Merge pull request #417 from alphaville/feature/36-ga-win

GA CI: tests on Windows and more

Author: alphaville

.github/workflows/ci.yml

@@ -25,6 +25,8 @@ jobs:
             os: ubuntu-latest
           - name: macOS
             os: macos-latest
+          - name: Windows
+            os: windows-latest
     steps:
       - uses: actions/checkout@v5
 
@@ -37,6 +39,7 @@ jobs:
         run: cargo test
 
       - name: Cargo tests (RP and JEM)
+        if: runner.os != 'Windows'
         run: |
           cargo test --features rp
           cargo test --features jem
@@ -57,6 +60,9 @@ jobs:
           - name: macOS
             os: macos-latest
             skip_rpi_test: 1
+          - name: Windows
+            os: windows-latest
+            skip_rpi_test: 1
     env:
       DO_DOCKER: 0
       SKIP_RPI_TEST: ${{ matrix.skip_rpi_test }}
@@ -73,7 +79,7 @@ jobs:
         with:
           python-version: "3.12"
           cache: "pip"
-          cache-dependency-path: open-codegen/setup.py
+          cache-dependency-path: open-codegen/pyproject.toml
 
       - uses: egor-tensin/setup-clang@v1
         if: runner.os == 'Linux'
@@ -103,6 +109,20 @@ jobs:
         if: runner.os == 'macOS'
         run: bash ./ci/script.sh python-tests
 
+      - name: Install Python package
+        if: runner.os == 'Windows'
+        working-directory: open-codegen
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install .
+
+      - name: Run Python test.py
+        if: runner.os == 'Windows'
+        working-directory: open-codegen
+        env:
+          PYTHONPATH: .
+        run: python -W ignore test/test.py -v
+
   ros2_tests:
     name: ROS2 tests
     needs: python_tests
@@ -165,6 +185,8 @@ jobs:
             os: ubuntu-latest
           - name: macOS
             os: macos-latest
+          - name: Windows
+            os: windows-latest
     env:
       DO_DOCKER: 0
     steps:
@@ -179,7 +201,22 @@ jobs:
         with:
           python-version: "3.12"
           cache: "pip"
-          cache-dependency-path: open-codegen/setup.py
+          cache-dependency-path: open-codegen/pyproject.toml
 
       - name: Run OCP Python tests
+        if: runner.os != 'Windows'
         run: bash ./ci/script.sh ocp-tests
+
+      - name: Install Python package
+        if: runner.os == 'Windows'
+        working-directory: open-codegen
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install .
+
+      - name: Run OCP Python tests
+        if: runner.os == 'Windows'
+        working-directory: open-codegen
+        env:
+          PYTHONPATH: .
+        run: python -W ignore test/test_ocp.py -v

open-codegen/CHANGELOG.md

@@ -23,6 +23,7 @@ Note: This is the Changelog file of `opengen` - the Python interface of OpEn
 - Added helpful `__repr__` methods to generated Python binding response/status/error objects, TCP solver response/error objects, and `GeneratedOptimizer` for easier inspection and debugging
 - Updated generated TCP server and C interface templates to work with the richer Rust solver error model and expose better failure information to clients. Updated auto-generated `CMakeLists.txt` file. Tighter unit tests.
 - ROS2 generated packages now publish detailed `error_code` and `error_message` fields, plus `STATUS_INVALID_REQUEST`, so invalid requests and solver failures are reported explicitly instead of being silently ignored
+- Extended GitHub Actions CI to run Python, OCP, and generated-code tests on Windows, and fixed multiple Windows-specific code generation, path, encoding, TCP, and C/CMake compatibility issues.
 
 
 ## [0.10.1] - 2026-03-25

open-codegen/opengen/builder/ros_builder.py

@@ -6,6 +6,7 @@
 import logging
 import os
 import shutil
+import sys
 
 import jinja2
 
@@ -141,7 +142,7 @@ def _generate_ros_package_xml(self):
         template = self._template('package.xml')
         output_template = template.render(meta=self._meta, ros=self._ros_config)
         target_rospkg_path = os.path.join(target_ros_dir, "package.xml")
-        with open(target_rospkg_path, "w") as fh:
+        with open(target_rospkg_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _generate_ros_cmakelists(self):
@@ -151,7 +152,7 @@ def _generate_ros_cmakelists(self):
         template = self._template('CMakeLists.txt')
         output_template = template.render(meta=self._meta, ros=self._ros_config)
         target_rospkg_path = os.path.join(target_ros_dir, "CMakeLists.txt")
-        with open(target_rospkg_path, "w") as fh:
+        with open(target_rospkg_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _copy_ros_files(self):
@@ -166,7 +167,10 @@ def _copy_ros_files(self):
             os.path.join(self._target_dir(), header_file_name))
         shutil.copyfile(original_include_file, target_include_filename)
 
-        lib_file_name = 'lib' + self._meta.optimizer_name + '.a'
+        if sys.platform == "win32":
+            lib_file_name = self._meta.optimizer_name + '.lib'
+        else:
+            lib_file_name = 'lib' + self._meta.optimizer_name + '.a'
         target_lib_file_name = os.path.abspath(
             os.path.join(target_ros_dir, 'extern_lib', lib_file_name))
         original_lib_file = os.path.abspath(
@@ -194,7 +198,7 @@ def _generate_ros_params_file(self):
         template = self._template('open_params.yaml')
         output_template = template.render(meta=self._meta, ros=self._ros_config)
         target_yaml_fname = os.path.join(target_ros_dir, "config", "open_params.yaml")
-        with open(target_yaml_fname, "w") as fh:
+        with open(target_yaml_fname, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _generate_ros_node_header(self):
@@ -208,7 +212,7 @@ def _generate_ros_node_header(self):
             solver_config=self._solver_config)
         target_rosnode_header_path = os.path.join(
             target_ros_dir, "include", "open_optimizer.hpp")
-        with open(target_rosnode_header_path, "w") as fh:
+        with open(target_rosnode_header_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _generate_ros_node_cpp(self):
@@ -221,7 +225,7 @@ def _generate_ros_node_cpp(self):
             ros=self._ros_config,
             timestamp_created=datetime.datetime.now())
         target_rosnode_cpp_path = os.path.join(target_ros_dir, "src", "open_optimizer.cpp")
-        with open(target_rosnode_cpp_path, "w") as fh:
+        with open(target_rosnode_cpp_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _generate_ros_launch_file(self):
@@ -232,7 +236,7 @@ def _generate_ros_launch_file(self):
         output_template = template.render(meta=self._meta, ros=self._ros_config)
         target_rosnode_launch_path = os.path.join(
             target_ros_dir, "launch", self._launch_file_name)
-        with open(target_rosnode_launch_path, "w") as fh:
+        with open(target_rosnode_launch_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _generate_ros_readme_file(self):
@@ -242,7 +246,7 @@ def _generate_ros_readme_file(self):
         template = self._template('README.md')
         output_template = template.render(ros=self._ros_config)
         target_readme_path = os.path.join(target_ros_dir, "README.md")
-        with open(target_readme_path, "w") as fh:
+        with open(target_readme_path, "w", encoding="utf-8") as fh:
             fh.write(output_template)
 
     def _symbolic_link_info_message(self):

open-codegen/opengen/config/build_config.py

@@ -105,7 +105,11 @@ def open_version(self):
     @property
     def local_path(self):
         """Local path of OpEn (if any)"""
-        return self.__local_path
+        if self.__local_path is None:
+            return None
+        # Cargo.toml accepts forward slashes on Windows, while raw backslashes
+        # inside TOML strings are treated as escape sequences.
+        return self.__local_path.replace("\\", "/")
 
     @property
     def build_c_bindings(self):
@@ -231,7 +235,7 @@ def with_open_version(self, open_version="*", local_path=None):
         :return: current instance of BuildConfiguration
         """
         self.__open_version = open_version
-        self.__local_path = local_path
+        self.__local_path = None if local_path is None else str(local_path)
         return self
 
     def with_build_c_bindings(self, build_c_bindings=True):

open-codegen/opengen/tcp/optimizer_tcp_manager.py

@@ -91,10 +91,16 @@ def __load_tcp_details(self):
         with open(yaml_file, 'r') as stream:
             self.__optimizer_details = yaml.safe_load(stream)
 
+    @staticmethod
+    def __client_ip_for_connection(ip):
+        # `0.0.0.0` is a valid bind address for the server, but it is not a
+        # routable destination for a client connection on Windows.
+        return '127.0.0.1' if ip == '0.0.0.0' else ip
+
     @retry(tries=10, delay=1)
     def __obtain_socket_connection(self):
         tcp_data = self.__optimizer_details
-        ip = tcp_data['tcp']['ip']
+        ip = self.__client_ip_for_connection(tcp_data['tcp']['ip'])
         port = tcp_data['tcp']['port']
         s = socket.socket(socket.AF_INET, socket.SOCK_STREAM, 0)
         try:
@@ -132,7 +138,7 @@ def ping(self):
 
     def __check_if_server_is_running(self):
         tcp_data = self.__optimizer_details
-        ip = tcp_data['tcp']['ip']
+        ip = self.__client_ip_for_connection(tcp_data['tcp']['ip'])
         port = tcp_data['tcp']['port']
         with socket.socket(socket.AF_INET, socket.SOCK_STREAM, 0) as s:
             result = 0 == s.connect_ex((ip, port))

open-codegen/opengen/templates/c/example_cmakelists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 # Project name
 project({{meta.optimizer_name}})
@@ -35,6 +35,21 @@ if(CMAKE_DL_LIBS)
   target_link_libraries(optimizer PRIVATE ${CMAKE_DL_LIBS})
 endif()
 
+if(WIN32)
+  # Rust static libraries built with the MSVC toolchain depend on a small set
+  # of Windows system libraries that must be linked by the final C executable.
+  target_link_libraries(
+    optimizer
+    PRIVATE
+      advapi32
+      bcrypt
+      kernel32
+      ntdll
+      userenv
+      ws2_32
+  )
+endif()
+
 add_custom_target(run
     COMMAND $<TARGET_FILE:optimizer>
     DEPENDS optimizer

open-codegen/opengen/templates/ros/CMakeLists.txt

@@ -29,13 +29,24 @@ include_directories(
 
 set(NODE_NAME {{ros.node_name}})
 add_executable(${NODE_NAME} src/open_optimizer.cpp)
+if(WIN32)
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/{{meta.optimizer_name}}.lib)
+else()
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+endif()
 target_link_libraries(
     ${NODE_NAME}
-    ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+    ${OPEN_STATIC_LIB})
+if(WIN32)
+  target_link_libraries(
+      ${NODE_NAME}
+      ${catkin_LIBRARIES})
+else()
 target_link_libraries(
     ${NODE_NAME}
     m dl
     ${catkin_LIBRARIES})
+endif()
 add_dependencies(
     ${NODE_NAME}
     ${${PROJECT_NAME}_EXPORTED_TARGETS}

open-codegen/opengen/templates/ros2/CMakeLists.txt

@@ -42,12 +42,22 @@ include_directories(
 set(NODE_NAME {{ros.node_name}})
 add_executable(${NODE_NAME} src/open_optimizer.cpp)
 ament_target_dependencies(${NODE_NAME} rclcpp)
+if(WIN32)
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/{{meta.optimizer_name}}.lib)
+else()
+  set(OPEN_STATIC_LIB ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a)
+endif()
 target_link_libraries(
   ${NODE_NAME}
-  ${PROJECT_SOURCE_DIR}/extern_lib/lib{{meta.optimizer_name}}.a
-  m
-  dl
+  ${OPEN_STATIC_LIB}
 )
+if(NOT WIN32)
+  target_link_libraries(
+    ${NODE_NAME}
+    m
+    dl
+  )
+endif()
 rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
 target_link_libraries(${NODE_NAME} "${cpp_typesupport_target}")