patch update

Signed-off-by: wep21 <[email protected]>

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

@@ -1,133 +1,8 @@
-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 e95db8f..2620abd 100644
+index 3c41f99..04ecc7b 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -63,6 +63,9 @@ endif()
+@@ -61,6 +61,9 @@ endif()
  if(CMAKE_THREAD_LIBS_INIT)
    target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
  endif()
@@ -137,17 +12,8 @@ index e95db8f..2620abd 100644
 
  ##
  ## Build testing if enabled by option
-@@ -75,7 +78,7 @@ else()
- endif()
-
-
--target_link_libraries(urcl INTERFACE ${Boost_Libraries})
-+target_link_libraries(urcl INTERFACE ${Boost_LIBRARIES})
-
- add_subdirectory(examples)
-
 diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
-index cad7c63..91af811 100644
+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 @@
@@ -181,12 +47,12 @@ index 7745da9..ded500a 100644
  namespace urcl
  {
 diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
-index d1e5707..e06e723 100644
+index 9919dbd..275bba3 100644
 --- a/include/ur_client_library/control/reverse_interface.h
 +++ b/include/ur_client_library/control/reverse_interface.h
-@@ -34,8 +34,8 @@
- #include "ur_client_library/types.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>
@@ -221,28 +87,31 @@ index f910a08..eb509ea 100644
  #include "ur_client_library/comm/package_serializer.h"
 
 diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
-index 586cb72..cee3961 100644
+index 8803664..1d92880 100644
 --- a/src/comm/tcp_socket.cpp
 +++ b/src/comm/tcp_socket.cpp
-@@ -21,11 +21,11 @@
+@@ -21,7 +21,6 @@
   */
 
  #include <arpa/inet.h>
 -#include <endian.h>
  #include <netinet/tcp.h>
  #include <unistd.h>
- #include <cstring>
+ #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"
 
-@@ -45,7 +45,9 @@ void TCPSocket::setOptions(int socket_fd)
+@@ -48,7 +48,9 @@ void TCPSocket::setupOptions()
  {
    int flag = 1;
-   setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
 +#ifndef __APPLE__
-   setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
 +#endif
 
    if (recv_timeout_ != nullptr)