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.
84 lines
3.2 KiB
CMake
84 lines
3.2 KiB
CMake
# This is a basic version file for the Config-mode of find_package().
|
|
# It is used by write_basic_package_version_file() as input file for configure_file()
|
|
# to create a version-file which can be installed along a config.cmake file.
|
|
#
|
|
# The created file sets PACKAGE_VERSION_EXACT if the current version string and
|
|
# the requested version string are exactly the same and it sets
|
|
# PACKAGE_VERSION_COMPATIBLE if the current version is equal to the requested version.
|
|
# The tweak version component is ignored.
|
|
# The variable CVF_VERSION must be set before calling configure_file().
|
|
|
|
|
|
if (PACKAGE_FIND_VERSION_RANGE)
|
|
message(AUTHOR_WARNING
|
|
"`find_package()` specify a version range but the version strategy "
|
|
"(ExactVersion) of the module `${PACKAGE_FIND_NAME}` is incompatible "
|
|
"with this request. Only the lower endpoint of the range will be used.")
|
|
endif()
|
|
|
|
set(PACKAGE_VERSION "2.0.0")
|
|
|
|
if("2.0.0" MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
|
set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
|
set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}")
|
|
set(CVF_VERSION_PATCH "${CMAKE_MATCH_3}")
|
|
|
|
if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
|
|
endif()
|
|
if(NOT CVF_VERSION_MINOR VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" CVF_VERSION_MINOR "${CVF_VERSION_MINOR}")
|
|
endif()
|
|
if(NOT CVF_VERSION_PATCH VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" CVF_VERSION_PATCH "${CVF_VERSION_PATCH}")
|
|
endif()
|
|
|
|
set(CVF_VERSION_NO_TWEAK "${CVF_VERSION_MAJOR}.${CVF_VERSION_MINOR}.${CVF_VERSION_PATCH}")
|
|
else()
|
|
set(CVF_VERSION_NO_TWEAK "2.0.0")
|
|
endif()
|
|
|
|
if(PACKAGE_FIND_VERSION MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)") # strip the tweak version
|
|
set(REQUESTED_VERSION_MAJOR "${CMAKE_MATCH_1}")
|
|
set(REQUESTED_VERSION_MINOR "${CMAKE_MATCH_2}")
|
|
set(REQUESTED_VERSION_PATCH "${CMAKE_MATCH_3}")
|
|
|
|
if(NOT REQUESTED_VERSION_MAJOR VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MAJOR "${REQUESTED_VERSION_MAJOR}")
|
|
endif()
|
|
if(NOT REQUESTED_VERSION_MINOR VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_MINOR "${REQUESTED_VERSION_MINOR}")
|
|
endif()
|
|
if(NOT REQUESTED_VERSION_PATCH VERSION_EQUAL 0)
|
|
string(REGEX REPLACE "^0+" "" REQUESTED_VERSION_PATCH "${REQUESTED_VERSION_PATCH}")
|
|
endif()
|
|
|
|
set(REQUESTED_VERSION_NO_TWEAK
|
|
"${REQUESTED_VERSION_MAJOR}.${REQUESTED_VERSION_MINOR}.${REQUESTED_VERSION_PATCH}")
|
|
else()
|
|
set(REQUESTED_VERSION_NO_TWEAK "${PACKAGE_FIND_VERSION}")
|
|
endif()
|
|
|
|
if(REQUESTED_VERSION_NO_TWEAK STREQUAL CVF_VERSION_NO_TWEAK)
|
|
set(PACKAGE_VERSION_COMPATIBLE TRUE)
|
|
else()
|
|
set(PACKAGE_VERSION_COMPATIBLE FALSE)
|
|
endif()
|
|
|
|
if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
|
|
set(PACKAGE_VERSION_EXACT TRUE)
|
|
endif()
|
|
|
|
|
|
# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
|
|
if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
|
|
return()
|
|
endif()
|
|
|
|
# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
|
|
if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8")
|
|
math(EXPR installedBits "8 * 8")
|
|
set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
|
|
set(PACKAGE_VERSION_UNSUITABLE TRUE)
|
|
endif()
|