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Support for Mac OS X #51

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Support for Mac OS X #51

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e27d8c0
add support for Mac OS X
Jan 29, 2017
6d407cf
fix opening serial on Mac OS
Feb 1, 2017
bbb7a89
set default baudrate to none custom value
Feb 1, 2017
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8 changes: 4 additions & 4 deletions c++/example/dxl_monitor/dxl_monitor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that properties of Dynamixel MX and PRO are already set as %% MX - ID : 1 / Baudnum : 1 (Baudrate : 1000000) , PRO - ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <getopt.h>
Expand All @@ -65,7 +65,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -82,7 +82,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down Expand Up @@ -332,7 +332,7 @@ int main(int argc, char *argv[])

char *dev_name = (char*)DEVICENAME;

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
// parameter parsing
while(1)
{
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol1.0/bulk_read/bulk_read.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@
// This example is tested with two Dynamixel MX-28, and an USB2DYNAMIXEL
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -82,7 +82,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -99,7 +99,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol1.0/multi_port/multi_port.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -77,7 +77,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -94,7 +94,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol1.0/ping/ping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand All @@ -61,7 +61,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -78,7 +78,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol1.0/read_write/read_write.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that DXL MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -76,7 +76,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -93,7 +93,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
8 changes: 4 additions & 4 deletions c++/example/protocol1.0/reset/reset.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 34 (Baudrate : 57600)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -76,7 +76,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -93,7 +93,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down Expand Up @@ -124,7 +124,7 @@ int kbhit(void)

void msecSleep(int waitTime)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
usleep(waitTime * 1000);
#elif defined(_WIN32) || defined(_WIN64)
Sleep(waitTime);
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol1.0/sync_write/sync_write.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -81,7 +81,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -98,7 +98,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol2.0/broadcast_ping/broadcast_ping.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand All @@ -62,7 +62,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -79,7 +79,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol2.0/bulk_read_write/bulk_read_write.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 and 2 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -83,7 +83,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -100,7 +100,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
8 changes: 4 additions & 4 deletions c++/example/protocol2.0/factory_reset/factory_reset.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
// This example resets all properties of Dynamixel to default values, such as %% ID : 1 / Baudnum : 1 (Baudrate : 57600)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -74,7 +74,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -91,7 +91,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down Expand Up @@ -122,7 +122,7 @@ int kbhit(void)

void msecSleep(int waitTime)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
usleep(waitTime * 1000);
#elif defined(_WIN32) || defined(_WIN64)
Sleep(waitTime);
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol2.0/indirect_address/indirect_address.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -93,7 +93,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -110,7 +110,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol2.0/multi_port/multi_port.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand Down Expand Up @@ -77,7 +77,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -94,7 +94,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
6 changes: 3 additions & 3 deletions c++/example/protocol2.0/ping/ping.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
// Be sure that Dynamixel PRO properties are already set as %% ID : 1 / Baudnum : 3 (Baudrate : 1000000)
//

#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
Expand All @@ -62,7 +62,7 @@

int getch()
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
tcgetattr(STDIN_FILENO, &oldt);
Expand All @@ -79,7 +79,7 @@ int getch()

int kbhit(void)
{
#ifdef __linux__
#if defined(__linux__) || defined(__APPLE__)
struct termios oldt, newt;
int ch;
int oldf;
Expand Down
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