booster-robotics-sdk-python 1.0.0__tar.gz

booster_robotics_sdk_python-1.0.0/.clang-format

@@ -0,0 +1,213 @@
+# 语言: None, Cpp, Java, JavaScript, ObjC, Proto, TableGen, TextProto
+Language: Cpp
+# BasedOnStyle:	LLVM
+
+# 访问说明符(public、private等)的偏移
+AccessModifierOffset: -4
+
+# 开括号(开圆括号、开尖括号、开方括号)后的对齐: Align, DontAlign, AlwaysBreak(总是在开括号后换行)
+AlignAfterOpenBracket: Align
+
+# 连续赋值时，对齐所有等号
+AlignConsecutiveAssignments: false
+
+# 连续声明时，对齐所有声明的变量名
+AlignConsecutiveDeclarations: false
+
+# 右对齐逃脱换行(使用反斜杠换行)的反斜杠
+AlignEscapedNewlines: Right
+
+# 水平对齐二元和三元表达式的操作数
+AlignOperands: true
+
+# 对齐连续的尾随的注释
+AlignTrailingComments: true
+
+# 不允许函数声明的所有参数在放在下一行
+AllowAllParametersOfDeclarationOnNextLine: false
+
+# 不允许短的块放在同一行
+AllowShortBlocksOnASingleLine: true
+
+# 允许短的case标签放在同一行
+AllowShortCaseLabelsOnASingleLine: true
+
+# 允许短的函数放在同一行: None, InlineOnly(定义在类中), Empty(空函数), Inline(定义在类中，空函数), All
+AllowShortFunctionsOnASingleLine: None
+
+# 允许短的if语句保持在同一行
+AllowShortIfStatementsOnASingleLine: true
+
+# 允许短的循环保持在同一行
+AllowShortLoopsOnASingleLine: true
+
+# 总是在返回类型后换行: None, All, TopLevel(顶级函数，不包括在类中的函数), 
+# AllDefinitions(所有的定义，不包括声明), TopLevelDefinitions(所有的顶级函数的定义)
+AlwaysBreakAfterReturnType: None
+
+# 总是在多行string字面量前换行
+AlwaysBreakBeforeMultilineStrings: false
+
+# 总是在template声明后换行
+AlwaysBreakTemplateDeclarations: true
+
+# false表示函数实参要么都在同一行，要么都各自一行
+BinPackArguments: true
+
+# false表示所有形参要么都在同一行，要么都各自一行
+BinPackParameters: true
+
+# 大括号换行，只有当BreakBeforeBraces设置为Custom时才有效
+BraceWrapping:
+  # class定义后面
+  AfterClass: false
+  # 控制语句后面
+  AfterControlStatement: false
+  # enum定义后面
+  AfterEnum: false
+  # 函数定义后面
+  AfterFunction: false
+  # 命名空间定义后面
+  AfterNamespace: false
+  # struct定义后面
+  AfterStruct: false
+  # union定义后面
+  AfterUnion: false
+  # extern之后
+  AfterExternBlock: false
+  # catch之前
+  BeforeCatch: false
+  # else之前
+  BeforeElse: false
+  # 缩进大括号
+  IndentBraces: false
+  # 分离空函数
+  SplitEmptyFunction: false
+  # 分离空语句
+  SplitEmptyRecord: false
+  # 分离空命名空间
+  SplitEmptyNamespace: false
+
+# 在二元运算符前换行: None(在操作符后换行), NonAssignment(在非赋值的操作符前换行), All(在操作符前换行)
+BreakBeforeBinaryOperators: NonAssignment
+
+# 在大括号前换行: Attach(始终将大括号附加到周围的上下文), Linux(除函数、命名空间和类定义，与Attach类似), 
+#   Mozilla(除枚举、函数、记录定义，与Attach类似), Stroustrup(除函数定义、catch、else，与Attach类似), 
+#   Allman(总是在大括号前换行), GNU(总是在大括号前换行，并对于控制语句的大括号增加额外的缩进), WebKit(在函数前换行), Custom
+#   注：这里认为语句块也属于函数
+BreakBeforeBraces: Custom
+
+# 在三元运算符前换行
+BreakBeforeTernaryOperators: false
+
+# 在构造函数的初始化列表的冒号后换行
+BreakConstructorInitializers: AfterColon
+
+#BreakInheritanceList: AfterColon
+
+BreakStringLiterals: false
+
+# 每行字符的限制，0表示没有限制
+ColumnLimit: 0
+
+CompactNamespaces: true
+
+# 构造函数的初始化列表要么都在同一行，要么都各自一行
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+
+# 构造函数的初始化列表的缩进宽度
+ConstructorInitializerIndentWidth: 4
+
+# 延续的行的缩进宽度
+ContinuationIndentWidth: 4
+
+# 去除C++11的列表初始化的大括号{后和}前的空格
+Cpp11BracedListStyle: true
+
+# 继承最常用的指针和引用的对齐方式
+DerivePointerAlignment: false
+
+# 固定命名空间注释
+FixNamespaceComments: true
+
+# 缩进case标签
+IndentCaseLabels: false
+
+IndentPPDirectives: None
+
+# 缩进宽度
+IndentWidth: 4
+
+# 函数返回类型换行时，缩进函数声明或函数定义的函数名
+IndentWrappedFunctionNames: false
+
+# 保留在块开始处的空行
+KeepEmptyLinesAtTheStartOfBlocks: false
+
+# 连续空行的最大数量
+MaxEmptyLinesToKeep: 1
+
+# 命名空间的缩进: None, Inner(缩进嵌套的命名空间中的内容), All
+NamespaceIndentation: None
+
+# 指针和引用的对齐: Left, Right, Middle
+PointerAlignment: Right
+
+# 允许重新排版注释
+ReflowComments: true
+
+# 允许排序#include
+SortIncludes: false
+
+# 允许排序 using 声明
+SortUsingDeclarations: false
+
+# 在C风格类型转换后添加空格
+SpaceAfterCStyleCast: false
+
+# 在Template 关键字后面添加空格
+SpaceAfterTemplateKeyword: true
+
+# 在赋值运算符之前添加空格
+SpaceBeforeAssignmentOperators: true
+
+# SpaceBeforeCpp11BracedList: true
+
+# SpaceBeforeCtorInitializerColon: true
+
+# SpaceBeforeInheritanceColon: true
+
+# 开圆括号之前添加一个空格: Never, ControlStatements, Always
+SpaceBeforeParens: ControlStatements
+
+# SpaceBeforeRangeBasedForLoopColon: true
+
+# 在空的圆括号中添加空格
+SpaceInEmptyParentheses: false
+
+# 在尾随的评论前添加的空格数(只适用于//)
+SpacesBeforeTrailingComments: 1
+
+# 在尖括号的<后和>前添加空格
+SpacesInAngles: false
+
+# 在C风格类型转换的括号中添加空格
+SpacesInCStyleCastParentheses: false
+
+# 在容器(ObjC和JavaScript的数组和字典等)字面量中添加空格
+SpacesInContainerLiterals: true
+
+# 在圆括号的(后和)前添加空格
+SpacesInParentheses: false
+
+# 在方括号的[后和]前添加空格，lamda表达式和未指明大小的数组的声明不受影响
+SpacesInSquareBrackets: false
+
+# 标准: Cpp03, Cpp11, Auto
+Standard: Cpp11
+
+# tab宽度
+TabWidth: 4
+
+# 使用tab字符: Never, ForIndentation, ForContinuationAndIndentation, Always
+UseTab: Never

booster_robotics_sdk_python-1.0.0/.gitattributes

@@ -0,0 +1,4 @@
+*.a filter=lfs diff=lfs merge=lfs -text
+*.so filter=lfs diff=lfs merge=lfs -text
+**/tool-build/** filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text

booster_robotics_sdk_python-1.0.0/.gitignore

@@ -0,0 +1,27 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Directories
+build/
+install/
+dist/
+.vscode
+.debug*
+internal_distribution/packages
+
+
+# IDE
+.idea/
+CMakeLists.bak.txt
+.DS_S*
+

booster_robotics_sdk_python-1.0.0/.gitmodules

@@ -0,0 +1,3 @@
+[submodule "sdk_release"]
+	path = sdk_release
+	url = git@gitee.com:booster_robotics/sdk_release.git

booster_robotics_sdk_python-1.0.0/.lfsconfig

@@ -0,0 +1,3 @@
+# [lfs]
+# url = "http://192.168.101.144:1536/api/booster-custom-project/booster_robotics_sdk"
+

booster_robotics_sdk_python-1.0.0/.workflow/git-ee-pipe-build.yml

@@ -0,0 +1,114 @@
+version: '1.0'
+name: git-ee-pipe-1760464169
+displayName: git-ee-pipe-1760464169
+triggers:
+  trigger: auto
+  push:
+    branches:
+      prefix:
+        - ''
+
+# 太蠢了
+# Yaml的锚点语法不支持
+
+stages:
+
+
+  - name: wait-paralleled
+    displayName: wait-paralleled
+    steps:
+
+      - step: shell@agent
+        name: step-wait-u-24-unknown-linux-gnu
+        displayName: step-wait-u-24-unknown-linux-gnu
+        hostGroupID:
+          ID: u-24-unknown-linux-gnu
+          hostID:
+            - 7a200648-f7df-484f-89e6-85a616a66e7c
+            - a8b94e6c-c723-4e77-bf12-12c6ac67f349
+            - 76ba81f4-4bfb-4734-bf9e-adb6b428a216
+            - 0851ada9-f15a-46cb-8420-f3552bc59870
+        script:
+          - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-wait-u-24-unknown-linux-gnu"
+          - export CUSTOM_ENV_DOWNLOAD_TARGET_ARRAY="aarch64-unknown-linux-gnu;x86_64-unknown-linux-gnu"
+          - export CUSTOM_ENV_DOWNLOAD_OS_VERSION="Linux 22.04 Ubuntu"
+          - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
+          - curl --silent --show-error --output s-80-action-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-80-action-build-project.sh
+          - sh s-80-action-build-project.sh
+
+
+
+
+  - name: build-paralleled
+    displayName: build-paralleled
+    steps:
+
+      - step: shell@agent
+        name: step-build-u-22-aarch64-unknown-linux-gnu
+        displayName: step-build-u-22-aarch64-unknown-linux-gnu
+        hostGroupID:
+          ID: u-22-aarch64-unknown-linux-gnu
+          hostID:
+            - de76b749-9d62-440d-88d8-4373526769a6
+            - 33b6f200-5b8d-4e88-94ba-b21a9d847e98
+        script:
+          - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-build-22-aarch64-unknown-linux-gnu"
+          - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
+          - curl --silent --show-error --output s-80-action-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-80-action-build-project.sh
+          - sh s-80-action-build-project.sh
+
+
+#     - step: shell@agent
+#       name: step-build-u-24-aarch64-unknown-linux-gnu
+#       displayName: step-build-u-24-aarch64-unknown-linux-gnu
+#       hostGroupID:
+#         ID: u-24-aarch64-unknown-linux-gnu
+#         hostID:
+#           - ceb50007-5022-4528-82f8-cac56fff1997
+#       script:
+#         - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-build-24-aarch64-unknown-linux-gnu"
+#         - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
+#         - curl --silent --show-error --output s-80-action-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-80-action-build-project.sh
+#         - sh s-80-action-build-project.sh
+
+
+      - step: shell@agent
+        name: step-build-u-22-x86_64-unknown-linux-gnu
+        displayName: step-build-u-22-x86_64-unknown-linux-gnu
+        hostGroupID:
+          ID: u-22-x86_64-unknown-linux-gnu
+          hostID:
+            - 13de56cc-be54-4140-a383-84610d6edacb
+            - 08cc933d-21e6-45c5-94d3-91b74e585fb7
+            - 3989f12a-5077-4a9f-bf14-db89c7b05343
+            - 23b30227-7027-4ddc-9552-21447f7f5d82
+            - 95629513-e57e-42de-ac18-d1bb89194547
+            - 68f8ef54-5453-45cf-8b35-acaeee1fb0e9
+            - 4f16f4f1-9875-410a-a9e6-f604ee8cd2eb
+            - c3c611fb-4fc1-4732-acf0-57a032965657
+        script:
+          - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-build-22-x86_64-unknown-linux-gnu"
+          - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
+          - curl --silent --show-error --output s-80-action-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-80-action-build-project.sh
+          - sh s-80-action-build-project.sh
+
+
+#     - step: shell@agent
+#       name: step-build-u-24-x86_64-unknown-linux-gnu
+#       displayName: step-build-u-24-x86_64-unknown-linux-gnu
+#       hostGroupID:
+#         ID: u-24-x86_64-unknown-linux-gnu
+#         hostID:
+#           - fbd07b0d-41ea-420d-8d8c-27aa3d77fcc5
+#           - ea4bde4e-6911-4730-9ed5-7dd1f3199c53
+#           - f98df53b-60da-4946-b710-7d3e3b585bcc
+#           - 94f48ac9-2a23-4868-a998-392155eb3849
+#           - d782e716-897c-42ee-822c-3c1d50749b10
+#           - 6b01cde0-f4d2-4080-8157-d3a721498248
+#           - f4c4a860-d0ff-40fc-ae43-5fe65726d6f1
+#           - 4a41bf06-87ef-4cbd-b92f-163096f2a542
+#       script:
+#         - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-build-24-x86_64-unknown-linux-gnu"
+#         - curl --silent --show-error --output s-70-closure-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-70-closure-build-project.sh
+#         - curl --silent --show-error --output s-80-action-build-project.sh http://192.168.33.162:20103/file-build-storage/script/s-80-action-build-project.sh
+#         - sh s-80-action-build-project.sh

booster_robotics_sdk_python-1.0.0/.workflow/project-defined.cmake

@@ -0,0 +1,37 @@
+macro(closure_import_install_project)
+    if (DEFINED ARGV0 AND NOT "${ARGV0}" STREQUAL "")
+        cmake_language(CALL ${ARGV0})
+    endif ()
+endmacro()
+
+
+macro(closure_link_target_exe i_exe_target)
+endmacro()
+
+
+macro(closure_link_target_lib i_lib_target)
+endmacro()
+
+
+macro(closure_generate_project_name)
+    get_filename_component(PLUGIN_TARGET_NAME "${CMAKE_CURRENT_SOURCE_DIR}" NAME)
+    string(REPLACE "-" "_" C_MAKE_CUSTOM_SUB_LINE_TARGET_NAME ${PLUGIN_TARGET_NAME})
+    set(C_MAKE_CUSTOM_PROJECT_NAME "project_${C_MAKE_CUSTOM_SUB_LINE_TARGET_NAME}")
+endmacro()
+
+
+
+
+
+
+
+
+
+
+
+
+macro(closure_import_prepare_project)
+endmacro()
+
+closure_generate_project_name()
+closure_import_prepare_project()

booster_robotics_sdk_python-1.0.0/CMakeLists.txt

@@ -0,0 +1,200 @@
+cmake_minimum_required(VERSION 3.15...3.27)
+cmake_policy(SET CMP0048 NEW)
+
+if (ORIN)
+    MESSAGE("Compile for ORIN ... ")
+
+    execute_process(
+        COMMAND uname -m
+        OUTPUT_VARIABLE RAW_ARCH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+    string(TOLOWER "${RAW_ARCH}" DETECTED_ARCH)
+    message(STATUS "[System] uname -m = ${DETECTED_ARCH}")
+
+    if(DETECTED_ARCH MATCHES "x86_64|i[3456]86|amd64")
+        SET(CMAKE_CXX_COMPILER "/usr/bin/aarch64-linux-gnu-g++-12")
+        SET(CMAKE_C_COMPILER "/usr/bin/aarch64-linux-gnu-gcc-12")
+    endif()
+
+    set(CMAKE_SYSTEM_NAME Linux)
+    set(CMAKE_SYSTEM_PROCESSOR aarch64)
+    set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+    set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+    set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+    set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+    IF(NOT BOOSTER_THIRD_PARTY_INCLUDE_DIR)
+        SET(BOOSTER_THIRD_PARTY_INCLUDE_DIR /opt/robosys/third_party_orin/include CACHE PATH "Booster third party include dir")
+    ENDIF()
+
+    IF(NOT BOOSTER_THIRD_PARTY_LIB_DIR)
+        SET(BOOSTER_THIRD_PARTY_LIB_DIR /opt/robosys/third_party_orin/lib CACHE PATH "Booster third party lib dir")
+    ENDIF()
+
+    include_directories(${BOOSTER_THIRD_PARTY_INCLUDE_DIR})
+    link_directories(${BOOSTER_THIRD_PARTY_LIB_DIR})
+else()
+    SET(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(NOT DEFINED SKBUILD_PROJECT_NAME)
+    set(SKBUILD_PROJECT_NAME booster_robotics_sdk)
+endif()
+
+if(NOT DEFINED SKBUILD_PROJECT_VERSION)
+    set(SKBUILD_PROJECT_VERSION 0.1.0)
+endif()
+
+project(
+  ${SKBUILD_PROJECT_NAME}
+  VERSION ${SKBUILD_PROJECT_VERSION}
+  LANGUAGES CXX)
+
+
+SET(LIB_BOOSTER_ROBOTICS_SDK booster_robotics_sdk CACHE STRING "Booster Robotics SDK")
+SET(TEST_BOOSTER_ROBOTICS_SDK booster_robotics_sdk_test CACHE STRING "Booster Robotics SDK Test")
+
+option(BUILD_TEST "Build Test" off)
+
+option(BUILD_PYTHON_BINDING "Build Python Binding" off)
+message(STATUS "BUILD_PYTHON_BINDING: ${BUILD_PYTHON_BINDING}")
+
+if(ORIN)
+    set(PLATFORM_SUFFIX "_orin")
+    message(STATUS "Architecture is: ORIN")
+
+    if(NOT INSTALL_DIR)
+        set(INSTALL_DIR /opt/robosys CACHE PATH "rs_sdk install dir")
+    endif()
+
+    set(LIB_INSTALL_PREFIX ${INSTALL_DIR}/${LIB_BOOSTER_ROBOTICS_SDK}${PLATFORM_SUFFIX})
+else()
+    set(LIB_INSTALL_PREFIX ${CMAKE_INSTALL_LIBDIR})
+endif()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+set(CMAKE_CXX_STANDARD 17)
+
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include/booster/idl/b1)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include/booster/idl/builtin_interfaces)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include/booster/idl/sensor_msgs)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include/booster/idl/std_msgs)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/internal_include)
+
+
+file(GLOB_RECURSE BOOSTER_ROBOTICS_SDK_SOURCES 
+    "src/*.cpp"
+    "src/*.cxx"
+    "src/*.ipp")
+
+list(FILTER BOOSTER_ROBOTICS_SDK_SOURCES EXCLUDE REGEX "src/python/.*\\.cpp")
+
+file(GLOB_RECURSE BOOSTER_ROBOTICS_SDK_HEADERS 
+    "include/*.h"
+    "include/*.hpp")
+file(GLOB_RECURSE DEMO_TEST_SOURCES 
+    "test/demo_test/*.cpp"
+    "test/demo_test/*.cxx"
+    "test/demo_test/*.ipp")
+
+add_library(${LIB_BOOSTER_ROBOTICS_SDK} ${BOOSTER_ROBOTICS_SDK_SOURCES})
+
+link_libraries(${LIB_BOOSTER_ROBOTICS_SDK} fastrtps fastcdr libfoonathan_memory-0.7.3.a)
+
+if (BUILD_TEST)
+    add_executable(${TEST_BOOSTER_ROBOTICS_SDK} ${DEMO_TEST_SOURCES})
+    # target_link_libraries(${TEST_BOOSTER_ROBOTICS_SDK} ${LIB_BOOSTER_ROBOTICS_SDK} fastrtps fastcdr)
+
+    add_executable(b1_loco_example_client sdk_release/example/high_level/b1_loco_example_client.cpp)
+    add_executable(b1_low_level_publisher sdk_release/example/low_level/low_level_publisher.cpp)
+    add_executable(b1_low_level_subscriber sdk_release/example/low_level/low_level_subscriber.cpp)
+    add_executable(b1_odometer_example sdk_release/example/low_level/odometer_example.cpp)
+    add_executable(b1_arm_sdk_example_client sdk_release/example/high_level/b1_arm_sdk_example.cpp)
+    add_executable(b1_low_sdk_example sdk_release/example/low_level/b1_low_sdk_example.cpp)
+    add_executable(b1_state_subscriber sdk_release/example/high_level/b1_state_subscriber.cpp)
+
+    add_executable(test_rpc_client test/rpc/rpc_client.cpp)
+    add_executable(test_rpc_server test/rpc/rpc_server.cpp)
+    add_executable(test_publisher test/pub_sub/publisher.cpp)
+    add_executable(test_subscriber test/pub_sub/subscriber.cpp)
+    add_executable(test_sim_bridge_subscriber test/sim_bridge/sim_bridge_subscriber.cpp)
+endif()
+
+include(GNUInstallDirs)
+#install(TARGETS ${LIB_BOOSTER_ROBOTICS_SDK} ARCHIVE DESTINATION ${LIB_INSTALL_PREFIX CMAKE_INSTALL_LIBDIR})
+install(TARGETS ${LIB_BOOSTER_ROBOTICS_SDK} ARCHIVE DESTINATION ${LIB_INSTALL_PREFIX})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY internal_include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+
+
+if(BUILD_PYTHON_BINDING)
+    find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
+    message(STATUS "Python3 executable: ${Python3_EXECUTABLE}")
+
+    execute_process(
+        COMMAND ${Python3_EXECUTABLE} -c "import sysconfig; print(sysconfig.get_paths()['purelib'])"
+        OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        RESULT_VARIABLE result
+        ERROR_VARIABLE error
+    )
+
+    include_directories(${Python3_INCLUDE_DIRS})
+    find_package(pybind11 CONFIG REQUIRED)
+
+    python3_add_library(_core MODULE src/python/binding.cpp WITH_SOABI)
+    target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
+
+    python3_add_library(booster_robotics_sdk_internal_python MODULE src/python/internal_binding.cpp WITH_SOABI)
+    target_compile_definitions(booster_robotics_sdk_internal_python PRIVATE VERSION_INFO=${PROJECT_VERSION})
+
+    if(GENERATE_PYBIND11_STUBS)
+        find_program(PYBIND11_STUBGEN_EXECUTABLE pybind11-stubgen)
+        if(NOT PYBIND11_STUBGEN_EXECUTABLE)
+            message(FATAL_ERROR "pybind11-stubgen not found")
+        endif()
+
+        add_custom_command(
+            TARGET _core
+            POST_BUILD
+            COMMAND PYTHONPATH=${CMAKE_SOURCE_DIR}/build:/${PYTHONPATH} pybind11-stubgen -o ${CMAKE_SOURCE_DIR}/build _core
+        )
+
+        add_custom_command(
+            TARGET booster_robotics_sdk_internal_python
+            POST_BUILD
+            COMMAND PYTHONPATH=${CMAKE_SOURCE_DIR}/build:/${PYTHONPATH} pybind11-stubgen -o ${CMAKE_SOURCE_DIR}/build booster_robotics_sdk_internal_python
+        )
+    endif()
+
+    if(DEFINED SKBUILD_PLATLIB_DIR)
+        message(STATUS "Install Python modules into SKBUILD_PLATLIB_DIR = ${SKBUILD_PLATLIB_DIR}")
+        set(PYTHON_SITE_PACKAGES "${SKBUILD_PLATLIB_DIR}")
+    else()
+        execute_process(
+            COMMAND ${Python3_EXECUTABLE} -c "import sysconfig; print(sysconfig.get_paths()['purelib'])"
+            OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        message(STATUS "Local build: install Python modules into ${PYTHON_SITE_PACKAGES}")
+    endif()
+
+    install(TARGETS _core
+            LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}/booster_robotics_sdk_python")
+            
+    install(TARGETS booster_robotics_sdk_internal_python
+            LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}")
+
+    if(GENERATE_PYBIND11_STUBS)
+        install(FILES ${CMAKE_SOURCE_DIR}/build/_core.pyi 
+                DESTINATION "${PYTHON_SITE_PACKAGES}/booster_robotics_sdk_python")
+                
+        install(FILES ${CMAKE_SOURCE_DIR}/build/booster_robotics_sdk_internal_python.pyi 
+                DESTINATION "${PYTHON_SITE_PACKAGES}")
+    endif()
+
+endif()

booster_robotics_sdk_python-1.0.0/PKG-INFO

@@ -0,0 +1,42 @@
+Metadata-Version: 2.2
+Name: booster_robotics_sdk_python
+Version: 1.0.0
+Summary: Booster Robotics SDK Python bindings and examples.
+Author-Email: Booster Robotics <liupeize@boosterobotics.com>
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+
+# Booster Robotics SDK
+Booster Robotics SDK aims to provide a simple and easy-to-use interface for developers to control the Booster Robotics products. 
+
+## Prebuild environment
+* OS  (Ubuntu 22.04 LTS)  
+* CPU  (aarch64 and x86_64)   
+* Compiler  (gcc version 11.4.0) 
+
+## Installation
+```bash
+pip3 install pybind11
+# pip3 install pybind11-stubgen
+```
+
+## Build examples
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Build python binding api and install
+```bash
+mkdir build
+cd build
+cmake .. -DBUILD_PYTHON_BINDING=on
+make
+sudo make install
+
+if pybind11-stubgen cannot be found even after pip install, export PATH
+```bash
+export PATH=/home/[user name]/.local/bin:$PATH
+```

booster_robotics_sdk_python-1.0.0/README.md

@@ -0,0 +1,34 @@
+# Booster Robotics SDK
+Booster Robotics SDK aims to provide a simple and easy-to-use interface for developers to control the Booster Robotics products. 
+
+## Prebuild environment
+* OS  (Ubuntu 22.04 LTS)  
+* CPU  (aarch64 and x86_64)   
+* Compiler  (gcc version 11.4.0) 
+
+## Installation
+```bash
+pip3 install pybind11
+# pip3 install pybind11-stubgen
+```
+
+## Build examples
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Build python binding api and install
+```bash
+mkdir build
+cd build
+cmake .. -DBUILD_PYTHON_BINDING=on
+make
+sudo make install
+
+if pybind11-stubgen cannot be found even after pip install, export PATH
+```bash
+export PATH=/home/[user name]/.local/bin:$PATH
+```