From 6e9979a03701fa4a84d86012a85bcf31283bdda2 Mon Sep 17 00:00:00 2001
From: Patrick Rathje <git@patrickrathje.de>
Date: Tue, 3 Mar 2026 10:05:12 +0000
Subject: [PATCH] add macOS support for RecurrentThread

Replace Linux-only timerfd with time.sleep fallback on non-Linux
platforms. timerfd_create is a Linux syscall not available on macOS.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
---
 unitree_sdk2py/utils/thread.py | 32 ++++++++++++++++++++++++++++++--
 1 file changed, 30 insertions(+), 2 deletions(-)

diff --git a/unitree_sdk2py/utils/thread.py b/unitree_sdk2py/utils/thread.py
index f17cf4e8..99f4f36b 100644
--- a/unitree_sdk2py/utils/thread.py
+++ b/unitree_sdk2py/utils/thread.py
@@ -3,10 +3,19 @@
 import errno
 import ctypes
 import struct
+import time
+import platform
 import threading
 
 from .future import Future
-from .timerfd import *
+
+_HAS_TIMERFD = False
+if platform.system() == "Linux":
+    try:
+        from .timerfd import *
+        _HAS_TIMERFD = True
+    except (AttributeError, OSError):
+        pass
 
 class Thread(Future):
     def __init__(self, target = None, name = None, args = (), kwargs = None):
@@ -52,6 +61,12 @@ def Wait(self, timeout: float = None):
         super().Wait(timeout)
 
     def __LoopFunc(self):
+        if _HAS_TIMERFD:
+            self.__LoopFunc_timerfd()
+        else:
+            self.__LoopFunc_sleep()
+
+    def __LoopFunc_timerfd(self):
         # clock type CLOCK_MONOTONIC = 1
         tfd = timerfd_create(1, 0)
         spec = itimerspec.from_seconds(self.__inter, self.__inter)
@@ -66,12 +81,25 @@ def __LoopFunc(self):
 
             try:
                 buf = os.read(tfd, 8)
-                # print(struct.unpack("Q", buf)[0])
             except OSError as e:
                 if e.errno != errno.EAGAIN:
                     raise e
 
         os.close(tfd)
+
+    def __LoopFunc_sleep(self):
+        while not self.__quit:
+            step_start = time.perf_counter()
+            try:
+                self.__loopTarget(*self.__loopArgs, **self.__loopKwargs)
+            except:
+                info = sys.exc_info()
+                print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}")
+
+            elapsed = time.perf_counter() - step_start
+            remaining = self.__inter - elapsed
+            if remaining > 0:
+                time.sleep(remaining)
     
     def __LoopFunc_0(self):
         while not self.__quit: