booster-robotics-sdk-python 1.2.0__tar.gz → 1.3.5__tar.gz

booster_robotics_sdk_python-1.3.5/.gitignore

@@ -0,0 +1,29 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Directories
+build/
+install/
+dist/
+__pycache__/
+.vscode
+.debug*
+internal_distribution/packages
+
+/directory-sys/
+
+# IDE
+.idea/
+CMakeLists.bak.txt
+.DS_S*
+

booster_robotics_sdk_python-1.3.5/.workflow/git-ee-pipe-build.yml

@@ -0,0 +1,123 @@
+version: '1.0'
+name: git-ee-pipe-1760475713
+displayName: git-ee-pipe-1760475713
+triggers:
+  trigger: auto
+  push:
+    branches:
+      prefix:
+        - 'ci-'
+
+# 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
+        script:
+          - export CUSTOM_ENV_JOB_STAGE_STEP_NAME="step-wait-u-24-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
+
+
+
+
+  - 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
+            - 926aebf7-42a1-4794-8166-f0ca28fadab8
+            - 2e9d29c7-31c2-4814-ae78-2108163acb5c
+            - e386b9c2-5a21-4e55-9fd2-6a8ef3e8c5f6
+            - c490100d-fc59-486e-bea0-4a5d246176dc
+            - 6cdb7da3-ae1d-4625-8949-9451c246099a
+            - 5cea8344-2e78-4824-8988-96ec6635c62d
+            - 010af21e-d19d-41be-a511-884ae558d307
+            - 521f5f1a-cc02-4d28-a03e-ec6cd1065715
+        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
+            - de35a264-5cdb-40f0-9f61-20959d44ec47
+            - e2b356f1-bc7c-4218-baf9-992ecc11b3c0
+            - b8c44a03-2fdc-449e-b582-5b92c740fcb6
+            - 15d27cd4-7fb2-484d-ad03-b8552fc20701
+            - afee24da-28c6-4476-8860-7ec42a82a27b
+        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-1.3.5/CMakeLists.txt

@@ -0,0 +1,201 @@
+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}/include/booster/idl/audio)
+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-1.3.5/PKG-INFO

@@ -0,0 +1,42 @@
+Metadata-Version: 2.2
+Name: booster_robotics_sdk_python
+Version: 1.3.5
+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-1.3.5/ci-c-make-list.cmake

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.10)
+
+cmake_policy(SET CMP0048 NEW)
+
+SET(CMAKE_CXX_STANDARD 17)
+
+project(project-booster-robotics-sdk)
+
+
+SET(LIB_BOOSTER_ROBOTICS_SDK booster_robotics_sdk CACHE STRING "Booster Robotics SDK")
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+set(CMAKE_CXX_STANDARD 17)
+
+include("${CMAKE_CURRENT_LIST_DIR}/.workflow/project-defined.cmake")
+
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+
+include_directories(${fastcdr_INCLUDE_DIR})
+include_directories(${fastrtps_INCLUDE_DIR})
+
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/include/booster/idl/b1)
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/include/booster/idl/builtin_interfaces)
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/include/booster/idl/sensor_msgs)
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/include/booster/idl/std_msgs)
+include_directories(BEFORE ${PROJECT_SOURCE_DIR}/include/booster/idl/audio)
+include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/internal_include)
+
+file(GLOB_RECURSE BOOSTER_ROBOTICS_SDK_SOURCES
+        "src/*.cpp"
+        "src/*.cxx"
+        "src/*.ipp")
+
+list(FILTER BOOSTER_ROBOTICS_SDK_SOURCES EXCLUDE REGEX "src/python/.*\\.cpp")
+
+
+add_library(${LIB_BOOSTER_ROBOTICS_SDK} ${BOOSTER_ROBOTICS_SDK_SOURCES})
+closure_link_target_lib(${LIB_BOOSTER_ROBOTICS_SDK})
+target_link_libraries(${LIB_BOOSTER_ROBOTICS_SDK}
+        ${fastcdr_LIBRARIES}
+        ${fastrtps_LIBRARIES}
+)
+
+
+macro(default_install_none)
+endmacro()
+
+macro(custom_install_env)
+    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include)
+    install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/internal_include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include)
+endmacro()
+
+set(CUSTOM_VAR_NO_LINK "1")
+closure_import_install_project(default_install_none custom_install_env)
+