)&reuse, sizeof(reuse)) == -1)
 	throw std::runtime_error("failed to set resuse socket option");
 /*
 	if (setsockopt(new_socket.socket_fd, SOL_SOCKET, SO_REUSEPORT,
@@ -1148,7 +1154,7 @@ bool Share::Impl::AddOutputRoute(MOOS::IPV4Address address, bool multicast)
 	int send_buffer_size = 4 * 64 * 1024;
 	if (setsockopt(new_socket.socket_fd,
 			SOL_SOCKET, SO_SNDBUF,
-			&send_buffer_size,
+            (char *)&send_buffer_size,
 			sizeof(send_buffer_size)) == -1)
 	{
 		throw std::runtime_error("failed to set size of socket send buffer");
@@ -1173,11 +1179,20 @@ bool Share::Impl::AddOutputRoute(MOOS::IPV4Address address, bool multicast)
 
 	std::string dotted_ip = MOOS::IPV4Address::GetNumericAddress(new_socket.address.host());
 
-	if(inet_aton(dotted_ip.c_str(), &new_socket.sock_addr.sin_addr)==0)
-	{
-		throw std::runtime_error("failed to intepret "
-				+dotted_ip+" as an ip address");
-	}
+#ifdef UNIX
+    if(inet_aton(dotted_ip.c_str(), &new_socket.sock_addr.sin_addr)==0)
+    {
+        throw std::runtime_error("failed to intepret "
+                +dotted_ip+" as an ip address");
+    }
+#elif _WIN32
+    if( inet_pton(AF_INET,dotted_ip.c_str(), &new_socket.sock_addr.sin_addr)==0)
+    {
+        throw std::runtime_error("failed to intepret "
+                +dotted_ip+" as an ip address");
+    }
+#endif
+
 
 	//new_socket.sock_addr.sin_addr.s_addr = inet_addr(new_socket.address.ip_num.c_str());
 	new_socket.sock_addr.sin_port = htons(new_socket.address.port());

README.md

@@ -0,0 +1,12 @@
+Essential-MOOS
+==============
+Essential-MOOS contains some useful tools for robotics to use with [Core-MOOS](https://github.com/themoos/core-moos) for Robotics purposes.
+
+# Build Statuses
+|OS       |Build Status|
+|:--------|-----------:|
+|Linux/OSX|[![Build Status](https://travis-ci.org/msis/essential-moos.svg?branch=devel)](https://travis-ci.org/msis/essential-moos)|
+|Windows  |[![Build status](https://ci.appveyor.com/api/projects/status/d3cm6s8l6lko5q6e?svg=true)](https://ci.appveyor.com/project/msis/essential-moos)|
+
+# Build Instructions
+(TODO, for now please refer to `.travis.yml` file for Linux/OSX and `appveyor.yml` for Windows.)

appveyor.yml

@@ -0,0 +1,40 @@
+version: devel-{build}
+
+platform:
+    - x64
+    - x86
+
+environment:
+    matrix:
+    - BUILD_TYPE: cmake
+      VS_VERSION: Visual Studio 11 2012
+
+    - BUILD_TYPE: cmake
+      VS_VERSION: Visual Studio 12 2013
+
+    - BUILD_TYPE: cmake
+      VS_VERSION: Visual Studio 14 2015
+
+shallow_clone: true
+
+init:
+    - if "%platform%" == "x64" SET VS_FULL=%VS_VERSION% Win64
+    - if "%platform%" == "x86" SET VS_FULL=%VS_VERSION%
+    - cd ..
+    - git clone -b wOnlineCI --depth=1 https://github.com/msis/core-moos
+    - cd core-moos
+    - mkdir build
+    - cd build
+    - cmake -G "%VS_FULL%" -DENABLE_EXPORT=ON -DUSE_ASYNC_COMMS=ON -DTIME_WARP_AGGLOMERATION=0.4 -DCMAKE_BUILD_TYPE=$BUILD_TYPE ../
+    - cmake --build . --config Release
+    - cmake --build . --config Release --target install
+    - cd %APPVEYOR_BUILD_FOLDER%
+    - mkdir build
+
+build_script:
+    - cd build
+    - cmake -G "%VS_FULL%" -DBUILD_CONSOLE_TOOLS=ON -DBUILD_GRAPHICAL_TOOLS=ON -DBUILD_UPB=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE ../
+    - cmake --build . --config Release
+
+on_success:
+    - cmake --build . --config Release --target install