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sync patch with jazzy
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Signed-off-by: wep21 <daisuke.nishimatsu1021@gmail.com>
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@wep21
wep21 committed Feb 3, 2025
1 parent 9f2f5f3 commit 5b25318
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295 changes: 295 additions & 0 deletions patch/ros-humble-ur-client-library.osx.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,295 @@
diff --git a/include/ur_client_library/portable_endian.h b/include/ur_client_library/portable_endian.h
new file mode 100644
index 0000000..2b43378
--- /dev/null
+++ b/include/ur_client_library/portable_endian.h
@@ -0,0 +1,118 @@
+// "License": Public Domain
+// I, Mathias Panzenböck, place this file hereby into the public domain. Use it at your own risk for whatever you like.
+// In case there are jurisdictions that don't support putting things in the public domain you can also consider it to
+// be "dual licensed" under the BSD, MIT and Apache licenses, if you want to. This code is trivial anyway. Consider it
+// an example on how to get the endian conversion functions on different platforms.
+
+#ifndef PORTABLE_ENDIAN_H__
+#define PORTABLE_ENDIAN_H__
+
+#if (defined(_WIN16) || defined(_WIN32) || defined(_WIN64)) && !defined(__WINDOWS__)
+
+# define __WINDOWS__
+
+#endif
+
+#if defined(__linux__) || defined(__CYGWIN__)
+
+# include <endian.h>
+
+#elif defined(__APPLE__)
+
+# include <libkern/OSByteOrder.h>
+
+# define htobe16(x) OSSwapHostToBigInt16(x)
+# define htole16(x) OSSwapHostToLittleInt16(x)
+# define be16toh(x) OSSwapBigToHostInt16(x)
+# define le16toh(x) OSSwapLittleToHostInt16(x)
+
+# define htobe32(x) OSSwapHostToBigInt32(x)
+# define htole32(x) OSSwapHostToLittleInt32(x)
+# define be32toh(x) OSSwapBigToHostInt32(x)
+# define le32toh(x) OSSwapLittleToHostInt32(x)
+
+# define htobe64(x) OSSwapHostToBigInt64(x)
+# define htole64(x) OSSwapHostToLittleInt64(x)
+# define be64toh(x) OSSwapBigToHostInt64(x)
+# define le64toh(x) OSSwapLittleToHostInt64(x)
+
+# define __BYTE_ORDER BYTE_ORDER
+# define __BIG_ENDIAN BIG_ENDIAN
+# define __LITTLE_ENDIAN LITTLE_ENDIAN
+# define __PDP_ENDIAN PDP_ENDIAN
+
+#elif defined(__OpenBSD__)
+
+# include <sys/endian.h>
+
+#elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
+
+# include <sys/endian.h>
+
+# define be16toh(x) betoh16(x)
+# define le16toh(x) letoh16(x)
+
+# define be32toh(x) betoh32(x)
+# define le32toh(x) letoh32(x)
+
+# define be64toh(x) betoh64(x)
+# define le64toh(x) letoh64(x)
+
+#elif defined(__WINDOWS__)
+
+# include <winsock2.h>
+# include <sys/param.h>
+
+# if BYTE_ORDER == LITTLE_ENDIAN
+
+# define htobe16(x) htons(x)
+# define htole16(x) (x)
+# define be16toh(x) ntohs(x)
+# define le16toh(x) (x)
+
+# define htobe32(x) htonl(x)
+# define htole32(x) (x)
+# define be32toh(x) ntohl(x)
+# define le32toh(x) (x)
+
+# define htobe64(x) htonll(x)
+# define htole64(x) (x)
+# define be64toh(x) ntohll(x)
+# define le64toh(x) (x)
+
+# elif BYTE_ORDER == BIG_ENDIAN
+
+ /* that would be xbox 360 */
+# define htobe16(x) (x)
+# define htole16(x) __builtin_bswap16(x)
+# define be16toh(x) (x)
+# define le16toh(x) __builtin_bswap16(x)
+
+# define htobe32(x) (x)
+# define htole32(x) __builtin_bswap32(x)
+# define be32toh(x) (x)
+# define le32toh(x) __builtin_bswap32(x)
+
+# define htobe64(x) (x)
+# define htole64(x) __builtin_bswap64(x)
+# define be64toh(x) (x)
+# define le64toh(x) __builtin_bswap64(x)
+
+# else
+
+# error byte order not supported
+
+# endif
+
+# define __BYTE_ORDER BYTE_ORDER
+# define __BIG_ENDIAN BIG_ENDIAN
+# define __LITTLE_ENDIAN LITTLE_ENDIAN
+# define __PDP_ENDIAN PDP_ENDIAN
+
+#else
+
+# error platform not supported
+
+#endif
+
+#endif

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 878ffed..a1b176e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.14.0)
project(ur_client_library)

set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/" ${CMAKE_MODULE_PATH})
@@ -10,13 +10,6 @@ endif()

option(WITH_ASAN "Compile with address sanitizer support" OFF)

-##
-## Check C++11 support / enable global pedantic and Wall
-##
-include(DefineCXX17CompilerFlag)
-DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
-
add_library(urcl SHARED
src/comm/tcp_socket.cpp
src/comm/tcp_server.cpp
@@ -51,8 +44,11 @@ add_library(urcl SHARED
src/helpers.cpp
)
add_library(ur_client_library::urcl ALIAS urcl)
-target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
-target_compile_options(urcl PUBLIC ${CXX17_FLAG})
+target_compile_options(urcl PRIVATE
+ $<$<CXX_COMPILER_ID:MSVC>:/W4 /WX>
+ $<$<NOT:$<CXX_COMPILER_ID:MSVC>>:-Wall -Wextra -Wno-unused-parameter>
+)
+target_compile_features(urcl PUBLIC cxx_std_17)
if(WITH_ASAN)
target_compile_options(urcl PUBLIC -fsanitize=address)
target_link_options(urcl PUBLIC -fsanitize=address)
@@ -69,6 +65,9 @@ endif()
if(CMAKE_THREAD_LIBS_INIT)
target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
endif()
+if(UNIX AND NOT APPLE)
+ target_link_libraries(urcl PUBLIC "rt")
+endif()

##
## Build testing if enabled by option
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index eb4c313..6972cf4 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -3,13 +3,6 @@ project(ur_driver_examples)

# find_package(ur_client_library REQUIRED)

-# #
-# # Check C++11 support / enable global pedantic and Wall
-# #
-include(DefineCXX17CompilerFlag)
-DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
-
add_executable(driver_example
full_driver.cpp)
target_compile_options(driver_example PUBLIC ${CXX17_FLAG})
diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
index e13aba6..83f8e6c 100644
--- a/include/ur_client_library/comm/bin_parser.h
+++ b/include/ur_client_library/comm/bin_parser.h
@@ -21,7 +21,6 @@
#pragma once

#include <assert.h>
-#include <endian.h>
#include <inttypes.h>
#include <array>
#include <bitset>
@@ -29,6 +28,7 @@
#include <cstring>
#include <string>
#include <memory>
+#include "ur_client_library/portable_endian.h"
#include "ur_client_library/log.h"
#include "ur_client_library/types.h"
#include "ur_client_library/exceptions.h"
diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
index 7745da9..ded500a 100644
--- a/include/ur_client_library/comm/package_serializer.h
+++ b/include/ur_client_library/comm/package_serializer.h
@@ -29,8 +29,8 @@
#ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
#define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED

-#include <endian.h>
#include <cstring>
+#include "ur_client_library/portable_endian.h"

namespace urcl
{
diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
index 707c455..ee8c318 100644
--- a/include/ur_client_library/control/reverse_interface.h
+++ b/include/ur_client_library/control/reverse_interface.h
@@ -35,8 +35,8 @@
#include "ur_client_library/log.h"
#include "ur_client_library/ur/robot_receive_timeout.h"
#include <cstring>
-#include <endian.h>
#include <condition_variable>
+#include "ur_client_library/portable_endian.h"

namespace urcl
{
diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
index cd64bda..440b2e4 100644
--- a/include/ur_client_library/primary/package_header.h
+++ b/include/ur_client_library/primary/package_header.h
@@ -32,7 +32,7 @@

#include <inttypes.h>
#include <cstddef>
-#include <endian.h>
+#include "ur_client_library/portable_endian.h"
#include "ur_client_library/types.h"

namespace urcl
diff --git a/include/ur_client_library/rtde/package_header.h b/include/ur_client_library/rtde/package_header.h
index f910a08..eb509ea 100644
--- a/include/ur_client_library/rtde/package_header.h
+++ b/include/ur_client_library/rtde/package_header.h
@@ -31,7 +31,7 @@
#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED

#include <cstddef>
-#include <endian.h>
+#include "ur_client_library/portable_endian.h"
#include "ur_client_library/types.h"
#include "ur_client_library/comm/package_serializer.h"

diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
index 8803664..1d92880 100644
--- a/src/comm/tcp_socket.cpp
+++ b/src/comm/tcp_socket.cpp
@@ -21,7 +21,6 @@
*/

#include <arpa/inet.h>
-#include <endian.h>
#include <netinet/tcp.h>
#include <unistd.h>
#include <chrono>
@@ -29,6 +28,7 @@
#include <sstream>
#include <thread>

+#include "ur_client_library/portable_endian.h"
#include "ur_client_library/log.h"
#include "ur_client_library/comm/tcp_socket.h"

@@ -48,7 +48,9 @@ void TCPSocket::setupOptions()
{
int flag = 1;
setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
+#ifndef __APPLE__
setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
+#endif

if (recv_timeout_ != nullptr)
{
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