2a78f1b609
Dashboard (web/hand_web.py) - Record/replay panel driving g1_record_replay.py as a pty child: take library (replay/download/duplicate/rename/delete/upload/delete-all), pause & resume, and in-take key buttons that grey out in the --fingers modes the recorder ignores (measured: in touch mode the keys change nothing at all). - /api/restart is container-aware: it kills inspire_g1 and lets the supervisor relaunch it. It used to run manage.sh, which started a SECOND inspire_g1 beside the supervised one - two writers on one RS-485 bus - and never returned. - Shape/combo libraries take a .bak on every write, with an undo button. Both files are rewritten in full, so deleting the last entry was unrecoverable. recorder/ - The recorder lives in this project now: one source of truth for the CLI and the dashboard, with pause/resume added to replay. - record.sh picks a runtime by itself (a python with the SDK, the vendored SDK, or the inspire-hand container). bundle.sh packs a ~340KB portable kit. tools/ - preflight.sh: read-only readiness report for a new robot (hardware, docker, build prerequisites, per-robot settings) ending in an install-path verdict. - fetch_deps.sh: stage build dependencies, verifying the libs are aarch64. - export_ui.py: regenerate an embedding app's vendored copy of the UI. docker/ - build_image.sh resolves its dependencies from several layouts: deps/ inside the project, /usr/local, a source install prefix, or a ROS2 colcon workspace (where the idl headers live when /usr/local has none). - web/ is copied in the last layer, so dashboard edits skip the C++ rebuild. - restart=always, and start.sh always builds so an edit cannot silently run a stale image. deps/unitree_sdk2 is vendored so a robot that has never seen the SDK can build. Docs: README quickstart + embedding notes, SETUP_G1 corrected (that udev rule stopped creating /dev/inspire_* symlinks a while ago), ROBOT_README describing a live install.
83 lines
2.9 KiB
CMake
83 lines
2.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(unitree_sdk2 VERSION 2.0.0)
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## Project Options
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option(BUILD_EXAMPLES "Build examples" ON)
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## Set compiler to use c++ 17 features
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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## Chosse build type
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set(default_build_type "Release")
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if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
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set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
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STRING "Choose the type of build." FORCE)
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# Set the possible values of build type for cmake-gui
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
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"Debug" "Release" "MinSizeRel" "RelWithDebInfo")
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endif ()
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## Use GNUInstallDirs to install libraries into correct locations on all platforms.
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include(GNUInstallDirs)
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## Put all binary files into /bin and libraries into /lib
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
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## Check system architecture
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message(STATUS "Current system architecture: ${CMAKE_SYSTEM_PROCESSOR}")
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## Import thirdparty libraries
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add_subdirectory(thirdparty)
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## Import Unitree SDK2 library
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set(UNITREE_SDK_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
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find_library(UNITREE_SDK_LIB unitree_sdk2 PATHS ${UNITREE_SDK_PATH} NO_DEFAULT_PATH)
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if (NOT UNITREE_SDK_LIB)
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message(FATAL_ERROR "Unitree SDK library for the architecture is not found")
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else ()
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message(STATUS "Unitree SDK library found at: ${UNITREE_SDK_LIB}")
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endif ()
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message(STATUS "Importing: ${UNITREE_SDK_LIB}")
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find_package(Threads REQUIRED)
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add_library(unitree_sdk2 STATIC IMPORTED GLOBAL)
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set_target_properties(unitree_sdk2 PROPERTIES
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IMPORTED_LOCATION ${UNITREE_SDK_LIB})
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target_link_libraries(unitree_sdk2 INTERFACE ddsc ddscxx Threads::Threads)
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target_include_directories(unitree_sdk2 INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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if (BUILD_EXAMPLES)
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add_subdirectory(example)
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endif ()
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## Install the library
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install(DIRECTORY include/
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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install(FILES ${UNITREE_SDK_LIB}
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DESTINATION ${CMAKE_INSTALL_LIBDIR})
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install(FILES cmake/unitree_sdk2Targets.cmake
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DESTINATION lib/cmake/unitree_sdk2)
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include(CMakePackageConfigHelpers)
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write_basic_package_version_file(
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unitree_sdk2ConfigVersion.cmake
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VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}"
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COMPATIBILITY ExactVersion)
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configure_file(cmake/unitree_sdk2Config.cmake.in unitree_sdk2Config.cmake @ONLY)
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install(FILES "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2Config.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2ConfigVersion.cmake"
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DESTINATION lib/cmake/unitree_sdk2)
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