Release 1.1.0

.github/workflows/manual-dispatch.yml

@@ -21,7 +21,7 @@ jobs:
         run: |
           IMAGE_NAME=network-interfaces:latest
           docker build . \
-            --build-arg CL_BRANCH=${{ inputs.cl_branch }} \
+            --build-arg CONTROL_LIBRARIES_BRANCH=${{ inputs.cl_branch }} \
             --tag ${IMAGE_NAME}
         shell: bash
 

CHANGELOG.md

@@ -2,10 +2,17 @@
 
 Release Versions:
 
+- [1.1.0](#110)
 - [1.0.0](#100)
 - [0.2.0](#020)
 - [0.1.0](#010)
 
+## 1.1.0
+
+Version 1.1.0 sets control libraries version 6.0.0 as default and fixes the GitHub workflow. Additionally, the C++
+library now has its proper CMake configuration and can be included and linked with `find_package(network_interfaces)`
+and`target_link_libraries(${MY_TARGET} ${network_interfaces_LIBRARIES}`.
+
 ## 1.0.0
 
 Version 1.0.0 accounts for breaking changes in control libraries and defines 5.0.0 as the required control libraries

Dockerfile

@@ -14,7 +14,7 @@ WORKDIR /tmp/cppzmq-${CPPZMQ_VERSION}
 RUN mkdir build && cd build && cmake .. -DCPPZMQ_BUILD_TESTS=OFF && make -j install
 
 WORKDIR /tmp
-ARG CONTROL_LIBRARIES_BRANCH=v5.0.0
+ARG CONTROL_LIBRARIES_BRANCH=v6.0.0
 RUN git clone -b ${CONTROL_LIBRARIES_BRANCH} --depth 1 https://github.com/epfl-lasa/control-libraries.git
 RUN cd control-libraries/source && ./install.sh --auto --no-controllers --no-dynamical-systems --no-robot-model
 RUN cd control-libraries/protocol && ./install.sh --auto

build-test.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-CONTROL_LIBRARIES_BRANCH=v5.0.0
+CONTROL_LIBRARIES_BRANCH=v6.0.0
 
 IMAGE_NAME=aica-technology/network-interfaces
 IMAGE_STAGE=build-test

cpp/CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.9)
-project(network_interfaces VERSION 1.0.0)
+cmake_minimum_required(VERSION 3.15)
+project(network_interfaces VERSION 1.1.0)
 
 option(BUILD_TESTING "Build tests." OFF)
 
@@ -23,17 +23,21 @@ else()
     find_package(GTest QUIET)
 endif()
 
-find_library(clproto REQUIRED)
-find_library(state_representation REQUIRED)
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
 
-find_package(cppzmq REQUIRED)
+find_package(control_libraries 6.0.0 REQUIRED COMPONENTS state_representation)
+find_package(clproto 6.0.0 REQUIRED)
+find_package(cppzmq 4.7.1 REQUIRED)
 
-include_directories(
-        include
-)
+include_directories(include)
+
+add_library(${PROJECT_NAME} INTERFACE)
+target_include_directories(${PROJECT_NAME} INTERFACE include)
+target_link_libraries(${PROJECT_NAME} INTERFACE clproto cppzmq state_representation)
 
 install(DIRECTORY include/
-        DESTINATION include
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
 
 add_executable(zmq_loopback_state scripts/zmq_loopback_state.cpp)
@@ -47,3 +51,23 @@ if(BUILD_TESTING)
     target_link_libraries(test_zmq_communication ${GTEST_LIBRARIES} pthread clproto cppzmq state_representation)
     add_test(NAME test_zmq_communication COMMAND test_zmq_communication)
 endif()
+
+# generate the version file for the config file
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  VERSION "${PROJECT_VERSION}"
+  COMPATIBILITY SameMajorVersion
+)
+
+# create config file
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/Config.cmake.in
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)
+
+# install config files
+install(FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
+)

cpp/Config.cmake.in

@@ -0,0 +1,6 @@
+@PACKAGE_INIT@
+
+set(network_interfaces_LIBRARIES cppzmq clproto state_representation)
+
+include(CMakeFindDependencyMacro)
+find_dependency(cppzmq)

dev-server.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
-CONTROL_LIBRARIES_BRANCH=v5.0.0
+CONTROL_LIBRARIES_BRANCH=v6.0.0
 REMOTE_SSH_PORT=4420
 
 IMAGE_NAME=aica-technology/network-interfaces

python/network_interfaces/zmq/network.py

@@ -16,10 +16,10 @@ class StateMessage:
     ee_state: sr.CartesianState
     joint_state: sr.JointState
     jacobian: sr.Jacobian
-    mass: sr.Parameter("mass", sr.StateType.PARAMETER_MATRIX)
+    mass: sr.Parameter("mass", sr.ParameterType.MATRIX)
 
     def __init__(self, ee_state=sr.CartesianState(), joint_state=sr.JointState(), jacobian=sr.Jacobian(),
-                 mass=sr.Parameter("mass", sr.StateType.PARAMETER_MATRIX)):
+                 mass=sr.Parameter("mass", sr.ParameterType.MATRIX)):
         assert isinstance(ee_state, sr.CartesianState)
         assert isinstance(joint_state, sr.JointState)
         assert isinstance(jacobian, sr.Jacobian)
@@ -84,7 +84,7 @@ def encode_command(command):
         if command.control_type[i] >= ControlType.END.value:
             raise ValueError("The desired 'control_type' of the CommandMessage is unknown.")
     encoded_command = list()
-    control_type_param = sr.Parameter("control_type", command.control_type, sr.StateType.PARAMETER_INT_ARRAY)
+    control_type_param = sr.Parameter("control_type", command.control_type, sr.ParameterType.INT_ARRAY)
     encoded_command.append(clproto.encode(control_type_param, clproto.MessageType.PARAMETER_MESSAGE))
     encoded_command.append(clproto.encode(command.joint_state, clproto.MessageType.JOINT_STATE_MESSAGE))
     return encoded_command

python/setup.py

@@ -2,14 +2,15 @@
 
 setuptools.setup(
     name="network_interfaces",
-    version="1.0.0",
+    version="1.1.0",
     description="This package implements network interfaces of AICA",
     maintainer="Dominic Reber",
     maintainer_email="[email protected]",
     url="https://github.com/aica-technology/network-interfaces",
     packages=setuptools.find_packages(),
     install_requires=[
-        "control-libraries>=5.0.0",
+        "control-libraries>=6.0.0",
+        "pyzmq>=22.3"
     ],
     classifiers=[
         "Programming Language :: Python :: 3",

python/test/test_zmq_communication.py

@@ -1,13 +1,11 @@
-import threading
-import time
-import unittest
-
+import concurrent.futures
 import numpy as np
 import state_representation as sr
+import time
+import unittest
 import zmq
-from numpy.testing import assert_array_almost_equal
-
 from network_interfaces.zmq import network
+from numpy.testing import assert_array_almost_equal
 
 
 class TestZMQNetworkInterface(unittest.TestCase):
@@ -26,7 +24,7 @@ def setUpClass(cls):
         cls.robot_state = sr.CartesianState().Random("ee", "robot")
         cls.robot_joint_state = sr.JointState().Random("robot", 3)
         cls.robot_jacobian = sr.Jacobian().Random("robot", 3, "frame")
-        cls.robot_mass = sr.Parameter("mass", np.random.rand(3, 3), sr.StateType.PARAMETER_MATRIX)
+        cls.robot_mass = sr.Parameter("mass", np.random.rand(3, 3), sr.ParameterType.MATRIX)
         cls.control_command = sr.JointState().Random("robot", 3)
         cls.control_type = [1, 2, 3]
         cls.context = zmq.Context()
@@ -41,7 +39,8 @@ def robot(self):
 
         state = network.StateMessage(self.robot_state, self.robot_joint_state, self.robot_jacobian, self.robot_mass)
         command = []
-        for i in range(200):
+        start_time = time.time()
+        while time.time() - start_time < 2.:
             network.send_state(state, state_publisher)
             command = network.receive_command(command_subscriber)
             time.sleep(0.01)
@@ -55,7 +54,8 @@ def control(self):
 
         command = network.CommandMessage(self.control_type, self.control_command)
         state = []
-        for i in range(200):
+        start_time = time.time()
+        while time.time() - start_time < 2.:
             network.send_command(command, command_publisher)
             state = network.receive_state(state_subscriber)
             time.sleep(0.01)
@@ -64,12 +64,9 @@ def control(self):
         self.received_state = state
 
     def test_communication(self):
-        robot = threading.Thread(target=self.robot)
-        control = threading.Thread(target=self.control)
-        robot.start()
-        control.start()
-        robot.join()
-        control.join()
+        with concurrent.futures.ThreadPoolExecutor(max_workers=2) as e:
+            e.submit(self.robot)
+            e.submit(self.control)
 
         [self.assertEqual(self.received_command.control_type[i], self.control_type[i]) for i in
          range(len(self.control_type))]