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.
36 lines
1.7 KiB
CMake
36 lines
1.7 KiB
CMake
find_package(Threads REQUIRED)
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message(STATUS "Importing: ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddsc.so")
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add_library(ddsc SHARED IMPORTED GLOBAL)
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set_target_properties(ddsc PROPERTIES
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IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddsc.so)
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set_target_properties(ddsc PROPERTIES IMPORTED_NO_SONAME TRUE)
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target_link_libraries(ddsc INTERFACE Threads::Threads)
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target_link_directories(ddsc INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
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target_include_directories(ddsc INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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message(STATUS "Importing: ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddscxx.so")
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add_library(ddscxx SHARED IMPORTED GLOBAL)
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set_target_properties(ddscxx PROPERTIES
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IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/libddscxx.so)
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set_target_properties(ddscxx PROPERTIES IMPORTED_NO_SONAME TRUE)
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target_link_libraries(ddscxx INTERFACE Threads::Threads)
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target_link_directories(ddscxx INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
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target_include_directories(ddscxx INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ddscxx>
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$<INSTALL_INTERFACE:include>
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$<INSTALL_INTERFACE:include/ddscxx>)
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## Install targets
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file(GLOB DDS_LIBRARIES "${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}/*")
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install(FILES ${DDS_LIBRARIES} DESTINATION ${CMAKE_INSTALL_LIBDIR})
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install(DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/include/
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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