fix: build against latest libethercat 0.7.2

Author: robert-burger

conanfile.py

@@ -9,7 +9,7 @@ class MainProject(ConanFile):
     url = "https://rmc-github.robotic.dlr.de/robotkernel/module_ethercat"
     exports_sources = ["*", "!.gitignore"]
     requires = [
-            "libethercat/[>=0.7.0]@common/stable",
+            "libethercat/[>=0.7.2]@common/stable",
             "robotkernel/[~6]@robotkernel/unstable",
             "service_provider_memory_inspection/[~6]@robotkernel/unstable",
             "service_provider_canopen_protocol/[~6]@robotkernel/unstable",

configure.ac.in

@@ -34,6 +34,7 @@ PKG_CHECK_MODULES([LIBETHERCAT], [libethercat])
 
 # Checks for header files.
 AC_CHECK_HEADERS([stdlib.h string.h])
+AC_CHECK_HEADERS([arpa/inet.h])
 
 # Checks for typedefs, structures, and compiler characteristics.
 AC_TYPE_SIZE_T

src/hw_stream.c

@@ -23,7 +23,6 @@
 
 #include "hw_stream.h"
 
-#include <libethercat/config.h>
 #include <libethercat/hw.h>
 #include <libethercat/ec.h>
 #include <libethercat/idx.h>
@@ -39,18 +38,26 @@
 #include <stdlib.h>
 #include <inttypes.h>
 
-#if LIBETHERCAT_HAVE_NETINET_IN_H == 1
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#if HAVE_NETINET_IN_H == 1
 #include <netinet/in.h>
 #endif
 
-#if LIBETHERCAT_HAVE_WINSOCK_H == 1
+#if HAVE_WINSOCK_H == 1
 #include <winsock.h>
 #endif
 
-#if LIBETHERCAT_HAVE_NET_UTIL_INET_H == 1
+#if HAVE_NET_UTIL_INET_H == 1
 #include <net/util/inet.h>
 #endif
-    
+
+#if HAVE_ARPA_INET_H == 1
+#include <arpa/inet.h>
+#endif
+
 // forward decls
 int hw_device_stream_recv(struct hw_common *phw);
 int hw_device_stream_get_tx_buffer(struct hw_common *phw, ec_frame_t **ppframe);

src/hw_stream.h

@@ -24,10 +24,13 @@
 #ifndef MODULE_ETHERCAT__HW_STREAM_H
 #define MODULE_ETHERCAT__HW_STREAM_H
 
-#include "libethercat/config.h"
 #include "libethercat/common.h"
 #include "libethercat/hw.h"
 
+#include "libosal/osal.h"
+#include "libosal/task.h"
+#include "libosal/types.h"
+
 typedef size_t (*stream_read_t)(void *user, void *buf, size_t nbyte);
 typedef size_t (*stream_write_t)(void *user, void *buf, size_t nbyte);
 

src/master.h

@@ -39,7 +39,7 @@
 #include "slave.h"
 #include "hw_stream.h"
 
-#include "libethercat/config.h"
+#include "libethercat/settings.h"
 #include "libethercat/common.h"
 #include "libethercat/ec.h"
 #include "libethercat/slave.h"

src/slave.cpp

@@ -45,6 +45,8 @@
 #include <iomanip>
 #include <stdio.h>
 
+#include "libethercat/slave.h"
+
 using namespace std;
 using namespace robotkernel;
 using namespace module_ethercat;