Merge 5a4a5d30d4 into 58c3f6240d

.github/workflows/python-package-action.yml

@@ -0,0 +1,126 @@
+# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python
+
+name: Python package
+run-name: ${{ github.actor }} package
+on:
+  workflow_dispatch:
+    inputs:
+      c_cyclonedds_version:
+        description: 'clang cyclonedds version'
+        required: false
+        default: 'releases/0.10.x'
+      cyclonedds_python_version:
+        description: cyclonedds_python的版本
+        required: false
+        default: 'releases/0.10.x'
+
+jobs:
+  build:
+
+    # 输入参数定义部分
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.11"]
+        os: [macos-latest, windows-latest, ubuntu-latest]
+
+    steps:
+      # 初始化
+    - uses: actions/checkout@v4
+
+    # 配置python
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v3
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    # 初始化制品收集目录
+    - name: init dist
+      run: |
+        mkdir dist
+
+    # 准备构建python wheel包
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install build
+
+    # 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
+    - name: build cyclonedds-python in windows
+      if: startsWith(runner.os, 'Windows')
+      run: |
+        git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.cyclonedds_python_version }} --depth=1
+        cd cyclonedds-python
+        (Get-Content pyproject.toml) -replace 'https://github.com/eclipse-cyclonedds/cyclonedds.git','https://github.com/eclipse-cyclonedds/cyclonedds -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1' | Set-Content pyproject.toml
+        (Get-Content pyproject.toml) -replace '(?<=^skip = ")','cp3{6..10}-* ' | Set-Content pyproject.toml
+        (Get-Content pyproject.toml) -replace 'delvewheel==0.0.18','delvewheel==1.6.0' | Set-Content pyproject.toml
+        (Get-Content setup.py) -replace '(?<="Programming Language :: Python :: 3.10",.*?)', "`n        `"Programming Language :: Python :: 3.11`",`n        `"Programming Language :: Python :: 3.12`",`n        `"Programming Language :: Python :: 3.13`","  | Set-Content setup.py
+        pip install --user cibuildwheel==2.18.*
+        python -m cibuildwheel --output-dir wheelhouse .
+        tar zcvf  cyclonedds.tar.gz -C cyclonedds-build .
+      shell: pwsh
+
+    # 兼容sed see:https://gist.github.com/andre3k1/e3a1a7133fded5de5a9ee99c87c6fa0d
+    - name: install GNU sed in mac
+      if: startsWith(runner.os, 'macOS')
+      run: |
+        brew install gnu-sed
+
+    - name: build cyclonedds-python in unix
+      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
+      run: |
+        if [ "${{ startsWith(runner.os, 'macOS') }}" ]; then
+          PATH="/opt/homebrew/opt/gnu-sed/libexec/gnubin:$PATH"
+        fi
+        git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1
+        cd cyclonedds-python
+        
+        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
+        echo "debugprintpoint1"
+        sed -i 's/\(^skip = "\)/\1cp3{6..10}-* /g' pyproject.toml
+        echo "printpoint2"
+        sed -i 's/delvewheel==0\.0\.18/delvewheel==1\.6\.0/g' pyproject.toml
+        echo "printpoint3"
+        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
+        pip install --user cibuildwheel==2.18.*
+        python -m cibuildwheel --output-dir wheelhouse .
+      shell: bash
+
+    # 构建宇树python sdk本身
+    - name: build package unix
+      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
+      run: |
+        export CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
+        python -m build --wheel
+      shell: bash
+    - name: build package windows
+      if: startsWith(runner.os, 'Windows')
+      run: |
+        set CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
+        python -m build --wheel
+      shell: cmd
+
+    # 收集构建产物
+    - name: collect binary
+      if: startsWith(runner.os, 'Windows')
+      run: |
+        mv ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
+        mv ${{ github.workspace }}/dist/* dist/
+    - name: collect binary
+      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
+      run: |
+        # 对复杂的不同平台目录机制信息收集
+        find . -print | sed -e 's;[^/]*/;|____;g;s;____|; |;g' > dist/${{runner.os}}_${{runner.arch}}.txt
+        mv -f ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
+        # mv -f ${{ github.workspace }}/dist/* dist/
+
+    # 上传到工作流制品库
+    - name: upload package and dependency
+      uses: actions/upload-artifact@v4
+      with:
+        name: unitree_sdk2_python${{ matrix.python-version }}_${{runner.os}}_${{runner.arch}}
+        path:  |
+          dist/*
+

.gitignore

@@ -34,3 +34,6 @@ __pycache__
 
 # JetBrains IDE
 .idea/
+
+build
+dist

tests/check_init.py

@@ -0,0 +1,21 @@
+import os,sys
+
+
+def check_init_files(directory):
+    """递归确认包存在__init__.py防止缺胳膊少腿"""
+    all_dirs_have_init = True
+    for root, dirs, files in os.walk(directory):
+        if "__pycache__" in dirs:
+            dirs.remove("__pycache__") 
+        if "test" in dirs:
+            dirs.remove("test")
+        if "__init__.py" not in files:
+            print(f"Directory '{root}' is missing '__init__.py'")
+            all_dirs_have_init = False
+    return all_dirs_have_init
+
+directory_to_check = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..","unitree_sdk2py")
+if check_init_files(directory_to_check):
+    print("所有文件夹均含 '__init__.py'.")
+else:
+    print("校验未通过", file=sys.stderr)

unitree_sdk2py/core/channel_config.py

@@ -1,4 +1,13 @@
-ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?>
+import platform
+
+# build platform compatible
+if platform.system() == "Windows":
+    import os
+    tmp = os.environ['TEMP']
+else:
+    tmp = "/tmp"
+
+ChannelConfigHasInterface = f'''<?xml version="1.0" encoding="UTF-8" ?>
     <CycloneDDS>
         <Domain Id="any">
             <General>
@@ -8,7 +17,7 @@ ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?>
             </General>
             <Tracing>
                 <Verbosity>config</Verbosity>
-            <OutputFile>/tmp/cdds.LOG</OutputFile>
+            <OutputFile>{tmp}/cdds.LOG</OutputFile>
         </Tracing>
         </Domain>
     </CycloneDDS>'''

unitree_sdk2py/test/platform/test_timerfd.py

@@ -0,0 +1,8 @@
+from unitree_sdk2py.utils.hz_sample import HZSample
+
+if __name__ ==  "__main__":
+    hz=HZSample(2)
+    hz.Start()
+    while True:
+        hz.Sample()
+

unitree_sdk2py/utils/thread.py

@@ -52,10 +52,7 @@ class RecurrentThread(Thread):
         super().Wait(timeout)
 
     def __LoopFunc(self):
-        # clock type CLOCK_MONOTONIC = 1
+        timer = Timer(self.__inter, self.__inter)
-        tfd = timerfd_create(1, 0)
-        spec = itimerspec.from_seconds(self.__inter, self.__inter)
-        timerfd_settime(tfd, 0, ctypes.byref(spec), None)
 
         while not self.__quit:
             try:
@@ -65,13 +62,13 @@ class RecurrentThread(Thread):
                 print(f"[RecurrentThread] target func raise exception: name={info[0].__name__}, args={str(info[1].args)}")
 
             try:
-                buf = os.read(tfd, 8)
+                timer.blockWait()
                 # print(struct.unpack("Q", buf)[0])
             except OSError as e:
                 if e.errno != errno.EAGAIN:
                     raise e
 
-        os.close(tfd)
+        timer.close()
     
     def __LoopFunc_0(self):
         while not self.__quit:

unitree_sdk2py/utils/timerfd.py

@@ -1,8 +1,62 @@
 import math
 import ctypes
-from .clib_lookup import CLIBLookup
+import platform
 
-class timespec(ctypes.Structure):
+"""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.."""
+class Timer:
+    
+    """
+    参数：
+    time: 首次运行等待时间，秒.First Wait Time, second.
+    period: 周期等待时间, 秒.Period Wait Time, second.
+    """
+    def __init__(self, time :float, period :float):
+        pass
+    
+    """
+    阻塞等待,会在下方根据平台重写
+    """
+    def blockWait(self):
+        pass
+    
+    """
+    关闭句柄
+    """
+    def close(self):
+        pass
+
+
+# build platform compatible
+if platform.system() == "Windows":
+    from ctypes import wintypes
+    kernel32 = ctypes.windll.kernel32
+    INFINITE=wintypes.DWORD(-1)
+    PTIMERAPCROUTINE  = ctypes.WINFUNCTYPE(None, wintypes.LPVOID, wintypes.DWORD, wintypes.DWORD)
+    @PTIMERAPCROUTINE
+    def timer_callback(arg, timer_low, timer_high):
+        pass
+    # 重写Timer方法
+    def Timer_init(self, time :float, period :float):
+        self.handle = kernel32.CreateWaitableTimerW(None, True, None)
+        due_time = wintypes.LARGE_INTEGER(-int(time * 10000000)) # 秒转100纳秒
+        period = int(period*1000) # 秒转毫秒
+        # https://learn.microsoft.com/zh-cn/windows/win32/api/synchapi/nf-synchapi-setwaitabletimer
+        if not kernel32.SetWaitableTimer(self.handle, ctypes.byref(due_time), period, timer_callback, 0, True):
+            raise OSError("Failed to set waitable timer.")
+    def Timer_blockWait(self):
+        kernel32.WaitForSingleObject(self.handle, INFINITE)
+    def Timer_close(self):
+        kernel32.CancelWaitableTimer(self.handle)
+        kernel32.CloseHandle(self.handle)
+    Timer.__init__ = Timer_init
+    Timer.blockWait = Timer_blockWait
+    Timer.close = Timer_close
+    
+elif platform.system() == "Linux":
+    
+    from .clib_lookup import CLIBLookup
+
+    class timespec(ctypes.Structure):
         _fields_ = [("sec", ctypes.c_long), ("nsec", ctypes.c_long)]
         __slots__ = [name for name,type in _fields_]
 
@@ -23,7 +77,7 @@ class timespec(ctypes.Structure):
             self.nsec = int(x * 1000000000)
 
 
-class itimerspec(ctypes.Structure):
+    class itimerspec(ctypes.Structure):
         _fields_ = [("interval", timespec),("value", timespec)]
         __slots__ = [name for name,type in _fields_]
         
@@ -35,11 +89,28 @@ class itimerspec(ctypes.Structure):
             return spec
 
 
-# function timerfd_create
+    # function timerfd_create
-timerfd_create = CLIBLookup("timerfd_create", ctypes.c_int, (ctypes.c_long, ctypes.c_int))
+    timerfd_create = CLIBLookup("timerfd_create", ctypes.c_int, (ctypes.c_long, ctypes.c_int))
 
-# function timerfd_settime
+    # function timerfd_settime
-timerfd_settime = CLIBLookup("timerfd_settime", ctypes.c_int, (ctypes.c_int, ctypes.c_int, ctypes.POINTER(itimerspec), ctypes.POINTER(itimerspec)))
+    timerfd_settime_linux = CLIBLookup("timerfd_settime", ctypes.c_int, (ctypes.c_int, ctypes.c_int, ctypes.POINTER(itimerspec), ctypes.POINTER(itimerspec)))
 
-# function timerfd_gettime
+    def timerfd_settime(handle,interval,value):
-timerfd_gettime = CLIBLookup("timerfd_gettime", ctypes.c_int, (ctypes.c_int, ctypes.POINTER(itimerspec)))
+        spec = itimerspec.from_seconds(interval, value)
+        timerfd_settime_linux(handle, 0, spec, None)
+
+    # function timerfd_gettime
+    timerfd_gettime = CLIBLookup("timerfd_gettime", ctypes.c_int, (ctypes.c_int, ctypes.POINTER(itimerspec)))
+    # 重写Timer方法
+    import os
+    def Timer_init(self, time :float, period :float):
+        self.handle = timerfd_create(1, 0)
+        spec = itimerspec.from_seconds(period, time)
+        timerfd_settime_linux(self.handle, 0, spec, None)
+    def Timer_blockWait(self):
+        os.read(self.handle,8)
+    def Timer_close(self):
+        os.close(self.handle)
+    Timer.__init__ = Timer_init
+    Timer.blockWait = Timer_blockWait
+    Timer.close = Timer_close