From 4ce55475a0ad9b320baaf9e55dbc9ff3d5da6b7c Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 5 Nov 2019 14:03:19 +0100
Subject: [PATCH] =?UTF-8?q?[wip/{=20=E2=86=92=20py-}sot-talos]=20Update=20?=
=?UTF-8?q?to=20v1.1.0?=
MIME-Version: 1.0
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Changes since v1.0.6:
- Python 3 compatibility
- Format
Packaging changes:
- removed patch-aa, applied upstream
- renamed with PKGTAG.python-
---
Makefile | 2 +-
{sot-talos => py-sot-talos}/DESCR | 0
{sot-talos => py-sot-talos}/Makefile | 16 ++++----------
{sot-talos => py-sot-talos}/PLIST | 2 +-
py-sot-talos/depend.mk | 29 ++++++++++++++++++++++++
py-sot-talos/distinfo | 3 +++
sot-talos/depend.mk | 27 -----------------------
sot-talos/distinfo | 4 ----
sot-talos/patches/patch-aa | 33 ----------------------------
talos-dev/Makefile | 1 +
10 files changed, 39 insertions(+), 78 deletions(-)
rename {sot-talos => py-sot-talos}/DESCR (100%)
rename {sot-talos => py-sot-talos}/Makefile (78%)
rename {sot-talos => py-sot-talos}/PLIST (89%)
create mode 100644 py-sot-talos/depend.mk
create mode 100644 py-sot-talos/distinfo
delete mode 100644 sot-talos/depend.mk
delete mode 100644 sot-talos/distinfo
delete mode 100644 sot-talos/patches/patch-aa
diff --git a/Makefile b/Makefile
index f5db9b39..ce34c07e 100644
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,7 @@ SUBDIR+= py-sot-core-v3
SUBDIR+= py-sot-dynamic-pinocchio-v3
#SUBDIR+= py-sot-dyninv-v3
SUBDIR+= py-sot-pattern-generator-v3
+SUBDIR+= py-sot-talos
SUBDIR+= py-sot-talos-balance
SUBDIR+= py-sot-tiago
SUBDIR+= py-sot-tools-v3
@@ -138,7 +139,6 @@ SUBDIR+= soth
SUBDIR+= sot-hrp2
SUBDIR+= sot-hrp2-v3
SUBDIR+= sot-pattern-generator-v3
-SUBDIR+= sot-talos
SUBDIR+= sot-talos-balance
SUBDIR+= sot-tools-v3
SUBDIR+= sot-torque-control
diff --git a/sot-talos/DESCR b/py-sot-talos/DESCR
similarity index 100%
rename from sot-talos/DESCR
rename to py-sot-talos/DESCR
diff --git a/sot-talos/Makefile b/py-sot-talos/Makefile
similarity index 78%
rename from sot-talos/Makefile
rename to py-sot-talos/Makefile
index c4b3125f..6a0a9a4f 100644
--- a/sot-talos/Makefile
+++ b/py-sot-talos/Makefile
@@ -1,27 +1,19 @@
-# robotpkg Makefile for: wip/sot-talos
+# robotpkg Makefile for: wip/py-sot-talos
# Created: Olivier Stasse, on Tue. 9th May, 2017
#
ORG= stack-of-tasks
NAME= sot-talos
-VERSION= 1.0.6
-
-PKGNAME= ${NAME}-${VERSION}
-DISTNAME= ${NAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${NAME}}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}
-CHECKOUT_VCS_OPTS+= --recursive
+VERSION= 1.1.0
CATEGORIES= wip
COMMENT= This packages provides a generic Stack Of Tasks library for the humanoid robot Pyrene.
LICENSE= 2-clause-bsd
MAINTAINER= ostasse@laas.fr
-DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
+USE_PYTHON= true
+include ../../devel/jrl-cmakemodules/Makefile.common
include ../../wip/talos-data/depend.mk
include ../../wip/py-sot-application-v3/depend.mk
#include ../../wip/sot-dyninv-v3/depend.mk
diff --git a/sot-talos/PLIST b/py-sot-talos/PLIST
similarity index 89%
rename from sot-talos/PLIST
rename to py-sot-talos/PLIST
index eccda0bb..29546832 100644
--- a/sot-talos/PLIST
+++ b/py-sot-talos/PLIST
@@ -10,7 +10,7 @@ ${PYTHON_SITELIB}/dynamic_graph/sot/pyrene/prologue.py
${PYTHON_SITELIB}/dynamic_graph/sot/pyrene/robot.py
${PYTHON_SITELIB}/dynamic_graph/sot/talos/__init__.py
${PYTHON_SITELIB}/dynamic_graph/sot/talos/sot_talos_device/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/talos/sot_talos_device/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/talos/sot_talos_device/wrap.so
${PYTHON_SITELIB}/dynamic_graph/sot/talos/talos.py
share/sot-talos/tests/appli.py
share/sot-talos/tests/katana_holding.py
diff --git a/py-sot-talos/depend.mk b/py-sot-talos/depend.mk
new file mode 100644
index 00000000..04a1196e
--- /dev/null
+++ b/py-sot-talos/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for: wip/py-sot-talos
+# Created: Olivier Stasse on Thu 10th May 2017
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_SOT_TALOS_DEPEND_MK:= ${PY_SOT_TALOS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= py-sot-talos
+endif
+
+ifeq (+,$(PY_SOT_TALOS_DEPEND_MK)) # -------------------------------------------
+
+include ../../mk/sysdep/python.mk
+
+PREFER.py-sot-talos?= robotpkg
+
+SYSTEM_SEARCH.py-sot-talos=\
+ include/sot-talos/config.hh \
+ 'lib/pkgconfig/sot-talos.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+= py-sot-talos
+
+DEPEND_ABI.py-sot-talos?= ${PKGTAG.python-}sot-talos>=1.1.0
+DEPEND_DIR.py-sot-talos?= ../../wip/py-sot-talos
+
+endif # PY_SOT_TALOS_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-sot-talos/distinfo b/py-sot-talos/distinfo
new file mode 100644
index 00000000..6eabfa03
--- /dev/null
+++ b/py-sot-talos/distinfo
@@ -0,0 +1,3 @@
+SHA1 (sot-talos-1.1.0.tar.gz) = bf78a5bb2c076cba1575d1313fb19a2c69356640
+RMD160 (sot-talos-1.1.0.tar.gz) = c3c7a2f05fbb2438a9afd83c2d8a78da18976558
+Size (sot-talos-1.1.0.tar.gz) = 810645 bytes
diff --git a/sot-talos/depend.mk b/sot-talos/depend.mk
deleted file mode 100644
index 06d86d74..00000000
--- a/sot-talos/depend.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-# robotpkg depend.mk for: wip/sot-talos
-# Created: Olivier Stasse on Thu 10th May 2017
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-SOT_TALOS_DEPEND_MK:= ${SOT_TALOS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= sot-talos
-endif
-
-ifeq (+,$(SOT_TALOS_DEPEND_MK)) # -------------------------------------------
-
-PREFER.sot-talos?= robotpkg
-
-SYSTEM_SEARCH.sot-talos=\
- include/sot-talos/config.hh \
- 'lib/pkgconfig/sot-talos.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= sot-talos
-
-DEPEND_ABI.sot-talos?= sot-talos>=0.0.1
-DEPEND_DIR.sot-talos?= ../../wip/sot-talos
-
-endif # SOT_TALOS_DEPEND_MK -------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/sot-talos/distinfo b/sot-talos/distinfo
deleted file mode 100644
index 388731c2..00000000
--- a/sot-talos/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (sot-talos/sot-talos-1.0.6.tar.gz) = fdc39c672ee267e9b56af074ec2dd95909c2b0d6
-RMD160 (sot-talos/sot-talos-1.0.6.tar.gz) = 0a0dbc81b016b915ec62b3343c39b9d0090f2889
-Size (sot-talos/sot-talos-1.0.6.tar.gz) = 788940 bytes
-SHA1 (patch-aa) = 1916306cf3fd504c3aae9829106e076b2f1a41e4
diff --git a/sot-talos/patches/patch-aa b/sot-talos/patches/patch-aa
deleted file mode 100644
index 66803aa8..00000000
--- a/sot-talos/patches/patch-aa
+++ /dev/null
@@ -1,33 +0,0 @@
-include pinocchio before boost
-ref https://github.com/stack-of-tasks/pinocchio/issues/849
-
---- src/sot-talos-device.cpp.orig 2019-03-04 17:58:29.000000000 +0100
-+++ src/sot-talos-device.cpp 2019-09-17 23:51:50.015282049 +0200
-@@ -13,6 +13,7 @@
-
- #include <fstream>
- #include <map>
-+#include <pinocchio/fwd.hpp>
-
- #if DEBUG
- #define ODEBUG(x) std::cout << x << std::endl
---- src/sot-talos-controller.cpp.orig 2019-03-04 17:58:29.000000000 +0100
-+++ src/sot-talos-controller.cpp 2019-09-17 23:52:26.486976528 +0200
-@@ -11,6 +11,7 @@
- *
- */
-
-+#include <pinocchio/fwd.hpp>
- #include <sot/core/debug.hh>
- #include <sot/core/exception-abstract.hh>
- #include <dynamic_graph_bridge/ros_init.hh>
---- src/sot-pyrene-controller.cpp.orig 2019-03-04 17:58:29.000000000 +0100
-+++ src/sot-pyrene-controller.cpp 2019-09-17 23:52:53.806747699 +0200
-@@ -10,6 +10,7 @@
- *
- */
-
-+#include <pinocchio/fwd.hpp>
- #include <sot/core/debug.hh>
-
- /* Pyrene is the first TALOS */
diff --git a/talos-dev/Makefile b/talos-dev/Makefile
index 8288917b..e0098c7c 100644
--- a/talos-dev/Makefile
+++ b/talos-dev/Makefile
@@ -11,6 +11,7 @@ COMMENT= Talos dev Software
META_PACKAGE= yes
include ../../interfaces/humanoid-nav-msgs/depend.mk
+include ../../wip/py-sot-talos/depend.mk
include ../../wip/prf-gazebo-ros-pkgs/depend.mk
include ../../wip/sot-talos/depend.mk
include ../../wip/talos-metapkg-ros-control-sot/depend.mk
--
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