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fix: build on linux, add includes for std::find and std::strerror functions #1

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fix: build on linux, add includes for std::find and std::strerror functions #1

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8 changes: 5 additions & 3 deletions src/odrive_cpp_sdk.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
#include "odrive_cpp_sdk/odrive_cpp_sdk.h"
#include <algorithm>
#include <cstring>

using namespace odrive;

Expand Down Expand Up @@ -218,7 +220,7 @@ int CppSdk::initUSBHandlesBySNs() {
} else if (libusb_kernel_driver_active(device_handle, 0) && ( (result = libusb_detach_kernel_driver(device_handle, 0)) != LIBUSB_SUCCESS )) { // detach kernel driver if necessary
std::cerr << "Could not call libusb_detach_kernel_driver: " << result << " - " << libusb_error_name(result) << std::endl;
} else if ( (result = libusb_claim_interface(device_handle, 0)) != LIBUSB_SUCCESS ) {
std::cerr << "Could not call libusb_claim_interface: " << result << " - " << libusb_error_name(result) << ": " << strerror(errno) << std::endl;
std::cerr << "Could not call libusb_claim_interface: " << result << " - " << libusb_error_name(result) << ": " << std::strerror(errno) << std::endl;
libusb_close(device_handle);
} else {
bool attached_to_handle = false;
Expand Down Expand Up @@ -274,7 +276,7 @@ int CppSdk::odriveEndpointRequest(libusb_device_handle* handle, int endpoint_id,

int result = libusb_bulk_transfer(handle, ODRIVE_SDK_WRITING_ENDPOINT, packet.data(), packet.size(), &sent_bytes, 0);
if (result != LIBUSB_SUCCESS) {
std::cerr << "Could not call libusb_bulk_transfer for writing: " << result << " - " << libusb_error_name(result) << strerror(errno) << std::endl;
std::cerr << "Could not call libusb_bulk_transfer for writing: " << result << " - " << libusb_error_name(result) << std::strerror(errno) << std::endl;
return result;
} else if (packet.size() != sent_bytes) {
std::cerr << "Could not call libusb_bulk_transfer: only wrote " << std::to_string(sent_bytes) << " of " << std::to_string(packet.size()) << " bytes (wanted to send `" << packet.data() << "`)" << std::endl;
Expand All @@ -284,7 +286,7 @@ int CppSdk::odriveEndpointRequest(libusb_device_handle* handle, int endpoint_id,
// Immediatly wait for response from Odrive and check if ack (if we asked for one)
result = libusb_bulk_transfer(handle, ODRIVE_SDK_READING_ENDPOINT, receive_bytes, ODRIVE_SDK_MAX_BYTES_TO_RECEIVE, &received_bytes, ODRIVE_SDK_TIMEOUT);
if (result != LIBUSB_SUCCESS) {
std::cerr << "Could not call libusb_bulk_transfer for reading: " << result << " - " << libusb_error_name(result) << strerror(errno) << std::endl;
std::cerr << "Could not call libusb_bulk_transfer for reading: " << result << " - " << libusb_error_name(result) << std::strerror(errno) << std::endl;
return result;
}

Expand Down