Merge 5a4a5d30d4 into 58c3f6240d
This commit is contained in:
久伴
GitHub
commit
4ba34f08a2
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# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
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# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python
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name: Python package
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run-name: ${{ github.actor }} package
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on:
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workflow_dispatch:
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inputs:
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c_cyclonedds_version:
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description: 'clang cyclonedds version'
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required: false
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default: 'releases/0.10.x'
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cyclonedds_python_version:
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description: cyclonedds_python的版本
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required: false
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default: 'releases/0.10.x'
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jobs:
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build:
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# 输入参数定义部分
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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python-version: ["3.11"]
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os: [macos-latest, windows-latest, ubuntu-latest]
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steps:
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# 初始化
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- uses: actions/checkout@v4
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# 配置python
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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# 初始化制品收集目录
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- name: init dist
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run: |
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mkdir dist
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# 准备构建python wheel包
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install build
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# 由于cyclonedds-python暂时没有提供python3.11 顺带也编译了 issue:https://github.com/eclipse-cyclonedds/cyclonedds-python/issues/221
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- name: build cyclonedds-python in windows
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if: startsWith(runner.os, 'Windows')
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run: |
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git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.cyclonedds_python_version }} --depth=1
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cd cyclonedds-python
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(Get-Content pyproject.toml) -replace 'https://github.com/eclipse-cyclonedds/cyclonedds.git','https://github.com/eclipse-cyclonedds/cyclonedds -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1' | Set-Content pyproject.toml
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(Get-Content pyproject.toml) -replace '(?<=^skip = ")','cp3{6..10}-* ' | Set-Content pyproject.toml
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(Get-Content pyproject.toml) -replace 'delvewheel==0.0.18','delvewheel==1.6.0' | Set-Content pyproject.toml
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(Get-Content setup.py) -replace '(?<="Programming Language :: Python :: 3.10",.*?)', "`n `"Programming Language :: Python :: 3.11`",`n `"Programming Language :: Python :: 3.12`",`n `"Programming Language :: Python :: 3.13`"," | Set-Content setup.py
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pip install --user cibuildwheel==2.18.*
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python -m cibuildwheel --output-dir wheelhouse .
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tar zcvf cyclonedds.tar.gz -C cyclonedds-build .
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shell: pwsh
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# 兼容sed see:https://gist.github.com/andre3k1/e3a1a7133fded5de5a9ee99c87c6fa0d
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- name: install GNU sed in mac
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if: startsWith(runner.os, 'macOS')
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run: |
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brew install gnu-sed
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- name: build cyclonedds-python in unix
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if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
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run: |
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if [ "${{ startsWith(runner.os, 'macOS') }}" ]; then
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PATH="/opt/homebrew/opt/gnu-sed/libexec/gnubin:$PATH"
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fi
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git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1
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cd cyclonedds-python
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sed -i "s~https://github.com/eclipse-cyclonedds/cyclonedds.git~https://github.com/eclipse-cyclonedds/cyclonedds -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1~g" pyproject.toml
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echo "debugprintpoint1"
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sed -i 's/\(^skip = "\)/\1cp3{6..10}-* /g' pyproject.toml
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echo "printpoint2"
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sed -i 's/delvewheel==0\.0\.18/delvewheel==1\.6\.0/g' pyproject.toml
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echo "printpoint3"
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sed -i 's/(?<="Programming Language :: Python :: 3.10",.*?)/\n "Programming Language :: Python :: 3.11",\n "Programming Language :: Python :: 3.12",\n "Programming Language :: Python :: 3.13",/g' setup.py
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pip install --user cibuildwheel==2.18.*
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python -m cibuildwheel --output-dir wheelhouse .
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shell: bash
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# 构建宇树python sdk本身
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- name: build package unix
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if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
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run: |
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export CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
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python -m build --wheel
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shell: bash
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- name: build package windows
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if: startsWith(runner.os, 'Windows')
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run: |
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set CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
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python -m build --wheel
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shell: cmd
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# 收集构建产物
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- name: collect binary
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if: startsWith(runner.os, 'Windows')
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run: |
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mv ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
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mv ${{ github.workspace }}/dist/* dist/
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- name: collect binary
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if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
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run: |
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# 对复杂的不同平台目录机制信息收集
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find . -print | sed -e 's;[^/]*/;|____;g;s;____|; |;g' > dist/${{runner.os}}_${{runner.arch}}.txt
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mv -f ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
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# mv -f ${{ github.workspace }}/dist/* dist/
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# 上传到工作流制品库
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- name: upload package and dependency
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uses: actions/upload-artifact@v4
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with:
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name: unitree_sdk2_python${{ matrix.python-version }}_${{runner.os}}_${{runner.arch}}
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path: |
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dist/*
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@ -34,3 +34,6 @@ __pycache__
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# JetBrains IDE
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.idea/
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build
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dist
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@ -0,0 +1,21 @@
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import os,sys
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def check_init_files(directory):
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"""递归确认包存在__init__.py防止缺胳膊少腿"""
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all_dirs_have_init = True
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for root, dirs, files in os.walk(directory):
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if "__pycache__" in dirs:
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dirs.remove("__pycache__")
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if "test" in dirs:
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dirs.remove("test")
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if "__init__.py" not in files:
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print(f"Directory '{root}' is missing '__init__.py'")
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all_dirs_have_init = False
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return all_dirs_have_init
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directory_to_check = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..","unitree_sdk2py")
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if check_init_files(directory_to_check):
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print("所有文件夹均含 '__init__.py'.")
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else:
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print("校验未通过", file=sys.stderr)
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ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?>
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import platform
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# build platform compatible
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if platform.system() == "Windows":
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import os
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tmp = os.environ['TEMP']
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else:
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tmp = "/tmp"
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ChannelConfigHasInterface = f'''<?xml version="1.0" encoding="UTF-8" ?>
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<CycloneDDS>
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<Domain Id="any">
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<General>
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@ -8,7 +17,7 @@ ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?>
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</General>
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<Tracing>
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<Verbosity>config</Verbosity>
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<OutputFile>/tmp/cdds.LOG</OutputFile>
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<OutputFile>{tmp}/cdds.LOG</OutputFile>
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</Tracing>
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</Domain>
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</CycloneDDS>'''
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from unitree_sdk2py.utils.hz_sample import HZSample
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if __name__ == "__main__":
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hz=HZSample(2)
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hz.Start()
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while True:
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hz.Sample()
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super().Wait(timeout)
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def __LoopFunc(self):
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# clock type CLOCK_MONOTONIC = 1
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tfd = timerfd_create(1, 0)
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spec = itimerspec.from_seconds(self.__inter, self.__inter)
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timerfd_settime(tfd, 0, ctypes.byref(spec), None)
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timer = Timer(self.__inter, self.__inter)
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while not self.__quit:
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try:
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@ -65,13 +62,13 @@ class RecurrentThread(Thread):
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print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}")
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try:
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buf = os.read(tfd, 8)
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timer.blockWait()
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# print(struct.unpack("Q", buf)[0])
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except OSError as e:
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if e.errno != errno.EAGAIN:
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raise e
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os.close(tfd)
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timer.close()
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def __LoopFunc_0(self):
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while not self.__quit:
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@ -1,45 +1,116 @@
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import math
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import ctypes
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from .clib_lookup import CLIBLookup
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import platform
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class timespec(ctypes.Structure):
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_fields_ = [("sec", ctypes.c_long), ("nsec", ctypes.c_long)]
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__slots__ = [name for name,type in _fields_]
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@classmethod
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def from_seconds(cls, secs):
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c = cls()
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c.seconds = secs
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return c
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"""声明计时通用接口，主要为兼容windows平台和linux的文件描述符,在python3.13 os会支持但现在还没release.."""
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class Timer:
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@property
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def seconds(self):
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return self.sec + self.nsec / 1000000000
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@seconds.setter
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def seconds(self, secs):
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x, y = math.modf(secs)
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self.sec = int(y)
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self.nsec = int(x * 1000000000)
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class itimerspec(ctypes.Structure):
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_fields_ = [("interval", timespec),("value", timespec)]
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__slots__ = [name for name,type in _fields_]
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"""
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参数：
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time: 首次运行等待时间，秒.First Wait Time, second.
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period: 周期等待时间, 秒.Period Wait Time, second.
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"""
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def __init__(self, time :float, period :float):
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pass
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@classmethod
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def from_seconds(cls, interval, value):
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spec = cls()
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spec.interval.seconds = interval
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spec.value.seconds = value
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return spec
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"""
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阻塞等待,会在下方根据平台重写
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"""
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def blockWait(self):
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pass
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"""
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关闭句柄
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"""
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def close(self):
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pass
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# function timerfd_create
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timerfd_create = CLIBLookup("timerfd_create", ctypes.c_int, (ctypes.c_long, ctypes.c_int))
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# build platform compatible
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if platform.system() == "Windows":
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from ctypes import wintypes
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kernel32 = ctypes.windll.kernel32
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INFINITE=wintypes.DWORD(-1)
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PTIMERAPCROUTINE = ctypes.WINFUNCTYPE(None, wintypes.LPVOID, wintypes.DWORD, wintypes.DWORD)
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@PTIMERAPCROUTINE
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def timer_callback(arg, timer_low, timer_high):
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pass
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# 重写Timer方法
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def Timer_init(self, time :float, period :float):
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self.handle = kernel32.CreateWaitableTimerW(None, True, None)
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due_time = wintypes.LARGE_INTEGER(-int(time * 10000000)) # 秒转100纳秒
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period = int(period*1000) # 秒转毫秒
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# https://learn.microsoft.com/zh-cn/windows/win32/api/synchapi/nf-synchapi-setwaitabletimer
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if not kernel32.SetWaitableTimer(self.handle, ctypes.byref(due_time), period, timer_callback, 0, True):
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raise OSError("Failed to set waitable timer.")
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def Timer_blockWait(self):
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kernel32.WaitForSingleObject(self.handle, INFINITE)
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def Timer_close(self):
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kernel32.CancelWaitableTimer(self.handle)
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kernel32.CloseHandle(self.handle)
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Timer.__init__ = Timer_init
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Timer.blockWait = Timer_blockWait
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Timer.close = Timer_close
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elif platform.system() == "Linux":
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from .clib_lookup import CLIBLookup
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# function timerfd_settime
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timerfd_settime = CLIBLookup("timerfd_settime", ctypes.c_int, (ctypes.c_int, ctypes.c_int, ctypes.POINTER(itimerspec), ctypes.POINTER(itimerspec)))
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class timespec(ctypes.Structure):
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_fields_ = [("sec", ctypes.c_long), ("nsec", ctypes.c_long)]
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__slots__ = [name for name,type in _fields_]
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# function timerfd_gettime
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timerfd_gettime = CLIBLookup("timerfd_gettime", ctypes.c_int, (ctypes.c_int, ctypes.POINTER(itimerspec)))
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@classmethod
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def from_seconds(cls, secs):
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c = cls()
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c.seconds = secs
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return c
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@property
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def seconds(self):
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return self.sec + self.nsec / 1000000000
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@seconds.setter
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def seconds(self, secs):
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x, y = math.modf(secs)
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self.sec = int(y)
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self.nsec = int(x * 1000000000)
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class itimerspec(ctypes.Structure):
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_fields_ = [("interval", timespec),("value", timespec)]
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__slots__ = [name for name,type in _fields_]
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@classmethod
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def from_seconds(cls, interval, value):
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spec = cls()
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spec.interval.seconds = interval
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spec.value.seconds = value
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return spec
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# function timerfd_create
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timerfd_create = CLIBLookup("timerfd_create", ctypes.c_int, (ctypes.c_long, ctypes.c_int))
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# function timerfd_settime
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timerfd_settime_linux = CLIBLookup("timerfd_settime", ctypes.c_int, (ctypes.c_int, ctypes.c_int, ctypes.POINTER(itimerspec), ctypes.POINTER(itimerspec)))
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def timerfd_settime(handle,interval,value):
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spec = itimerspec.from_seconds(interval, value)
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timerfd_settime_linux(handle, 0, spec, None)
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# function timerfd_gettime
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timerfd_gettime = CLIBLookup("timerfd_gettime", ctypes.c_int, (ctypes.c_int, ctypes.POINTER(itimerspec)))
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# 重写Timer方法
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import os
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def Timer_init(self, time :float, period :float):
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self.handle = timerfd_create(1, 0)
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spec = itimerspec.from_seconds(period, time)
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timerfd_settime_linux(self.handle, 0, spec, None)
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def Timer_blockWait(self):
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os.read(self.handle,8)
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def Timer_close(self):
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os.close(self.handle)
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Timer.__init__ = Timer_init
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Timer.blockWait = Timer_blockWait
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Timer.close = Timer_close
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