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update win patch
Signed-off-by: wep21 <[email protected]>
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‎patch/ros-jazzy-ur-client-library.win.patch‎

Lines changed: 207 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,207 @@
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 2368174..b265710 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -101,6 +101,8 @@ install(TARGETS urcl EXPORT urcl_targets
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)
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install(DIRECTORY include/ DESTINATION include)
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+install(FILES 3rdparty/endian/endian.h DESTINATION include)
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+
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install(EXPORT urcl_targets
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DESTINATION lib/cmake/ur_client_library
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FILE urclTargets.cmake
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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..6de673e 100644
3+
--- 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/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..ebf128e 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 +29,7 @@
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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 "ur_client_library/endian.h"
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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 e68acd9..aa9d1c1 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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@@ -29,13 +29,13 @@
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#ifndef UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
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#define UR_CLIENT_LIBRARY_REVERSE_INTERFACE_H_INCLUDED
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+#include "ur_client_library/endian.h"
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#include "ur_client_library/comm/tcp_server.h"
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#include "ur_client_library/comm/control_mode.h"
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#include "ur_client_library/types.h"
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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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namespace urcl
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diff --git a/include/ur_client_library/endian.h b/include/ur_client_library/endian.h
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new file mode 100644
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index 0000000..9c5500b
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--- /dev/null
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+++ b/include/ur_client_library/endian.h
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@@ -0,0 +1,103 @@
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+//
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+// endian.h
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+//
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+// https://gist.github.com/panzi/6856583
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+//
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+// I, Mathias Panzenböck, place this file hereby into the public domain. Use
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+// it at your own risk for whatever you like. In case there are
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+// jurisdictions that don't support putting things in the public domain you
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+// can also consider it to be "dual licensed" under the BSD, MIT and Apache
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+// licenses, if you want to. This code is trivial anyway. Consider it an
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+// example on how to get the endian conversion functions on different
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+// 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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+// Byte order
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+#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__CYGWIN__)
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+# include <endian.h>
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+#elif defined(__APPLE__)
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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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+#elif defined(__OpenBSD__)
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+# include <sys/endian.h>
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+#elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
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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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+#elif defined(_WIN32)
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+# include <stdlib.h>
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+# if BYTE_ORDER == LITTLE_ENDIAN
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+# if defined(_MSC_VER)
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+# define htobe16(x) _byteswap_ushort(x)
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+# define htole16(x) (x)
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+# define be16toh(x) _byteswap_ushort(x)
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+# define le16toh(x) (x)
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+
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+# define htobe32(x) _byteswap_ulong(x)
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+# define htole32(x) (x)
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+# define be32toh(x) _byteswap_ulong(x)
125+
+# define le32toh(x) (x)
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+
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+# define htobe64(x) _byteswap_uint64(x)
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+# define htole64(x) (x)
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+# define be64toh(x) _byteswap_uint64(x)
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+# define le64toh(x) (x)
131+
+# elif defined(__GNUC__) || defined(__clang__)
132+
+# define htobe16(x) __builtin_bswap16(x)
133+
+# define htole16(x) (x)
134+
+# define be16toh(x) __builtin_bswap16(x)
135+
+# define le16toh(x) (x)
136+
+
137+
+# define htobe32(x) __builtin_bswap32(x)
138+
+# define htole32(x) (x)
139+
+# define be32toh(x) __builtin_bswap32(x)
140+
+# define le32toh(x) (x)
141+
+
142+
+# define htobe64(x) __builtin_bswap64(x)
143+
+# define htole64(x) (x)
144+
+# define be64toh(x) __builtin_bswap64(x)
145+
+# define le64toh(x) (x)
146+
+# else
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+# error Compiler is not supported
148+
+# endif
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+# else
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+# error Byte order is not supported
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+# endif
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+
153+
+# 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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+#else
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+# error Platform is not supported
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+#endif
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+
161+
+#endif // PORTABLE_ENDIAN_H__
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diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
163+
index cd64bda..b5c2754 100644
164+
--- a/include/ur_client_library/primary/package_header.h
165+
+++ b/include/ur_client_library/primary/package_header.h
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@@ -32,7 +32,7 @@
167+
168+
#include <inttypes.h>
169+
#include <cstddef>
170+
-#include <endian.h>
171+
+#include "ur_client_library/endian.h"
172+
#include "ur_client_library/types.h"
173+
174+
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..066e004 100644
177+
--- a/include/ur_client_library/rtde/package_header.h
178+
+++ b/include/ur_client_library/rtde/package_header.h
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@@ -31,7 +31,7 @@
180+
#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
181+
182+
#include <cstddef>
183+
-#include <endian.h>
184+
+#include "ur_client_library/endian.h"
185+
#include "ur_client_library/types.h"
186+
#include "ur_client_library/comm/package_serializer.h"
187+
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diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
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index 778e5f1..55f60c8 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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@@ -20,7 +20,6 @@
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* limitations under the License.
194+
*/
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-#include <endian.h>
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#include <chrono>
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#include <cstring>
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#include <sstream>
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@@ -31,6 +30,7 @@
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# include <netinet/tcp.h>
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#endif
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+#include "ur_client_library/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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