Use Winsock for Windows

include/message.h

@@ -3,14 +3,20 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#define PACKED __attribute__((__packed__))
+#if defined(_MSC_VER)  // Check if compiling with Microsoft Visual Studio
+#define PACKED(__DECL__) __pragma(pack(push, 1)) __DECL__ __pragma(pack(pop))
+#elif defined(__GNUC__)  // Check if compiling with GCC or any compiler defining __GNUC__, including Clang
+#define PACKED(__DECL__) __DECL__ __attribute__((packed))
+#else
+#error "Unsupported compiler"
+#endif
 
 static const uint8_t CLIENT_HOST = 9;
 static const uint8_t CLIENT_INDEX = 6;
 
 static const uint8_t PREAMBLE = 0x55;
 
-struct PACKED Header {
+PACKED( struct Header {
 
     // The preamble marks the start of a message and is always 0x55
     uint8_t preamble;
@@ -53,13 +59,13 @@ struct PACKED Header {
         };
     };
 
-};
+});
 
-struct PACKED Footer {
+PACKED( struct Footer {
     uint16_t crc;
-};
+});
 
-struct PACKED SetSystemLedReq {
+PACKED( struct SetSystemLedReq {
 
     struct Header header;
 
@@ -88,87 +94,87 @@ struct PACKED SetSystemLedReq {
 
     struct Footer footer;
 
-};
+});
 
-struct PACKED SetSystemLedResp {
+PACKED( struct SetSystemLedResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SubscribeAddNodeReq
+PACKED( struct SubscribeAddNodeReq
 {
     struct Header header;
     uint8_t hostbyte;
     uint32_t sub_vision; // always 0x03000000
     struct Footer footer;
-};
+});
 
-struct PACKED SubscribeAddNodeResp
+PACKED( struct SubscribeAddNodeResp
 {
     struct Header header;
     uint8_t retcode; // 0x00 or 0x50 are acceptable here
     uint8_t hostbyte;
     struct Footer footer;
-};
+});
 
-struct PACKED SubNodeResetReq
+PACKED( struct SubNodeResetReq
 {
     struct Header header;
     uint8_t hostbyte;
     struct Footer footer;
-};
+});
 
-struct PACKED SubNodeResetResp
+PACKED( struct SubNodeResetResp
 {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetRobotModeReq
+PACKED( struct SetRobotModeReq
 {
     struct Header header;
     uint8_t mode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetRobotModeResp
+PACKED( struct SetRobotModeResp
 {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED ChassisSpeedModeReq
+PACKED( struct ChassisSpeedModeReq
 {
     struct Header header;
     float speed[3];
     struct Footer footer;
-};
+});
 
-struct PACKED ChassisSpeedModeResp
+PACKED( struct ChassisSpeedModeResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetChassisWheelSpeedReq
+PACKED( struct SetChassisWheelSpeedReq
 {
     struct Header header;
     int8_t wheel_speed[4];
     struct Footer footer;
-};
+});
 
-struct PACKED SetChassisWheelSpeedResp
+PACKED( struct SetChassisWheelSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED GimbalCtrlSpeedReq
+PACKED( struct GimbalCtrlSpeedReq
 {
     struct Header header;
     // Values between -360 and 360
@@ -183,53 +189,53 @@ struct PACKED GimbalCtrlSpeedReq
     // Always 0xDC
     uint8_t ctrl;
     struct Footer footer;
-};
+});
 
-struct PACKED GimbalCtrlSpeedResp
+PACKED( struct GimbalCtrlSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetWheelSpeedReq
+PACKED( struct SetWheelSpeedReq
 {
     struct Header header;
     int16_t wheel_speed[4];
     struct Footer footer;
-};
+});
 
-struct PACKED SetWheelSpeedResp
+PACKED( struct SetWheelSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SdkHeartbeatReq {
+PACKED( struct SdkHeartbeatReq {
     struct Header header;
     struct Footer footer;
-};
+});
 
-struct PACKED SdkHeartbeatResp {
+PACKED( struct SdkHeartbeatResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkModeReq {
+PACKED( struct SetSdkModeReq {
     struct Header header;
     uint8_t enable;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkModeResp {
+PACKED( struct SetSdkModeResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkConnectionReq {
+PACKED( struct SetSdkConnectionReq {
     struct Header header;
     uint8_t control;
     uint8_t host;
@@ -238,32 +244,32 @@ struct PACKED SetSdkConnectionReq {
     uint32_t ip_address;
     uint16_t port;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkConnectionResp {
+PACKED( struct SetSdkConnectionResp {
     struct Header header;
     uint8_t retcode;
     uint8_t state;
     uint32_t config_ip;
     struct Footer footer;
-};
+});
 
-struct PACKED BlasterFireReq {
+PACKED( struct BlasterFireReq {
     struct Header header;
     struct {
         uint8_t type : 4;
         uint8_t times : 4;
     };
     struct Footer footer;
-};
+});
 
-struct PACKED BlasterFireResp {
+PACKED( struct BlasterFireResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED StreamCtrlReq {
+PACKED( struct StreamCtrlReq {
     struct Header header;
     uint8_t ctrl;
     struct {
@@ -272,15 +278,15 @@ struct PACKED StreamCtrlReq {
     };
     uint8_t resolution;
     struct Footer footer;
-};
+});
 
-struct PACKED StreamCtrlResp {
+PACKED( struct StreamCtrlResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED AddSubMsgReq {
+PACKED( struct AddSubMsgReq {
     struct Header header;
     uint8_t node_id;
     uint8_t msg_id;
@@ -290,9 +296,9 @@ struct PACKED AddSubMsgReq {
     uint64_t subject_uuid;
     uint16_t freq;
     struct Footer footer;
-};
+});
 
-struct PACKED AddSubMsgResp {
+PACKED( struct AddSubMsgResp {
     struct Header header;
     uint8_t retcode;
     uint8_t pub_node_id;
@@ -300,9 +306,9 @@ struct PACKED AddSubMsgResp {
     uint8_t ack_msg_id;
     uint16_t ack_err_uid_data;
     struct Footer footer;
-};
+});
 
-struct PACKED PushPeriodMsg {
+PACKED( struct PushPeriodMsg {
     struct Header header;
     uint8_t sub_mode;
     uint8_t msg_id;
@@ -324,7 +330,7 @@ struct PACKED PushPeriodMsg {
         } gimbal;
     };
     struct Footer footer;
-};
+});
 
 union Request {
     struct Header header;

src/connection.c

@@ -4,9 +4,26 @@
 #include "connection.h"
 
 #include <stdlib.h>
+
+#ifdef _WIN32
+bool StartupWSA() {
+    static bool wsastarted = false;
+    if (!wsastarted) {
+        WORD		wVersionRequested;
+        WSADATA		wsaData;
+
+        wVersionRequested = MAKEWORD(2, 2);
+        if (WSAStartup(wVersionRequested, &wsaData) == 0) {
+            wsastarted = true;
+        }
+    }
+    return wsastarted;
+}
+#else
 #include <sys/socket.h>
 #include <sys/select.h>
 #include <netinet/in.h>
+#endif
 #include <string.h>
 #include <fcntl.h>
 #include <stdio.h>
@@ -106,6 +123,10 @@ connection_new(uint16_t source_port, uint32_t source_ip, uint16_t dest_port, uin
 enum connection_error
 connection_connect(struct Connection* conn) {
 
+#ifdef _WIN32
+    StartupWSA();
+#endif
+
     // Request a UDP socket
     conn->sockfd = socket(AF_INET, SOCK_DGRAM, 0);
 
@@ -114,8 +135,13 @@ connection_connect(struct Connection* conn) {
         return CONNECTION_LOCAL_BIND;
  
     // Make the socket non-blocking
+#ifdef _WIN32
+    static unsigned long sock_opts = 1;
+    ioctlsocket(conn->sockfd, FIONBIO, &sock_opts);	//Non-Blocking
+#else
     int flags = fcntl(conn->sockfd, F_GETFL);
     fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
+#endif
 
     // File descriptors are numbers that count up sequentially,
     // so save the last one as the greatest file descriptor.