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CI: add threads support #29

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Merged
whoenig merged 8 commits into from
Feb 21, 2026
Merged

CI: add threads support #29

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03fc5f6
CI: add threads support
whoenig Feb 21, 2026
f13cc2c
add eigen to target_link_libraries
whoenig Feb 21, 2026
8a25bc4
fix cmake error
whoenig Feb 21, 2026
82e4f96
optitrack: add generic PACK() macro
whoenig Feb 21, 2026
f9407f9
fixed Boost::system include for Boost >= 1.89
whoenig Feb 21, 2026
b13be06
try re-adding the system component
whoenig Feb 21, 2026
1d1efcf
add boost::system conditionally
whoenig Feb 21, 2026
9950330
more boost find_package adjustments
whoenig Feb 21, 2026
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13 changes: 11 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,8 @@ set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

find_package(Boost 1.5 COMPONENTS system REQUIRED) # for optitrack
find_package(Threads REQUIRED)
find_package(Boost 1.5 OPTIONAL_COMPONENTS system) # for optitrack
add_definitions(
-DBOOST_DATE_TIME_NO_LIB
-DBOOST_REGEX_NO_LIB
Expand Down Expand Up @@ -87,8 +88,15 @@ if (LIBMOTIONCAPTURE_ENABLE_OPTITRACK)
)
set(my_libraries
${my_libraries}
Boost::system
Boost::boost
Threads::Threads
)
if (Boost_SYSTEM_FOUND)
set(my_libraries
${my_libraries}
Boost::system
)
endif()
endif()

if (LIBMOTIONCAPTURE_ENABLE_OPTITRACK_CLOSED_SOURCE)
Expand Down Expand Up @@ -232,6 +240,7 @@ target_link_directories(libmotioncapture PUBLIC
${my_link_directories}
)
target_link_libraries(libmotioncapture
Eigen3::Eigen
${my_libraries}
)
set_property(TARGET libmotioncapture PROPERTY POSITION_INDEPENDENT_CODE ON)
Expand Down
17 changes: 15 additions & 2 deletions src/optitrack.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,19 @@

using boost::asio::ip::udp;

// Source - https://stackoverflow.com/a/3312896
// Posted by Steph, modified by community. See post 'Timeline' for change history
// Retrieved 2026-02-21, License - CC BY-SA 4.0

#ifdef __GNUC__
#define PACK( __Declaration__ ) __Declaration__ __attribute__((__packed__))
#endif

#ifdef _MSC_VER
#define PACK( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop))
#endif


namespace libmotioncapture {

constexpr int MAX_PACKETSIZE = 65503; // max size of packet (actual packet size is dynamic)
Expand Down Expand Up @@ -355,10 +368,10 @@ if (!response.IsMulticast) {
const uint16_t port_cmd = 1510;

// Build a NatNet "Connect" command (message ID 0x0002)
struct NatNetCommand {
PACK(struct NatNetCommand {
uint16_t messageId;
uint16_t packetSize;
} __attribute__((packed));
});

NatNetCommand connectCmd;
connectCmd.messageId = 0x0002; // "Client Connect" message
Expand Down