From 78ce842ba91b3e69d49d561419b0f2801ec0dc1e Mon Sep 17 00:00:00 2001
From: WT-MM <wesley.maa@gmail.com>
Date: Fri, 15 Nov 2024 00:30:17 -0800
Subject: [PATCH 1/2] compile on mac

---
 daemon/Cargo.toml         |  2 --
 platforms/kbot/Cargo.toml |  4 +++-
 platforms/kbot/src/lib.rs | 29 +++++++++++++++++++++++++++++
 3 files changed, 32 insertions(+), 3 deletions(-)

diff --git a/daemon/Cargo.toml b/daemon/Cargo.toml
index 2978ada..775b0c6 100644
--- a/daemon/Cargo.toml
+++ b/daemon/Cargo.toml
@@ -21,8 +21,6 @@ tower = "0.5"
 kos-sim = { version = "0.1.0", path = "../platforms/sim", optional = true }
 kos-stub = { version = "0.1.0", path = "../platforms/stub", optional = true }
 kos-zeroth-01 = { version = "0.1.0", path = "../platforms/zeroth-01", optional = true }
-
-[target.'cfg(target_os = "linux")'.dependencies]
 kos-kbot = { version = "0.1.0", path = "../platforms/kbot", optional = true }
 
 [features]
diff --git a/platforms/kbot/Cargo.toml b/platforms/kbot/Cargo.toml
index 0bcf292..e5859e4 100644
--- a/platforms/kbot/Cargo.toml
+++ b/platforms/kbot/Cargo.toml
@@ -13,4 +13,6 @@ eyre = "0.6"
 tracing = "0.1"
 async-trait = "0.1"
 robstride = "0.2.8"
-imu = "0.1.4"
\ No newline at end of file
+
+[target.'cfg(target_os = "linux")'.dependencies]
+imu = "0.1.4"
diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
index d32ed3c..9c28c2d 100644
--- a/platforms/kbot/src/lib.rs
+++ b/platforms/kbot/src/lib.rs
@@ -1,7 +1,11 @@
 mod actuator;
+
+#[cfg(target_os = "linux")]
 mod hexmove;
 
 pub use actuator::*;
+
+#[cfg(target_os = "linux")]
 pub use hexmove::*;
 
 use eyre::{Result, WrapErr};
@@ -48,6 +52,7 @@ impl Platform for KbotPlatform {
         &self,
         operations_service: Arc<OperationsServiceImpl>,
     ) -> Result<Vec<ServiceEnum>> {
+        #[cfg(target_os = "linux")]
         Ok(vec![
             ServiceEnum::Imu(ImuServiceServer::new(IMUServiceImpl::new(Arc::new(
                 KBotIMU::new(operations_service.clone(), "can0", 1, 1)
@@ -73,6 +78,30 @@ impl Platform for KbotPlatform {
                     .wrap_err("Failed to create actuator")?,
                 ),
             ))),
+        ]);
+
+        #[cfg(not(target_os = "linux"))]
+        Ok(vec![
+            ServiceEnum::Actuator(ActuatorServiceServer::new(ActuatorServiceImpl::new(
+                Arc::new(
+                    KBotActuator::new(
+                    operations_service,
+                    "/dev/ttyCH341USB0",
+                    HashMap::from([
+                        (1, MotorType::Type04),
+                        (2, MotorType::Type04),
+                        (3, MotorType::Type04),
+                        (4, MotorType::Type04),
+                        (5, MotorType::Type04),
+                        (6, MotorType::Type01),
+                    ]),
+                    None,
+                    None,
+                    None,
+                )
+                .wrap_err("Failed to create actuator")?,
+                ),
+            ))),
         ])
     }
 

From e60c329584762a98e6e5c149b149a41f42885f51 Mon Sep 17 00:00:00 2001
From: WT-MM <wesley.maa@gmail.com>
Date: Fri, 15 Nov 2024 00:32:00 -0800
Subject: [PATCH 2/2] format

---
 platforms/kbot/src/lib.rs | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
index 9c28c2d..a855d4d 100644
--- a/platforms/kbot/src/lib.rs
+++ b/platforms/kbot/src/lib.rs
@@ -81,10 +81,9 @@ impl Platform for KbotPlatform {
         ]);
 
         #[cfg(not(target_os = "linux"))]
-        Ok(vec![
-            ServiceEnum::Actuator(ActuatorServiceServer::new(ActuatorServiceImpl::new(
-                Arc::new(
-                    KBotActuator::new(
+        Ok(vec![ServiceEnum::Actuator(ActuatorServiceServer::new(
+            ActuatorServiceImpl::new(Arc::new(
+                KBotActuator::new(
                     operations_service,
                     "/dev/ttyCH341USB0",
                     HashMap::from([
@@ -100,9 +99,8 @@ impl Platform for KbotPlatform {
                     None,
                 )
                 .wrap_err("Failed to create actuator")?,
-                ),
-            ))),
-        ])
+            )),
+        ))])
     }
 
     fn shutdown(&mut self) -> eyre::Result<()> {