Merge pull request #2 from VokunGahrotLaas/main

auto generation of ros2_control_py

.clang-format

@@ -0,0 +1 @@
+BasedOnStyle: Google

.github/workflows/humble.yml

@@ -0,0 +1,20 @@
+name: humble
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build-humble:
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: humble
+    - uses: ros-tooling/[email protected]
+      with:
+        package-name: ros2_control_py
+        target-ros2-distro: humble

.github/workflows/rolling.yml

@@ -0,0 +1,20 @@
+name: rolling
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build-rolling:
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: rolling
+    - uses: ros-tooling/[email protected]
+      with:
+        package-name: ros2_control_py
+        target-ros2-distro: rolling

.gitignore

@@ -0,0 +1,7 @@
+build
+.cache
+compile_commands.json
+tmp
+install
+log
+__pycache__

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "builder/cppparser"]
+	path = builder/cppparser
+	url = https://github.com/Gepetto/cppparser

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -33,21 +33,19 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 23.10.0
     hooks:
       - id: black
 
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.3
     hooks:
-      - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
+    - id: clang-format
+      args: [-i]
+      types_or: [c++]
+
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']

CMakeLists.txt

@@ -1,30 +1,103 @@
-cmake_minimum_required(VERSION 3.5)
-project(ros2_control_py)
+cmake_minimum_required(VERSION 3.20)
 
+project(ros2_control_py VERSION 0.0.2)
+
+## default ros std versions/warnings
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+## sanitize address gcc/clang
+if(SANITIZE)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address,undefined,leak")
+  set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address,undefined,leak")
+endif()
+
+# ROS deps
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
-find_package(controller_interface REQUIRED)
-find_package(controller_manager REQUIRED)
-find_package(controller_manager_msgs REQUIRED)
-find_package(hardware_interface REQUIRED)
+# Python deps
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
 find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
 
-ament_python_install_package(ros2_control_py)
+## compiles builder
+add_subdirectory(builder)
+
+## Vars
+set(_ros2_py_modules
+  hardware_interface
+  controller_interface
+  ros2_control_test_assets
+)
+
+set(_ros2_py_src_dir ${CMAKE_CURRENT_BINARY_DIR}/src)
+
+set(_ros2_py_src ${_ros2_py_modules})
+list(TRANSFORM _ros2_py_src PREPEND ${_ros2_py_src_dir}/)
+list(TRANSFORM _ros2_py_src APPEND _py.cpp)
+
+add_custom_command(
+  OUTPUT ${_ros2_py_src}
+  COMMAND builder "${_ros2_py_src_dir}" "/opt/ros/$ENV{ROS_DISTRO}/include" "$ENV{ROS_DISTRO}" ${_ros2_py_modules}
+  DEPENDS builder
+)
+add_custom_target(run_builder
+  DEPENDS ${_ros2_py_src}
+)
 
-pybind11_add_module(ros2_control_py_core
-	src/ros2_control_py/core.cpp
-	src/ros2_control_py/hardware_interface/hardware_interface.cpp
-      )
+# __init__ in build/ for tests
+configure_file("${CMAKE_CURRENT_LIST_DIR}/python/${PROJECT_NAME}/__init__.py"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}/__init__.py"
+  COPYONLY
+)
+# __init__ in install/
+ament_python_install_package(${PROJECT_NAME}
+  PACKAGE_DIR "${CMAKE_CURRENT_LIST_DIR}/python/${PROJECT_NAME}"
+)
+# python modules
+foreach(_module ${_ros2_py_modules})
+  find_package(${_module} REQUIRED)
+  pybind11_add_module(${_module}_py
+    "${_ros2_py_src_dir}/${_module}_py.cpp"
+  )
+  add_dependencies(${_module}_py run_builder)
+  set_target_properties(${_module}_py
+    PROPERTIES OUTPUT_NAME ${PROJECT_NAME}/${_module}
+  )
+  target_include_directories(${_module}_py PRIVATE
+    "${_ros2_py_src_dir}"
+  )
+  ament_target_dependencies(${_module}_py PUBLIC
+    rclpy
+    ${_module}
+  )
+  # ${PYTHON_INSTALL_DIR} is exported by ament_python_install_package() above
+  install(TARGETS ${_module}_py
+    DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
+  )
+endforeach()
 
-ament_target_dependencies(ros2_control_py_core PUBLIC
-  rclcpp
-  rclcpp_lifecycle
-  hardware_interface)
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  file(GLOB_RECURSE _pytest_tests CONFIGURE_DEPENDS RELATIVE "${CMAKE_CURRENT_LIST_DIR}" "tests/test_*.py" "tests/*/test_*.py")
+  foreach(_test_path ${_pytest_tests})
+    cmake_path(RELATIVE_PATH _test_path
+      BASE_DIRECTORY "tests/"
+      OUTPUT_VARIABLE _test_name
+    )
+    ament_add_pytest_test(${_test_name} ${_test_path})
+  endforeach()
+endif()
 
-install(TARGETS ros2_control_py_core
-     DESTINATION "${PYTHON_INSTALL_DIR}/ros2_control_py")
 ament_package()

README.md

@@ -1,2 +1,34 @@
 # Python bindings for ros2_control using pybind11
+
 -------------------------------------------------
+
+## Install
+
+Assuming that your [ros2_control](https://github.com/ros-controls/ros2_control) workspace is in the directory `~/ros2_control_py_ws`:
+
+```sh
+mkdir -p ~/ros2_control_py_ws/src
+cd ~/ros2_control_py_ws/src
+git clone https://github.com/Gepetto/ros2_control_py --recursive
+cd ~/ros2_control_py_ws
+rosdep install --from-paths src -y --ignore-src
+```
+
+## Compiling
+
+```sh
+cd ~/ros2_control_py_ws
+colcon build
+```
+
+## Testing
+
+```sh
+cd ~/ros2_control_py_ws
+colcon build --cmake-args ' -DCMAKE_BUILD_TYPE=Debug -DSANITIZE'
+colcon test
+```
+
+## Usage
+
+See [doc](doc/index.rst) and [tests](tests/).

builder/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+
+add_subdirectory(cppparser)
+
+add_executable(builder
+  src/main.cpp
+)
+target_link_libraries(builder
+  PRIVATE
+  cppparser
+)