MacOS compatibility

api_example.c

@@ -49,9 +49,9 @@ int main(int argc, char **argv) {
 			const struct SurviveSimplePoseUpdatedEvent *pose_event = survive_simple_get_pose_updated_event(&event);
 			SurvivePose pose = pose_event->pose;
 			FLT timecode = pose_event->time;
-			/*printf("%s %s (%7.3f): %f %f %f %f %f %f %f\n", survive_simple_object_name(pose_event->object),
+				printf("%s %s (%7.3f): %f %f %f %f %f %f %f\n", survive_simple_object_name(pose_event->object),
 				   survive_simple_serial_number(pose_event->object), timecode, pose.Pos[0], pose.Pos[1], pose.Pos[2],
-				   pose.Rot[0], pose.Rot[1], pose.Rot[2], pose.Rot[3]);*/
+				   pose.Rot[0], pose.Rot[1], pose.Rot[2], pose.Rot[3]);
 			break;
 		}
 		case SurviveSimpleEventType_ButtonEvent: {

libs/cnmatrix/include/cnmatrix/cn_matrix.h

@@ -21,7 +21,11 @@
 
 #include <stdbool.h>
 
+#ifdef __APPLE__
+#include <stdlib.h>
+#else
 #include <malloc.h>
+#endif
 #include "cnmatrix/cn_flt.h"
 #include "math.h"
 #include "string.h"

src/CMakeLists.txt

@@ -56,6 +56,12 @@ if(USE_HIDAPI)
   add_definitions (-DHIDAPI)
   IF(WIN32)
     SET(SURVIVE_SRCS ${SURVIVE_SRCS} ../redist/hid-windows.c)
+  elseif(APPLE)
+    find_library(HIDAPI_LIBRARY hidapi PATHS /opt/homebrew/lib /usr/local/lib)
+    if(HIDAPI_LIBRARY)
+      list(APPEND ADDITIONAL_LIBRARIES ${HIDAPI_LIBRARY})
+      include_directories(/opt/homebrew/include /usr/local/include)
+    endif()
   else()
     list(APPEND ADDITIONAL_LIBRARIES udev hidapi-libusb)
   endif()

src/survive_kalman_lighthouses.c

@@ -218,6 +218,7 @@ void error_fn(void *user, const struct CnMat *x0, const struct CnMat *x1, struct
 	}
 }
 void survive_kalman_lighthouse_ootx(SurviveKalmanLighthouse *tracker) {
+	if (tracker == NULL) return;
 	tracker->state.BSD0 = tracker->ctx->bsd[tracker->lh].fcal[0];
 	tracker->state.BSD1 = tracker->ctx->bsd[tracker->lh].fcal[1];
 }

src/survive_plugins.unix.h

@@ -9,12 +9,19 @@
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
+#ifdef __APPLE__
+#include <mach-o/dyld.h>
+#endif
 
 #include "assert.h"
 
 #pragma GCC diagnostic ignored "-Wpedantic"
 
+#ifdef __APPLE__
+static const char* plugin_ext() { return ".dylib"; }
+#else
 static const char* plugin_ext() { return ".so"; }
+#endif
 
 #ifndef PATH_MAX
 #define PATH_MAX 4096
@@ -37,8 +44,19 @@ static const char *get_so_filename() {
 static const char *get_exe_filename() {
 	static char exe_path[PATH_MAX] = { 0 };
 	if (exe_path[0] == 0) {
-		size_t len = readlink("/proc/self/exe", exe_path, sizeof(exe_path));
-		exe_path[len] = 0;
+#ifdef __APPLE__
+		uint32_t size = sizeof(exe_path);
+		if (_NSGetExecutablePath(exe_path, &size) != 0) {
+			exe_path[0] = 0;
+		}
+#else
+		ssize_t len = readlink("/proc/self/exe", exe_path, sizeof(exe_path) - 1);
+		if (len > 0) {
+			exe_path[len] = 0;
+		} else {
+			exe_path[0] = 0;
+		}
+#endif
 	}
 	return exe_path;
 }