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Commit e69735dd authored by Christian Dreher's avatar Christian Dreher
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Merge branch 'feature/absolute_encoder_calibration' into 'main' 

h2t/absolute_encoder_calibration: Module for absolute encoder calibration on all robots

See merge request !495
parents 515b940a 7adb7f20
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1 merge request!495h2t/absolute_encoder_calibration: Module for absolute encoder calibration on all robots
Pipeline #8173 passed
Stage: lint
Stage: test
Stage: deploy
Stage: post-deploy-test
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armarx_setup/core/module/prepare/python.py
+ 40
− 3
View file @ e69735dd
......@@ -36,7 +36,7 @@ $(VENV_ACTIVATE): $(MANIFEST_FILE)
{install_editable_lines}
""".replace(" ", "\t").strip() + "\n"
PREINSTALL_TEMPLATE = '"$(VENV_PIP_BIN)" install "{path}"'
PREINSTALL_TEMPLATE = '"$(VENV_PIP_BIN)" install {path}'
INSTALL_EDITABLE_TEMPLATE = '@"$(VENV_PIP_BIN)" install -e "{path}"'
@classmethod
......@@ -84,6 +84,30 @@ $(VENV_ACTIVATE): $(MANIFEST_FILE)
return "\n\t".join(lines)
class SetupPyFile:
TEMPLATE = """
#!/usr/bin/env python
from distutils.core import setup
setup(name="{name}",
version="1.0",
description="{pretty_name}",
author="Axii Auto-Generator",
author_email="axii@h2t",
url="https://git.h2t.iar.kit.edu/",
packages=[],
)
"""
@classmethod
def fill_template(cls, name) -> str:
words = name.split("_")
words = [word.capitalize() for word in words]
pretty_name = " ".join(words)
return cls.TEMPLATE.format(name=name, pretty_name=pretty_name)
@dc.dataclass
class PythonPackage(Hook):
relative_path: str
......@@ -94,6 +118,7 @@ class PythonPackage(Hook):
preinstall: ty.List[str] = dc.field(default_factory=list)
install_editable: ty.List[str] = dc.field(default_factory=list)
auto_generate_setup_py: bool = False
def __call__(self, *args, verbose=0, ignore_errors=False, **kwargs) -> common.StepResult:
"""
......@@ -112,6 +137,9 @@ class PythonPackage(Hook):
# Create the venv directory, if it does not exist.
os.makedirs(venv_dir, exist_ok=True)
if self.auto_generate_setup_py:
self.generate_and_write_setup_py()
# Create the Makefile if it does not exist.
# We put it _into_ the venv, so it is ignored automatically.
makefile_filename = "Makefile"
......@@ -139,7 +167,7 @@ class PythonPackage(Hook):
def content_changed():
assert os.path.isfile(makefile_path), makefile_path
with open(makefile_path, "r") as file:
with open(makefile_path, "r", encoding="utf-8") as file:
current_content = file.read()
return current_content != makefile_content
......@@ -153,12 +181,21 @@ class PythonPackage(Hook):
if recreate_makefile:
console.print(f"Generate Makefile in '{venv_dir}' ...")
# Dirs are relative to the venv.
with open(makefile_path, "w") as file:
with open(makefile_path, "w", encoding="utf-8") as file:
file.write(makefile_content)
# Call make.
return common.execute_command(["make"], cwd=os.path.dirname(makefile_path), env={})
def generate_and_write_setup_py(self):
setup_py_path = self.ctx.path
setup_py_file = os.path.join(setup_py_path, "setup.py")
generated_package_name = self.ctx.name.replace("/", "_")
setup_py_contents = SetupPyFile.fill_template(generated_package_name)
with open(setup_py_file, "w", encoding="utf-8") as file:
file.write(setup_py_contents)
def test(self, **kwargs):
pass
......
data/modules/armarx_integration/robots/armar6/rt.json
+ 10
− 0
View file @ e69735dd
......@@ -24,6 +24,16 @@
"build": "cmake",
"install": {
"env": {
"ARMAR_6_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH": "$MODULE_PATH/python/abs_enc_calibration"
}
},
"features": {
"absolute_encoder_calibration": "armarx_integration/robots/armar6/util/absolute_encoder_calibration"
},
"required_modules": {
"armarx/meta/compiler": {},
"armarx/ArmarXCore": {},
......
data/modules/armarx_integration/robots/armar6/util/absolute_encoder_calibration.json 0 → 100644
+ 39
− 0
View file @ e69735dd
{
"general": {
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"prepare": {
"python": {
"packages": {
".": {
"auto_generate_setup_py": true,
"install_editable": [
"$ABSOLUTE_ENCODER_CALIBRATION_PATH"
],
"preinstall": [
"jupyter==1.0.0",
"-r $ABSOLUTE_ENCODER_CALIBRATION_PATH/requirements.txt"
]
}
}
}
},
"install": {
"executables": {
"start_armar6_absolute_encoder_calibration_notebook": {
"pre_exec_commands": [
"export NOTEBOOK_PATH=\"$ARMAR_6_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH\""
],
"exec": "$MODULE_PATH/.venv/bin/jupyter notebook --no-browser --notebook-dir=$NOTEBOOK_PATH"
}
}
},
"required_modules": {
"h2t/absolute_encoder_calibration": {}
}
}
data/modules/armarx_integration/robots/armar7/rt.json
+ 16
− 1
View file @ e69735dd
{
"general": {
"url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/rt"
"url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/rt",
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"update": {
......@@ -8,6 +11,7 @@
"h2t_gitlab_slug": "sw/armarx-integration/robots/armar7/rt"
}
},
"prepare": {
"cmake": {
"project_name": "armar7_rt",
......@@ -17,8 +21,19 @@
}
}
},
"build": "cmake",
"install": {
"env": {
"ARMAR_7_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH": "$MODULE_PATH/python/abs_enc_calibration"
}
},
"features": {
"absolute_encoder_calibration": "armarx_integration/robots/armar7/util/absolute_encoder_calibration"
},
"required_modules": {
"armarx/meta/compiler": {},
"armarx/ArmarXCore": {},
......
data/modules/armarx_integration/robots/armar7/util/absolute_encoder_calibration.json 0 → 100644
+ 39
− 0
View file @ e69735dd
{
"general": {
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"prepare": {
"python": {
"packages": {
".": {
"auto_generate_setup_py": true,
"install_editable": [
"$ABSOLUTE_ENCODER_CALIBRATION_PATH"
],
"preinstall": [
"jupyter==1.0.0",
"-r $ABSOLUTE_ENCODER_CALIBRATION_PATH/requirements.txt"
]
}
}
}
},
"install": {
"executables": {
"start_armar7_absolute_encoder_calibration_notebook": {
"pre_exec_commands": [
"export NOTEBOOK_PATH=\"$ARMAR_7_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH\""
],
"exec": "$MODULE_PATH/.venv/bin/jupyter notebook --no-browser --notebook-dir=$NOTEBOOK_PATH"
}
}
},
"required_modules": {
"h2t/absolute_encoder_calibration": {}
}
}
data/modules/armarx_integration/robots/armarde/rt.json
+ 16
− 1
View file @ e69735dd
{
"general": {
"url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armarde/rt"
"url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armarde/rt",
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"update": {
......@@ -8,6 +11,7 @@
"h2t_gitlab_slug": "sw/armarx-integration/robots/armarde/rt"
}
},
"prepare": {
"cmake": {
"project_name": "armarde_rt",
......@@ -17,8 +21,19 @@
}
}
},
"build": "cmake",
"install": {
"env": {
"ARMAR_DE_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH": "$MODULE_PATH/python/abs_enc_calibration"
}
},
"features": {
"absolute_encoder_calibration": "armarx_integration/robots/armarde/util/absolute_encoder_calibration"
},
"required_modules": {
"armarx/meta/compiler": {},
"armarx/ArmarXCore": {},
......
data/modules/armarx_integration/robots/armarde/util/absolute_encoder_calibration.json 0 → 100644
+ 39
− 0
View file @ e69735dd
{
"general": {
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"prepare": {
"python": {
"packages": {
".": {
"auto_generate_setup_py": true,
"install_editable": [
"$ABSOLUTE_ENCODER_CALIBRATION_PATH"
],
"preinstall": [
"jupyter==1.0.0",
"-r $ABSOLUTE_ENCODER_CALIBRATION_PATH/requirements.txt"
]
}
}
}
},
"install": {
"executables": {
"start_armarde_absolute_encoder_calibration_notebook": {
"pre_exec_commands": [
"export NOTEBOOK_PATH=\"$ARMAR_DE_ABSOLUTE_ENCODER_CALIBRATION_NOTEBOOK_PATH\""
],
"exec": "$MODULE_PATH/.venv/bin/jupyter notebook --no-browser --notebook-dir=$NOTEBOOK_PATH"
}
}
},
"required_modules": {
"h2t/absolute_encoder_calibration": {}
}
}
data/modules/h2t/absolute_encoder_calibration.json 0 → 100644
+ 28
− 0
View file @ e69735dd
{
"general": {
"url": "https://git.h2t.iar.kit.edu/sw/absolute-encoder-calibration",
"authors": [
"Christian Dreher <c.dreher@kit.edu>"
]
},
"update": {
"git": {
"h2t_gitlab_slug": "sw/absolute-encoder-calibration"
}
},
"prepare": {
"python": {
"packages": {
".": {}
}
}
},
"install": {
"env": {
"ABSOLUTE_ENCODER_CALIBRATION_PATH": "$MODULE_PATH"
}
}
}
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