Merge branch 'develop'

CMakeLists.txt

@@ -11,10 +11,23 @@
 #  2007-2021, Jose Luis Blanco <[email protected]>
 # ----------------------------------------------------------------------------
 
-if (POLICY CMP0048)
-  # cmake warns if loaded from a min-3.x-required parent dir:
+# -------------------------
+#        Setup CMake
+# -------------------------
+# Minimum version required for:
+# - target_compile_features() => 3.8.0
+# - cmakemodules/ECMFindModuleHelpers.cmake:112  => 3.16.0  (Available in Ubuntu >=20.04)
+cmake_minimum_required(VERSION 3.16.0)
+
+if (POLICY CMP0048) # cmake warns if loaded from a min-3.x-required parent dir:
   cmake_policy(SET CMP0048 NEW)
 endif()
+if (POLICY CMP0075) # CheckIncludeFile: Yes, we will set "CMAKE_REQUIRED_LIBRARIES".
+	cmake_policy(SET CMP0075 NEW)
+endif()
+if (POLICY CMP0135)  # The DOWNLOAD_EXTRACT_TIMESTAMP option was not given
+	cmake_policy(SET CMP0135 NEW)
+endif()
 
 # Tell CMake we'll use both C & C++ for use in its tests/flags.
 project(MRPT LANGUAGES C CXX)
@@ -31,18 +44,6 @@ if (DEFINED CACHE{CMAKE_BUILD_TYPE})
 		"Debug" "Release" "MinSizeRel" "RelWithDebInfo" "Coverage" "SanitizeAddress" "SanitizeThread")
 endif()
 
-# -------------------------
-#        Setup CMake
-# -------------------------
-# Minimum version required for:
-# - target_compile_features() => 3.8.0
-# - cmakemodules/ECMFindModuleHelpers.cmake:112  => 3.16.0  (Available in Ubuntu >=20.04)
-cmake_minimum_required(VERSION 3.16.0)
-
-# CheckIncludeFile: Yes, we will set "CMAKE_REQUIRED_LIBRARIES".
-if (POLICY CMP0075)
-	cmake_policy(SET CMP0075 NEW)
-endif()
 
 if ((NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/nanogui/include")
     OR (NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rplidar_sdk/sdk/sdk")

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.9.3-{branch}-build{build}
+version: 2.9.4-{branch}-build{build}
 
 os: Visual Studio 2019
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,15 @@
 \page changelog Change Log
 
+# Version 2.9.4: Released July 1st, 2023
+- Python:
+  - pymrpt now ships stub `.pyi` files, for IDEs to autocomplete MRPT Python programs.
+  - maps and multimaps are iterable again (Fixes a regression in v2.9.3)
+  - timestamps now has a `__str__` operator and `to_double()` method.
+- Build system:
+  - Fix several modern cmake warnings.
+- BUG FIXES:
+  - Fix fail to build with libftdi1 v1.4 (Ubuntu Focal).
+
 # Version 2.9.3: Released June 22nd, 2023
 - Python:
   - New module pymrpt.ros_bridge

libs/comms/src/CInterfaceFTDI_LIN.cpp

@@ -419,7 +419,7 @@ void CInterfaceFTDI::Purge()
 	auto* ctx = static_cast<ftdi_context*>(m_ftdi_context);
 	ASSERT_(ctx->usb_dev);
 
-#if MRPT_FTDI_VERSION >= 0x120
+#if MRPT_FTDI_VERSION >= 0x150
 	if (ftdi_tcioflush(ctx) < 0)
 #else
 	if (ftdi_usb_purge_buffers(ctx) < 0)

package.xml

@@ -7,7 +7,7 @@
 <package format="3">
   <name>mrpt2</name>
   <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.9.3</version>
+  <version>2.9.4</version>
   <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
 
   <author     email="[email protected]">Jose-Luis Blanco-Claraco</author>
@@ -47,6 +47,7 @@
   <build_depend>libudev-dev</build_depend>
   <build_depend>libusb-1.0-dev</build_depend>
   <build_depend>pybind11-dev</build_depend>
+  <build_depend>python3-pip</build_depend>
   <build_depend>tinyxml2</build_depend>
   <build_depend>wx-common</build_depend>
   <build_depend>wxwidgets</build_depend>

parse-files/install-python.cmake.in

@@ -8,15 +8,11 @@ else()
 endif()
 
 set(cmd_
-    @Python3_EXECUTABLE@ @MRPT_PYTHON_BUILD_DIRECTORY@/setup.py 
-        install
-        --root=${INSTALL_ROOT_DIR}
-        --install-lib=@PYTHON_INSTALL_DIR@
-        --install-layout=deb
-        --single-version-externally-managed
+    @Python3_EXECUTABLE@ -m pip install .
+        --target=${INSTALL_ROOT_DIR}/@PYTHON_INSTALL_DIR@
+        --ignore-installed
 )
 
-
 string(REPLACE ";" " " _cmd_print "${cmd_}")
 message(STATUS "Running: ${_cmd_print}")
 
@@ -28,3 +24,4 @@ execute_process(COMMAND ${cmd_}
 if(result)
     message(FATAL_ERROR "CMake step for installing python modules failed: ${result}")
 endif()
+

parse-files/setup.py.in

@@ -14,6 +14,13 @@ package_data = {
     '': [
         './*.so',
         './*.dll',
+        './py.typed',
+        # Install .pyi stub files:
+        './*.pyi',
+        './pymrpt/*',
+        './pymrpt/*/*',
+        './pymrpt/*/*/*',
+        './pymrpt/*/*/*/*'
     ]
 }
 
@@ -26,7 +33,7 @@ python_install_dir="${PYTHON_INSTALL_DIRECTORY}"
 sys.path.insert(0, python_install_dir)
 
 setup(
-    name='MRPT',
+    name='mrpt',
     description='Mobile Robot Programming Toolkit (MRPT)',
     url='https://github.com/MRPT/mrpt',
     version='${CMAKE_MRPT_FULL_VERSION}',  # https://www.python.org/dev/peps/pep-0440/

python-examples/hwdriver-tao-imu-usb.py

@@ -30,6 +30,7 @@
             print('Time={} obs={}'.format(timestamp, obs.asString()))
 
             # You can access individual IMU readings with:
+            # o = mrpt.obs.CObservationIMU(obs)
             # angVel_z = o.get(mrpt.obs.TIMUDataIndex.IMU_WZ)
             #
             # See: https://docs.mrpt.org/reference/latest/enum_mrpt_obs_TIMUDataIndex.html

python-examples/lines-3d-geometry-example.py

@@ -12,9 +12,10 @@
 TPoint3D = mrpt.math.TPoint3D_double_t
 TLine3D = mrpt.math.TLine3D
 
-l1 = TLine3D.FromTwoPoints(TPoint3D(0, 0, 0), TPoint3D(1, 0, 0))
-l2 = TLine3D.FromTwoPoints(TPoint3D(1, 1, 1), TPoint3D(2, 2, 0))
+l1: TLine3D = TLine3D.FromTwoPoints(TPoint3D(0, 0, 0), TPoint3D(1, 0, 0))
+l2: TLine3D = TLine3D.FromTwoPoints(TPoint3D(1, 1, 1), TPoint3D(2, 2, 0))
 
 print('l1             : ' + str(l1))
 print('l2             : ' + str(l2))
 print('dist(l1,l2)    : ' + str(mrpt.math.distance(l1, l2)))
+print('l1.director    : ' + l1.getDirectorVector().asString())

python/CMakeLists.txt

@@ -66,6 +66,15 @@ add_custom_command(TARGET pymrpt POST_BUILD
 file(WRITE ${MRPT_PYTHON_BUILD_DIRECTORY}/mrpt/__init__.py
   "from . import *")
 
+# Required if we provide the stub files: ( https://peps.python.org/pep-0561/ )
+file(WRITE ${MRPT_PYTHON_BUILD_DIRECTORY}/mrpt/py.typed "")
+
+# install stub files too:
+file(COPY
+  ${CMAKE_CURRENT_LIST_DIR}/stubs-out/
+  DESTINATION ${MRPT_PYTHON_BUILD_DIRECTORY}/
+)
+
 # copy ROS stuff
 file(COPY
   ${CMAKE_CURRENT_LIST_DIR}/ros_bridge.py

python/generate-python.sh

@@ -66,10 +66,6 @@ $HOME/code/binder/build/source/binder \
 	-I$HOME/code/mrpt/libs/typemeta/include \
 	-I$HOME/code/mrpt/libs/vision/include/ \
 
-# applying manual patches:
-echo "Applying manual patches..."
-find . -name "*.diff" | xargs -I FIL bash -c "git apply FIL"
-
 # Workarounds to binder limitations:
 # These are to ensure multiplatform portatbility of generated code
 # (e.g. avoid build errors in armhf)
@@ -96,4 +92,9 @@ sed -i -e 's/unsigned long/size_t/g' $WRAP_OUT_DIR/std/stl_multimap.cpp
 find $WRAP_OUT_DIR -name "*.cpp" | 	xargs -I FIL \
 	sed -i -e 's/(long)/(int64_t)/g' FIL
 
+# applying manual patches:
+echo "Applying manual patches..."
+find . -name "*.diff" | xargs -I FIL bash -c "git apply FIL"
 
+# Generate stub .pyi files:
+stubgen -p mrpt -p mrpt.pymrpt -o stubs-out