Fix Windows support

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+	"files.associations": {
+		"*.cs": "csharp",
+		"cstdlib": "cpp"
+	},
+	"cmake.sourceDirectory": "C:/Users/aidan/dev/MarsRover/mono-rover/lidar/src"
+}

lidar/src/CMakeLists.txt

@@ -13,7 +13,9 @@ include_directories("sick_scan_xd/include/sick_scan_xd_api")
 if (NOT WIN32)
 add_executable(lidar udp.cpp image.cpp lidar.cpp main.cpp)
 target_link_libraries(lidar sick_scan_xd_lib)
+elseif(WIN32)
+add_executable(lidar image.cpp lidar.cpp main.cpp)
 endif()
 
-add_library(lidar_ffi SHARED lidar.cpp image.cpp )
+add_library(lidar_ffi SHARED lidar.cpp image.cpp)
 target_link_libraries(lidar_ffi sick_scan_xd_lib)

lidar/src/main.cpp

@@ -1,5 +1,12 @@
 #include <cstdlib>
-#include <unistd.h>
+#ifdef __linux__ 
+  #include <unistd.h>
+#elif _WIN32
+  #include <windows.h>
+#else
+#endif
+
+
 #include <iostream>
 
 #include "lidar.h"
@@ -17,7 +24,11 @@ int main() {
   // Open the lidar
   auto lidar = new Lidar;
   init(lidar);
+#if __linux__
   sleep(5);  // init is actually async. TODO: better error-handling
+#elseif(WIN32)
+  Sleep(5000);
+#endif
 
   while (true) {
     // Check for errors and quit if there are any (the lidar has disconnected)
@@ -38,6 +49,10 @@ int main() {
       }
     }
 
-    sleep(sleepDelay);
+#if __linux__
+    sleep(sleepDelay);  // init is actually async. TODO: better error-handling
+#elseif(WIN32)
+    Sleep(sleepDelay);
+#endif
   }
 }

lidar/src/udp.cpp

@@ -1,12 +1,19 @@
-#include <errno.h>
-#include <iostream>
-#include <netinet/in.h>
-#include <string.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include "udp.hpp"
+  #include <errno.h>
+  #include <iostream>
+
+#ifdef __linux__ 
+  #include <netinet/in.h>
+  #include <string.h>
+  #include <sys/socket.h>
+  #include <sys/types.h>
+  #include <unistd.h>
+#elif _WIN32
+  #include <windows.h>
+#else
+#endif
+
+
 
 UdpSocket::UdpSocket(int destPort) : destPort(destPort) { }
 

lidar/src/udp.hpp

@@ -1,4 +1,10 @@
-#include <netinet/in.h>
+#ifdef __linux__ 
+  #include <netinet/in.h>
+#elif _WIN32
+  #include <winsock2.h>
+#else
+#endif
+
 
 class UdpSocket {
   private: