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add osx support patch #9

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3b0ca07
add macos_fixes.patch
yangsong Dec 16, 2025
631afe7
Merge branch 'Elite-Robots:main' into osx_support
alvayang Dec 17, 2025
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272 changes: 272 additions & 0 deletions macos_fixes.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,272 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 00cbad3..7523d87 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,8 +22,8 @@ else()
message(FATAL_ERROR "C++ standard must C++14 or higher")
endif()

-# Find third-party library
-find_package(Boost REQUIRED)
+# --- MODIFIED: 使用现代化的 CONFIG 模式查找 Boost，并移除了写死的版本号 ---
+find_package(Boost REQUIRED CONFIG COMPONENTS system thread)
find_package(libssh)
if(libssh_FOUND)
set(THIRDPARTY_LIB ${THIRDPARTY_LIB} ssh)
@@ -76,168 +76,92 @@ set(
${PROJECT_BINARY_DIR}/include/
)

-# Head file list
set(
ELITE_HEADER_FILES
- Elite/DataType.hpp
- Elite/VersionInfo.hpp
- Dashboard/DashboardClient.hpp
- Rtsi/RtsiClientInterface.hpp
- Rtsi/RtsiIOInterface.hpp
- Rtsi/RtsiRecipe.hpp
- Primary/PrimaryPackage.hpp
- Primary/RobotConfPackage.hpp
- Primary/PrimaryPortInterface.hpp
- EliteException.hpp
- Elite/EliteDriver.hpp
- Elite/Log.hpp
- Elite/RemoteUpgrade.hpp
- Elite/ControllerLog.hpp
- Elite/RobotException.hpp
- Common/RtUtils.hpp
+ Elite/DataType.hpp Elite/VersionInfo.hpp Dashboard/DashboardClient.hpp
+ Rtsi/RtsiClientInterface.hpp Rtsi/RtsiIOInterface.hpp Rtsi/RtsiRecipe.hpp
+ Primary/PrimaryPackage.hpp Primary/RobotConfPackage.hpp Primary/PrimaryPortInterface.hpp
+ EliteException.hpp Elite/EliteDriver.hpp Elite/Log.hpp Elite/RemoteUpgrade.hpp
+ Elite/ControllerLog.hpp Elite/RobotException.hpp Common/RtUtils.hpp
)

-# Set output library default name
set(SDK_STATIC_LIB_OUTPUT_NAME "${PROJECT_NAME}")
set(SDK_SHARED_LIB_OUTPUT_NAME "${PROJECT_NAME}")

-# Configure accordingly based on the operating system.
+# --- MODIFIED: 增加对 macOS (APPLE) 的支持 ---
if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
message(STATUS "SYSTEM: Windows")
- add_definitions(
- -D_WIN32_WINNT=0x0601
- -DELITE_EXPORT_LIBRARY
- )
+ add_definitions(-D_WIN32_WINNT=0x0601)
set(SDK_STATIC_LIB_OUTPUT_NAME "${PROJECT_NAME}_static")
set(SDK_SHARED_LIB_OUTPUT_NAME "${PROJECT_NAME}")
-elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
- message(STATUS "SYSTEM: Linux")
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR APPLE)
+ if(APPLE)
+ message(STATUS "SYSTEM: macOS")
+ else()
+ message(STATUS "SYSTEM: Linux")
+ endif()
set(SYSTEM_LIB pthread)
else()
message(FATAL_ERROR "Unsupport operating system")
endif()

+add_library(${PROJECT_NAME}_SHARED SHARED ${ELITE_LIB_SOURCE_FILE})
+add_library(${PROJECT_NAME}_STATIC STATIC ${ELITE_LIB_SOURCE_FILE})
+
+# --- MODIFIED: 使用现代化的方式为目标添加 ELITE_EXPORT_LIBRARY 编译定义 ---
+if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
+ target_compile_definitions(${PROJECT_NAME}_SHARED PRIVATE ELITE_EXPORT_LIBRARY)
+ target_compile_definitions(${PROJECT_NAME}_STATIC PRIVATE ELITE_EXPORT_LIBRARY)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR APPLE)
+ target_compile_definitions(${PROJECT_NAME}_SHARED PRIVATE ELITE_EXPORT_LIBRARY)
+ target_compile_definitions(${PROJECT_NAME}_STATIC PRIVATE ELITE_EXPORT_LIBRARY)
+endif()

-# Add library
-add_library(
- ${PROJECT_NAME}_SHARED
- SHARED
- ${ELITE_LIB_SOURCE_FILE}
-)
-add_library(
- ${PROJECT_NAME}_STATIC
- STATIC
- ${ELITE_LIB_SOURCE_FILE}
-)
define_rel_file_macro(${PROJECT_NAME}_SHARED)
define_rel_file_macro(${PROJECT_NAME}_STATIC)
set_target_properties(${PROJECT_NAME}_SHARED PROPERTIES OUTPUT_NAME ${SDK_SHARED_LIB_OUTPUT_NAME})
set_target_properties(${PROJECT_NAME}_STATIC PROPERTIES OUTPUT_NAME ${SDK_STATIC_LIB_OUTPUT_NAME})
-target_include_directories(
- ${PROJECT_NAME}_SHARED
- PRIVATE
- ${ELITE_LIB_INCLUDE_DIR}
-)
-target_include_directories(
- ${PROJECT_NAME}_STATIC
- PRIVATE
- ${ELITE_LIB_INCLUDE_DIR}
-)
-target_link_libraries(
- ${PROJECT_NAME}_SHARED
- PRIVATE
- ${THIRDPARTY_LIB}
-)
-target_link_libraries(
- ${PROJECT_NAME}_STATIC
- PRIVATE
- ${THIRDPARTY_LIB}
-)
+target_include_directories(${PROJECT_NAME}_SHARED PRIVATE ${ELITE_LIB_INCLUDE_DIR})
+target_include_directories(${PROJECT_NAME}_STATIC PRIVATE ${ELITE_LIB_INCLUDE_DIR})
+target_link_libraries(${PROJECT_NAME}_SHARED PRIVATE ${THIRDPARTY_LIB})
+target_link_libraries(${PROJECT_NAME}_STATIC PRIVATE ${THIRDPARTY_LIB})

-# Copy head file
foreach(header ${ELITE_HEADER_FILES})
- file(COPY ${PROJECT_SOURCE_DIR}/include/${header}
- DESTINATION ${PROJECT_BINARY_DIR}/include/Elite)
+ file(COPY ${PROJECT_SOURCE_DIR}/include/${header} DESTINATION ${PROJECT_BINARY_DIR}/include/Elite)
endforeach()

-# Prepare exporting targets
add_library(${PROJECT_NAME}::shared ALIAS ${PROJECT_NAME}_SHARED)
-target_include_directories(
- ${PROJECT_NAME}_SHARED
- PUBLIC
- $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
- $<INSTALL_INTERFACE:include>
-)
+target_include_directories(${PROJECT_NAME}_SHARED PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include> $<INSTALL_INTERFACE:include>)
add_library(${PROJECT_NAME}::static ALIAS ${PROJECT_NAME}_STATIC)
-target_include_directories(
- ${PROJECT_NAME}_STATIC
- PUBLIC
- $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
- $<INSTALL_INTERFACE:include>
-)
+target_include_directories(${PROJECT_NAME}_STATIC PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include> $<INSTALL_INTERFACE:include>)

-# Is compile examples
if(ELITE_COMPILE_EXAMPLES)
message(STATUS "Compile the exmaples")
add_subdirectory(example ${CMAKE_BINARY_DIR}/example/)
endif()
-
-# If compile documentation
if(ELITE_COMPILE_DOC)
message(STATUS "Compile the documentation.")
add_subdirectory(doc ${CMAKE_BINARY_DIR}/doc/)
endif()
-
-# If googel test has been foune, compile unit test
if (ELITE_COMPILE_TESTS)
message(STATUS "Compile the tests")
add_subdirectory(test ${CMAKE_BINARY_DIR}/test/)
endif()

-# Disable installation if project imported with FetchContent
string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}" is_top_level)
option(ELITE_INSTALL "Include packaging rules" "${is_top_level}")

-# On the Linux platform, install binary library files, header files, and CMake configuration files.
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND ELITE_INSTALL)
+# --- MODIFIED: 增加对 macOS (APPLE) 的支持 ---
+if((CMAKE_SYSTEM_NAME STREQUAL "Linux" OR APPLE) AND ELITE_INSTALL)
include(GNUInstallDirs)
- install(
- TARGETS ${PROJECT_NAME}_SHARED ${PROJECT_NAME}_STATIC
- EXPORT ${PROJECT_NAME}Targets
- LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
- )
- install(
- DIRECTORY ${PROJECT_BINARY_DIR}/include/
- DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
- )
- install(
- DIRECTORY ${PROJECT_SOURCE_DIR}/source/resources/
- DESTINATION share/Elite
- )
-
+ install(TARGETS ${PROJECT_NAME}_SHARED ${PROJECT_NAME}_STATIC EXPORT ${PROJECT_NAME}Targets LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ install(DIRECTORY ${PROJECT_BINARY_DIR}/include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+ install(DIRECTORY ${PROJECT_SOURCE_DIR}/source/resources/ DESTINATION share/Elite)
include(CMakePackageConfigHelpers)
- configure_package_config_file(
- "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in"
- "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
- INSTALL_DESTINATION lib/cmake/${PROJECT_NAME}
- )
- write_basic_package_version_file(
- ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
- VERSION ${PROJECT_VERSION}
- COMPATIBILITY SameMajorVersion
- )
-
- install(
- EXPORT ${PROJECT_NAME}Targets
- FILE ${PROJECT_NAME}Targets.cmake
- DESTINATION lib/cmake/${PROJECT_NAME}
- )
- install(
- FILES
- "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
- "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
- DESTINATION lib/cmake/${PROJECT_NAME}
- )
+ configure_package_config_file("${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" INSTALL_DESTINATION lib/cmake/${PROJECT_NAME})
+ write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake VERSION ${PROJECT_VERSION} COMPATIBILITY SameMajorVersion)
+ install(EXPORT ${PROJECT_NAME}Targets FILE ${PROJECT_NAME}Targets.cmake DESTINATION lib/cmake/${PROJECT_NAME})
+ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake" DESTINATION lib/cmake/${PROJECT_NAME})
endif()

message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
diff --git a/include/EliteOptions.hpp.in b/include/EliteOptions.hpp.in
index 4c7a060..fa6f90f 100644
--- a/include/EliteOptions.hpp.in
+++ b/include/EliteOptions.hpp.in
@@ -9,7 +9,7 @@
#else
#define ELITE_EXPORT __declspec(dllimport)
#endif
-#elif defined(__linux) || defined(linux) || defined(__linux__)
+#elif defined(__linux) || defined(linux) || defined(__linux__) || defined(__APPLE__)
#define ELITE_EXPORT __attribute__((visibility("default")))
#endif

diff --git a/source/Common/SshUtils.cpp b/source/Common/SshUtils.cpp
index 08f6041..8d23388 100644
--- a/source/Common/SshUtils.cpp
+++ b/source/Common/SshUtils.cpp
@@ -22,6 +22,12 @@
#include <libssh/libssh.h>
#endif

+#ifndef FILE_PERMISSIONS
+#define FILE_PERMISSIONS 0644
+#endif
+
+
+
#include "Common/SshUtils.hpp"
#include "Elite/Log.hpp"

@@ -302,7 +308,7 @@ bool uploadFile(const std::string& server, const std::string& user, const std::s

std::ifstream local_file(local_path, std::ios::binary | std::ios::ate);
if (!local_file) {
- ELITE_LOG_ERROR("Failed to open local file: %s", local_path);
+ ELITE_LOG_ERROR("Failed to open local file: %s", local_path.c_str());
ssh_disconnect(session);
ssh_free(session);
return false;
@@ -329,7 +335,7 @@ bool uploadFile(const std::string& server, const std::string& user, const std::s

#if defined(_WIN32) || defined(_WIN64)
#define FILE_PERMISSIONS (S_IREAD | S_IWRITE)
-#elif defined(__linux) || defined(linux) || defined(__linux__)
+#elif defined(__linux) || defined(linux) || defined(__linux__) || defined(__APPLE__)
#define FILE_PERMISSIONS (S_IRUSR | S_IWUSR)
#endif
// File's infomation