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Merge pull request #575 from ami-iit/clock/ros2
Design the ROS2 implementation for Clock class
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27 changes: 27 additions & 0 deletions
27
bindings/python/System/include/BipedalLocomotion/bindings/System/RosClock.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| /** | ||
| * @file RosClock.h | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #ifndef BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H | ||
| #define BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H | ||
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| #include <pybind11/pybind11.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace System | ||
| { | ||
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| void CreateRosClock(pybind11::module& module); | ||
| void CreateRosClockFactory(pybind11::module& module); | ||
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| } // namespace System | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion | ||
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| #endif // BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_CLOCK_H |
26 changes: 26 additions & 0 deletions
26
bindings/python/System/include/BipedalLocomotion/bindings/System/RosModule.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| /** | ||
| * @file RosModule.h | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #ifndef BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H | ||
| #define BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H | ||
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| #include <pybind11/pybind11.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace System | ||
| { | ||
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| void CreateRosModule(pybind11::module& module); | ||
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| } // namespace System | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion | ||
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| #endif // BIPEDAL_LOCOMOTION_BINDINGS_SYSTEM_ROS_MODULE_H |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| /** | ||
| * @file RosClock.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #include <pybind11/cast.h> | ||
| #include <pybind11/chrono.h> | ||
| #include <pybind11/pybind11.h> | ||
| #include <pybind11/stl.h> | ||
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| #include <BipedalLocomotion/System/RosClock.h> | ||
| #include <BipedalLocomotion/bindings/System/RosClock.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace System | ||
| { | ||
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| void CreateRosClock(pybind11::module& module) | ||
| { | ||
| namespace py = ::pybind11; | ||
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| py::class_<::BipedalLocomotion::System::RosClock, | ||
| ::BipedalLocomotion::System::IClock>(module, "RosClock"); | ||
| } | ||
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| void CreateRosClockFactory(pybind11::module& module) | ||
| { | ||
| namespace py = ::pybind11; | ||
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| py::class_<::BipedalLocomotion::System::RosClockFactory, | ||
| ::BipedalLocomotion::System::ClockFactory, | ||
| std::shared_ptr<::BipedalLocomotion::System::RosClockFactory>>(module, | ||
| "RosClockFactory") | ||
| .def(py::init<const std::vector<std::string>&>(), py::arg("args")); | ||
| ; | ||
| } | ||
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| } // namespace System | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| /** | ||
| * @file RosModule.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2022 Istituto Italiano di Tecnologia (IIT). This software may be modified and | ||
| * distributed under the terms of the BSD-3-Clause license. | ||
| */ | ||
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| #include <pybind11/pybind11.h> | ||
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| #include <BipedalLocomotion/bindings/System/RosClock.h> | ||
| #include <BipedalLocomotion/bindings/System/RosModule.h> | ||
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| namespace BipedalLocomotion | ||
| { | ||
| namespace bindings | ||
| { | ||
| namespace System | ||
| { | ||
| void CreateRosModule(pybind11::module& module) | ||
| { | ||
| CreateRosClock(module); | ||
| CreateRosClockFactory(module); | ||
| } | ||
| } // namespace System | ||
| } // namespace bindings | ||
| } // namespace BipedalLocomotion |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,70 +1,92 @@ | ||
| #.rst: | ||
| # AddUninstallTarget | ||
| # ------------------ | ||
| # | ||
| # Add the "uninstall" target for your project:: | ||
| # | ||
| # include(AddUninstallTarget) | ||
| # | ||
| # | ||
| # will create a file cmake_uninstall.cmake in the build directory and add a | ||
| # custom target uninstall that will remove the files installed by your package | ||
| # (using install_manifest.txt) | ||
|
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| #============================================================================= | ||
| # Copyright 2008-2013 Kitware, Inc. | ||
| # Copyright 2013 iCub Facility, Istituto Italiano di Tecnologia | ||
| # Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it> | ||
| # | ||
| # Distributed under the OSI-approved BSD License (the "License"); | ||
| # see accompanying file Copyright.txt for details. | ||
| # | ||
| # This software is distributed WITHOUT ANY WARRANTY; without even the | ||
| # implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. | ||
| # See the License for more information. | ||
| #============================================================================= | ||
| # (To distribute this file outside of CMake, substitute the full | ||
| # License text for the above reference.) | ||
|
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|
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| if(DEFINED __ADD_UNINSTALL_TARGET_INCLUDED) | ||
| # SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT) | ||
| # SPDX-FileCopyrightText: 2008-2013 Kitware Inc. | ||
| # SPDX-License-Identifier: BSD-3-Clause | ||
|
|
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| #[=======================================================================[.rst: | ||
| AddUninstallTarget | ||
| ------------------ | ||
| Add the "uninstall" target for your project:: | ||
| include(AddUninstallTarget) | ||
| will create a file ``cmake_uninstall.cmake`` in the build directory and add a | ||
| custom target ``uninstall`` (or ``UNINSTALL`` on Visual Studio and Xcode) that | ||
| will remove the files installed by your package (using | ||
| ``install_manifest.txt``). | ||
| See also | ||
| https://gitlab.kitware.com/cmake/community/wikis/FAQ#can-i-do-make-uninstall-with-cmake | ||
| The :module:`AddUninstallTarget` module must be included in your main | ||
| ``CMakeLists.txt``. If included in a subdirectory it does nothing. | ||
| This allows you to use it safely in your main ``CMakeLists.txt`` and include | ||
| your project using ``add_subdirectory`` (for example when using it with | ||
| :cmake:module:`FetchContent`). | ||
| If the ``uninstall`` target already exists, the module does nothing. | ||
| #]=======================================================================] | ||
|
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|
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| # AddUninstallTarget works only when included in the main CMakeLists.txt | ||
| if(NOT "${CMAKE_CURRENT_BINARY_DIR}" STREQUAL "${CMAKE_BINARY_DIR}") | ||
| return() | ||
| endif() | ||
|
|
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| # The name of the target is uppercase in MSVC and Xcode (for coherence with the | ||
| # other standard targets) | ||
| if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)") | ||
| set(_uninstall "UNINSTALL") | ||
| else() | ||
| set(_uninstall "uninstall") | ||
| endif() | ||
|
|
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| # If target is already defined don't do anything | ||
| if(TARGET ${_uninstall}) | ||
| return() | ||
| endif() | ||
| set(__ADD_UNINSTALL_TARGET_INCLUDED TRUE) | ||
|
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|
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| set(_filename ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake) | ||
| set(_filename cmake_uninstall.cmake) | ||
|
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| file(WRITE ${_filename} | ||
| "if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\") | ||
| message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\") | ||
| return() | ||
| file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/${_filename}" | ||
| "if(NOT EXISTS \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\") | ||
| message(WARNING \"Cannot find install manifest: \\\"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\\\"\") | ||
| return() | ||
| endif() | ||
| file(READ \"${CMAKE_CURRENT_BINARY_DIR}/install_manifest.txt\" files) | ||
| string(STRIP \"\${files}\" files) | ||
| string(REGEX REPLACE \"\\n\" \";\" files \"\${files}\") | ||
| list(REVERSE files) | ||
| foreach(file \${files}) | ||
| if(IS_SYMLINK \"\$ENV{DESTDIR}\${file}\" OR EXISTS \"\$ENV{DESTDIR}\${file}\") | ||
| message(STATUS \"Uninstalling: \$ENV{DESTDIR}\${file}\") | ||
| if(EXISTS \"\$ENV{DESTDIR}\${file}\") | ||
| execute_process( | ||
| COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\" | ||
| OUTPUT_VARIABLE rm_out | ||
| RESULT_VARIABLE rm_retval) | ||
| if(NOT \"\${rm_retval}\" EQUAL 0) | ||
| message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\") | ||
| endif() | ||
| else() | ||
| message(STATUS \"File \\\"\$ENV{DESTDIR}\${file}\\\" does not exist.\") | ||
| execute_process( | ||
| COMMAND \${CMAKE_COMMAND} -E remove \"\$ENV{DESTDIR}\${file}\" | ||
| OUTPUT_VARIABLE rm_out | ||
| RESULT_VARIABLE rm_retval) | ||
| if(NOT \"\${rm_retval}\" EQUAL 0) | ||
| message(FATAL_ERROR \"Problem when removing \\\"\$ENV{DESTDIR}\${file}\\\"\") | ||
| endif() | ||
| else() | ||
| message(STATUS \"Not-found: \$ENV{DESTDIR}\${file}\") | ||
| endif() | ||
| endforeach(file) | ||
| ") | ||
|
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| if("${CMAKE_GENERATOR}" MATCHES "^(Visual Studio|Xcode)") | ||
| set(_uninstall "UNINSTALL") | ||
| set(_desc "Uninstall the project...") | ||
| if(CMAKE_GENERATOR STREQUAL "Unix Makefiles") | ||
| set(_comment COMMAND \$\(CMAKE_COMMAND\) -E cmake_echo_color --switch=$\(COLOR\) --cyan "${_desc}") | ||
| else() | ||
| set(_uninstall "uninstall") | ||
| set(_comment COMMENT "${_desc}") | ||
| endif() | ||
| add_custom_target(${_uninstall} COMMAND "${CMAKE_COMMAND}" -P "${_filename}") | ||
| add_custom_target(${_uninstall} | ||
| ${_comment} | ||
| COMMAND ${CMAKE_COMMAND} -P ${_filename} | ||
| USES_TERMINAL | ||
| BYPRODUCTS uninstall_byproduct | ||
| WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}") | ||
| set_property(SOURCE uninstall_byproduct PROPERTY SYMBOLIC 1) | ||
|
|
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| set_property(TARGET ${_uninstall} PROPERTY FOLDER "CMakePredefinedTargets") |
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