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Tobias-FischerTobias-Fischer
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Merge pull request #262 from wep21/ur-osx
feat: remove ur skip for osx
2 parents 9d38764 + e169e8f commit cba02f1

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‎patch/ros-humble-ur-client-library.osx.patch‎

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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..6931af3 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 +21,31 @@
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#pragma once
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#include <assert.h>
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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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#include <inttypes.h>
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#include <array>
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#include <bitset>
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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..78859d9 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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@@ -29,7 +29,31 @@
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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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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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#include <cstring>
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namespace urcl
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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 9919dbd..077403e 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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@@ -35,7 +35,31 @@
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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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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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#include <condition_variable>
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namespace urcl
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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..b4738dd 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 +32,31 @@
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#include <inttypes.h>
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#include <cstddef>
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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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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..4013e26 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 +31,31 @@
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#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
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#include <cstddef>
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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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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..f75f381 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 +21,31 @@
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*/
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#include <arpa/inet.h>
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+#ifdef __APPLE__
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+
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+#include <machine/endian.h>
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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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+#else
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+
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#include <endian.h>
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+
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+#endif /* __APPLE__ */
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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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@@ -48,7 +72,9 @@ 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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{

‎vinca_osx.yaml‎

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@@ -38,11 +38,6 @@ packages_remove_from_deps:
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- rttest
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# Not available for macOS and Windows!
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- gripper_controllers
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# Some packages in ur stack do not support macOS
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- ur_client_library
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- ur_robot_driver
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- ur_calibration
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- ur
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skip_existing:
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# - https://conda.anaconda.org/robostack-humble/

‎vinca_osx_arm64.yaml‎

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@@ -38,11 +38,6 @@ packages_remove_from_deps:
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- rttest
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# Not available for macOS and Windows!
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- gripper_controllers
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# Some packages in ur stack do not support macOS
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- ur_client_library
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- ur_robot_driver
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- ur_calibration
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- ur
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skip_existing:
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- https://conda.anaconda.org/robostack-staging/

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