ros-noetic-ur-client-library.patch

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
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,9 @@ endif()
 if(CMAKE_THREAD_LIBS_INIT)
   target_link_libraries(urcl PUBLIC "${CMAKE_THREAD_LIBS_INIT}")
 endif()
+if(UNIX AND NOT APPLE)
+  target_link_libraries(urcl PUBLIC "rt")
+endif()
 
 ##
 ## 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
--- a/include/ur_client_library/comm/bin_parser.h
+++ b/include/ur_client_library/comm/bin_parser.h
@@ -21,7 +21,6 @@
 #pragma once
 
 #include <assert.h>
-#include <endian.h>
 #include <inttypes.h>
 #include <array>
 #include <bitset>
@@ -29,6 +28,7 @@
 #include <cstring>
 #include <string>
 #include <memory>
+#include "ur_client_library/portable_endian.h"
 #include "ur_client_library/log.h"
 #include "ur_client_library/types.h"
 #include "ur_client_library/exceptions.h"
diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
index 7745da9..ded500a 100644
--- a/include/ur_client_library/comm/package_serializer.h
+++ b/include/ur_client_library/comm/package_serializer.h
@@ -29,8 +29,8 @@
 #ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
 #define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
 
-#include <endian.h>
 #include <cstring>
+#include "ur_client_library/portable_endian.h"
 
 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
--- 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"
 #include "ur_client_library/log.h"
 #include <cstring>
-#include <endian.h>
 #include <condition_variable>
+#include "ur_client_library/portable_endian.h"
 
 namespace urcl
 {
diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
index cd64bda..440b2e4 100644
--- a/include/ur_client_library/primary/package_header.h
+++ b/include/ur_client_library/primary/package_header.h
@@ -32,7 +32,7 @@
 
 #include <inttypes.h>
 #include <cstddef>
-#include <endian.h>
+#include "ur_client_library/portable_endian.h"
 #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..eb509ea 100644
--- a/include/ur_client_library/rtde/package_header.h
+++ b/include/ur_client_library/rtde/package_header.h
@@ -31,7 +31,7 @@
 #define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
 
 #include <cstddef>
-#include <endian.h>
+#include "ur_client_library/portable_endian.h"
 #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 586cb72..cee3961 100644
--- a/src/comm/tcp_socket.cpp
+++ b/src/comm/tcp_socket.cpp
@@ -21,11 +21,11 @@
  */
 
 #include <arpa/inet.h>
-#include <endian.h>
 #include <netinet/tcp.h>
 #include <unistd.h>
 #include <cstring>
 
+#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)
 {
   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)
   {