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feat: remove ur skip for osx #262

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merged 1 commit into from
Jan 30, 2025
Merged

feat: remove ur skip for osx #262

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226 changes: 226 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 +1,226 @@
diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
index e13aba6..6931af3 100644
--- a/include/ur_client_library/comm/bin_parser.h
+++ b/include/ur_client_library/comm/bin_parser.h
@@ -21,7 +21,31 @@
#pragma once

#include <assert.h>
+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#include <inttypes.h>
#include <array>
#include <bitset>
diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
index 7745da9..78859d9 100644
--- a/include/ur_client_library/comm/package_serializer.h
+++ b/include/ur_client_library/comm/package_serializer.h
@@ -29,7 +29,31 @@
#ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
#define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED

+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#include <cstring>

namespace urcl
diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
index 9919dbd..077403e 100644
--- a/include/ur_client_library/control/reverse_interface.h
+++ b/include/ur_client_library/control/reverse_interface.h
@@ -35,7 +35,31 @@
#include "ur_client_library/log.h"
#include "ur_client_library/ur/robot_receive_timeout.h"
#include <cstring>
+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#include <condition_variable>

namespace urcl
diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
index cd64bda..b4738dd 100644
--- a/include/ur_client_library/primary/package_header.h
+++ b/include/ur_client_library/primary/package_header.h
@@ -32,7 +32,31 @@

#include <inttypes.h>
#include <cstddef>
+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#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..4013e26 100644
--- a/include/ur_client_library/rtde/package_header.h
+++ b/include/ur_client_library/rtde/package_header.h
@@ -31,7 +31,31 @@
#define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED

#include <cstddef>
+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#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..f75f381 100644
--- a/src/comm/tcp_socket.cpp
+++ b/src/comm/tcp_socket.cpp
@@ -21,7 +21,31 @@
*/

#include <arpa/inet.h>
+#ifdef __APPLE__
+
+#include <machine/endian.h>
+#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)
+
+#else
+
#include <endian.h>
+
+#endif /* __APPLE__ */
#include <netinet/tcp.h>
#include <unistd.h>
#include <chrono>
@@ -48,7 +72,9 @@ 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)
{
5 changes: 0 additions & 5 deletions vinca_osx.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,11 +38,6 @@ packages_remove_from_deps:
- rttest
# Not available for macOS and Windows!
- gripper_controllers
# Some packages in ur stack do not support macOS
- ur_client_library
- ur_robot_driver
- ur_calibration
- ur

skip_existing:
# - https://conda.anaconda.org/robostack-humble/
Expand Down
5 changes: 0 additions & 5 deletions vinca_osx_arm64.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,11 +38,6 @@ packages_remove_from_deps:
- rttest
# Not available for macOS and Windows!
- gripper_controllers
# Some packages in ur stack do not support macOS
- ur_client_library
- ur_robot_driver
- ur_calibration
- ur

skip_existing:
- https://conda.anaconda.org/robostack-staging/
Expand Down
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