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sync patch with jazzy
Signed-off-by: wep21 <[email protected]>
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‎patch/ros-humble-ur-client-library.osx.patch‎

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diff --git a/include/ur_client_library/portable_endian.h b/include/ur_client_library/portable_endian.h
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new file mode 100644
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index 0000000..2b43378
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--- /dev/null
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+++ b/include/ur_client_library/portable_endian.h
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@@ -0,0 +1,118 @@
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+// "License": Public Domain
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+// I, Mathias Panzenböck, place this file hereby into the public domain. Use it at your own risk for whatever you like.
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+// In case there are jurisdictions that don't support putting things in the public domain you can also consider it to
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+// be "dual licensed" under the BSD, MIT and Apache licenses, if you want to. This code is trivial anyway. Consider it
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+// an example on how to get the endian conversion functions on different platforms.
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+
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+#ifndef PORTABLE_ENDIAN_H__
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+#define PORTABLE_ENDIAN_H__
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+
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+#if (defined(_WIN16) || defined(_WIN32) || defined(_WIN64)) && !defined(__WINDOWS__)
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+
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+# define __WINDOWS__
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+
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+#endif
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+
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+#if defined(__linux__) || defined(__CYGWIN__)
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+
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+# include <endian.h>
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+
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+#elif defined(__APPLE__)
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+
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+# include <libkern/OSByteOrder.h>
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+
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+# define htobe16(x) OSSwapHostToBigInt16(x)
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+# define htole16(x) OSSwapHostToLittleInt16(x)
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+# define be16toh(x) OSSwapBigToHostInt16(x)
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+# define le16toh(x) OSSwapLittleToHostInt16(x)
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+
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+# define htobe32(x) OSSwapHostToBigInt32(x)
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+# define htole32(x) OSSwapHostToLittleInt32(x)
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+# define be32toh(x) OSSwapBigToHostInt32(x)
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+# define le32toh(x) OSSwapLittleToHostInt32(x)
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+
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+# define htobe64(x) OSSwapHostToBigInt64(x)
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+# define htole64(x) OSSwapHostToLittleInt64(x)
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+# define be64toh(x) OSSwapBigToHostInt64(x)
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+# define le64toh(x) OSSwapLittleToHostInt64(x)
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+
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+# define __BYTE_ORDER BYTE_ORDER
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+# define __BIG_ENDIAN BIG_ENDIAN
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+# define __LITTLE_ENDIAN LITTLE_ENDIAN
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+# define __PDP_ENDIAN PDP_ENDIAN
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+
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+#elif defined(__OpenBSD__)
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+
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+# include <sys/endian.h>
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+
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+#elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
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+
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+# include <sys/endian.h>
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+
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+# define be16toh(x) betoh16(x)
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+# define le16toh(x) letoh16(x)
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+
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+# define be32toh(x) betoh32(x)
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+# define le32toh(x) letoh32(x)
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+
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+# define be64toh(x) betoh64(x)
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+# define le64toh(x) letoh64(x)
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+
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+#elif defined(__WINDOWS__)
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+
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+# include <winsock2.h>
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+# include <sys/param.h>
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+
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+# if BYTE_ORDER == LITTLE_ENDIAN
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+
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+# define htobe16(x) htons(x)
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+# define htole16(x) (x)
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+# define be16toh(x) ntohs(x)
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+# define le16toh(x) (x)
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+
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+# define htobe32(x) htonl(x)
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+# define htole32(x) (x)
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+# define be32toh(x) ntohl(x)
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+# define le32toh(x) (x)
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+
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+# define htobe64(x) htonll(x)
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+# define htole64(x) (x)
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+# define be64toh(x) ntohll(x)
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+# define le64toh(x) (x)
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+
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+# elif BYTE_ORDER == BIG_ENDIAN
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+
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+ /* that would be xbox 360 */
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+# define htobe16(x) (x)
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+# define htole16(x) __builtin_bswap16(x)
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+# define be16toh(x) (x)
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+# define le16toh(x) __builtin_bswap16(x)
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+
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+# define htobe32(x) (x)
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+# define htole32(x) __builtin_bswap32(x)
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+# define be32toh(x) (x)
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+# define le32toh(x) __builtin_bswap32(x)
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+
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+# define htobe64(x) (x)
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+# define htole64(x) __builtin_bswap64(x)
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+# define be64toh(x) (x)
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+# define le64toh(x) __builtin_bswap64(x)
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+
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+# else
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+
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+# error byte order not supported
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+
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+# endif
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+
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+# define __BYTE_ORDER BYTE_ORDER
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+# define __BIG_ENDIAN BIG_ENDIAN
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+# define __LITTLE_ENDIAN LITTLE_ENDIAN
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+# define __PDP_ENDIAN PDP_ENDIAN
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+
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+#else
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+
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+# error platform not supported
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+
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+#endif
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+
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+#endif
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 878ffed..a1b176e 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -1,4 +1,4 @@
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-cmake_minimum_required(VERSION 3.0.2)
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+cmake_minimum_required(VERSION 3.14.0)
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project(ur_client_library)
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set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/" ${CMAKE_MODULE_PATH})
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@@ -10,13 +10,6 @@ endif()
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option(WITH_ASAN "Compile with address sanitizer support" OFF)
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-##
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-## Check C++11 support / enable global pedantic and Wall
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-##
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-include(DefineCXX17CompilerFlag)
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-DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
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-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
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-
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add_library(urcl SHARED
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src/comm/tcp_socket.cpp
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src/comm/tcp_server.cpp
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@@ -51,8 +44,11 @@ add_library(urcl SHARED
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src/helpers.cpp
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)
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add_library(ur_client_library::urcl ALIAS urcl)
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-target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
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-target_compile_options(urcl PUBLIC ${CXX17_FLAG})
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+target_compile_options(urcl PRIVATE
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+ $<$<CXX_COMPILER_ID:MSVC>:/W4 /WX>
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+ $<$<NOT:$<CXX_COMPILER_ID:MSVC>>:-Wall -Wextra -Wno-unused-parameter>
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+)
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+target_compile_features(urcl PUBLIC cxx_std_17)
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if(WITH_ASAN)
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target_compile_options(urcl PUBLIC -fsanitize=address)
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target_link_options(urcl PUBLIC -fsanitize=address)
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@@ -69,6 +65,9 @@ endif()
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if(CMAKE_THREAD_LIBS_INIT)
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target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
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endif()
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+if(UNIX AND NOT APPLE)
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+ target_link_libraries(urcl PUBLIC "rt")
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+endif()
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##
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## Build testing if enabled by option
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diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
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index eb4c313..6972cf4 100644
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--- a/examples/CMakeLists.txt
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+++ b/examples/CMakeLists.txt
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@@ -3,13 +3,6 @@ project(ur_driver_examples)
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# find_package(ur_client_library REQUIRED)
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-# #
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-# # Check C++11 support / enable global pedantic and Wall
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-# #
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-include(DefineCXX17CompilerFlag)
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-DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
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-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
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-
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add_executable(driver_example
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full_driver.cpp)
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target_compile_options(driver_example PUBLIC ${CXX17_FLAG})
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diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
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index e13aba6..83f8e6c 100644
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--- a/include/ur_client_library/comm/bin_parser.h
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+++ b/include/ur_client_library/comm/bin_parser.h
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@@ -21,7 +21,6 @@
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#pragma once
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#include <assert.h>
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-#include <endian.h>
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#include <inttypes.h>
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#include <array>
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#include <bitset>
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@@ -29,6 +28,7 @@
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#include <cstring>
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#include <string>
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#include <memory>
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+#include "ur_client_library/portable_endian.h"
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#include "ur_client_library/log.h"
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#include "ur_client_library/types.h"
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#include "ur_client_library/exceptions.h"
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diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
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index 7745da9..ded500a 100644
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--- a/include/ur_client_library/comm/package_serializer.h
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+++ b/include/ur_client_library/comm/package_serializer.h
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@@ -29,8 +29,8 @@
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#ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
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#define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
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-#include <endian.h>
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#include <cstring>
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+#include "ur_client_library/portable_endian.h"
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namespace urcl
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{
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diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
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index 707c455..ee8c318 100644
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--- a/include/ur_client_library/control/reverse_interface.h
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+++ b/include/ur_client_library/control/reverse_interface.h
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@@ -35,8 +35,8 @@
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#include "ur_client_library/log.h"
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#include "ur_client_library/ur/robot_receive_timeout.h"
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#include <cstring>
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-#include <endian.h>
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#include <condition_variable>
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+#include "ur_client_library/portable_endian.h"
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namespace urcl
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{
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diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
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index cd64bda..440b2e4 100644
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--- a/include/ur_client_library/primary/package_header.h
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+++ b/include/ur_client_library/primary/package_header.h
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@@ -32,7 +32,7 @@
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#include <inttypes.h>
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#include <cstddef>
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-#include <endian.h>
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+#include "ur_client_library/portable_endian.h"
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#include "ur_client_library/types.h"
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namespace urcl
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diff --git a/include/ur_client_library/rtde/package_header.h b/include/ur_client_library/rtde/package_header.h
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index f910a08..eb509ea 100644
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--- a/include/ur_client_library/rtde/package_header.h
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+++ b/include/ur_client_library/rtde/package_header.h
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@@ -31,7 +31,7 @@
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#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
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#include <cstddef>
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-#include <endian.h>
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+#include "ur_client_library/portable_endian.h"
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#include "ur_client_library/types.h"
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#include "ur_client_library/comm/package_serializer.h"
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diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
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index 8803664..1d92880 100644
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--- a/src/comm/tcp_socket.cpp
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+++ b/src/comm/tcp_socket.cpp
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@@ -21,7 +21,6 @@
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*/
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#include <arpa/inet.h>
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-#include <endian.h>
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#include <netinet/tcp.h>
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#include <unistd.h>
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#include <chrono>
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@@ -29,6 +28,7 @@
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#include <sstream>
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#include <thread>
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+#include "ur_client_library/portable_endian.h"
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#include "ur_client_library/log.h"
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#include "ur_client_library/comm/tcp_socket.h"
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@@ -48,7 +48,9 @@ void TCPSocket::setupOptions()
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{
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int flag = 1;
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setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
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+#ifndef __APPLE__
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setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
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+#endif
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if (recv_timeout_ != nullptr)
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{

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