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

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diff --git a/3rdparty/endian/endian.h b/3rdparty/endian/endian.h
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new file mode 100644
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index 00000000..9c5500b2
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--- /dev/null
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+++ b/3rdparty/endian/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)
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+# 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)
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+# elif defined(__GNUC__) || defined(__clang__)
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+# define htobe16(x) __builtin_bswap16(x)
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+# define htole16(x) (x)
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+# define be16toh(x) __builtin_bswap16(x)
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+# define le16toh(x) (x)
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+
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+# define htobe32(x) __builtin_bswap32(x)
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+# define htole32(x) (x)
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+# define be32toh(x) __builtin_bswap32(x)
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+# define le32toh(x) (x)
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+
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+# define htobe64(x) __builtin_bswap64(x)
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+# define htole64(x) (x)
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+# define be64toh(x) __builtin_bswap64(x)
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+# define le64toh(x) (x)
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+# else
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+# error Compiler is not supported
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+# 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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+
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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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+#else
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+# error Platform is not supported
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+#endif
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+
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+#endif // PORTABLE_ENDIAN_H__
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diff --git a/CMakeLists.txt b/CMakeLists.txt
2-
index 05b59e628..78a197a44 100644
111+
index 5b54eb0b..df9f3079 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -9,9 +9,12 @@ option(
@@ -18,24 +127,39 @@ index 05b59e628..78a197a44 100644
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if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
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diff --git a/src/hardware_interface.cpp b/src/hardware_interface.cpp
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index 216d7d462..b500aadc7 100644
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--- a/src/hardware_interface.cpp
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+++ b/src/hardware_interface.cpp
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@@ -45,3 +45,4 @@
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+#include "ur_robot_driver/hardware_interface.hpp"
28-
#include "ur_client_library/exceptions.h"
29-
#include "ur_client_library/ur/tool_communication.h"
30-
#include "ur_client_library/ur/version_information.h"
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@@ -37,6 +40,10 @@ find_package(ur_msgs REQUIRED)
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include_directories(include)
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+if(MSVC)
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+ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/endian)
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+endif()
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+
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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controller_manager
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controller_manager_msgs
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diff --git a/include/ur_robot_driver/hardware_interface.hpp b/include/ur_robot_driver/hardware_interface.hpp
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index 14bdd29ea..330e4161e 100644
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index 3ff25ebe..46d6c221 100644
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--- a/include/ur_robot_driver/hardware_interface.hpp
35144
+++ b/include/ur_robot_driver/hardware_interface.hpp
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@@ -66,3 +66,5 @@
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@@ -63,6 +63,8 @@
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#include "geometry_msgs/msg/transform_stamped.hpp"
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#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
148+
37149
+typedef unsigned int uint;
38150
+
39151
namespace ur_robot_driver
40152
{
41153
enum class PausingState
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diff --git a/src/hardware_interface.cpp b/src/hardware_interface.cpp
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index 621321e6..990dc690 100644
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--- a/src/hardware_interface.cpp
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+++ b/src/hardware_interface.cpp
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@@ -42,6 +42,7 @@
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#include <utility>
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#include <vector>
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+#include "ur_robot_driver/hardware_interface.hpp"
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#include "ur_client_library/exceptions.h"
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#include "ur_client_library/ur/tool_communication.h"
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#include "ur_client_library/ur/version_information.h"

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