Merge branch 'wasm_devel' into 2.0-master

# Conflicts:
#	.github/workflows/build-linux-android.yml

Author: alaurenzi

.github/workflows/build-linux-android.yml

@@ -2,7 +2,9 @@ name: Build Linux and Android
 
 on:
   push:
-    branches: [ "2.0-master" ]
+    tags:
+      - 'v[0-9]+.[0-9]+.[0-9]+'
+    branches: [ "2.0-master", "wasm_devel" ]
   pull_request:
     branches: [ "2.0-master" ]
 
@@ -14,9 +16,23 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Detect tag
+      if: startsWith(github.ref, 'refs/tags/')
+      run: echo "TRAVIS_TAG=$GITHUB_REF_NAME" >> $GITHUB_ENV
+    - name: Retrieve the secret and decode it to a file
+      env:
+        MY_KEYSTORE_BASE64: ${{ secrets.MY_KEYSTORE_BASE64 }}
+      run: |
+        echo $MY_KEYSTORE_BASE64 | base64 --decode > my.keystore
     - name: Install dependencies
       run: bash travis/install_dependencies.bash
     - name: Build client
+      env:
+        KEYSTORE_PWD: ${{ secrets.KEYSTORE_PWD }}
       run: bash travis/build_client.bash
     - name: Build server
-      run: bash travis/build_and_deploy_server.bash
+      run: source env/bin/activate; bash travis/build_and_deploy_server.bash
+    - name: Deploy client
+      run: bash travis/deploy_client.bash

CMakeLists.txt

@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.16)
-project(robot_monitoring VERSION 2.6.0)
+project(robot_monitoring VERSION 2.7.5)
 
 add_subdirectory(xbot2_gui)

proto/generic.proto

@@ -0,0 +1,16 @@
+syntax = "proto3";
+
+import "jointstate.proto";
+import "text.proto";
+import "process_output.proto";
+import "theora_packet.proto";
+
+message Message {
+
+    int32 seq = 1;
+    JointState jointstate = 2;
+    Text text = 3;
+    ProcessOutput process_output = 4;
+    TheoraPacket theora_packet = 5;
+
+}

proto/jointstate.proto

@@ -0,0 +1,27 @@
+syntax = "proto3";
+
+message FloatArray {
+    repeated float value = 1;
+}
+
+message JointState {
+
+    repeated float linkPos = 1;
+    repeated float motPos = 2;
+    repeated float linkVel = 3;
+    repeated float motVel = 4;
+    repeated float tor = 5;
+    repeated float motorTemp = 6;
+    repeated float driverTemp = 7;
+
+    repeated float posRef = 8;
+    repeated float velRef = 9;
+    repeated float torRef = 10;
+    repeated float k = 11;
+    repeated float d = 12;
+
+    map<string, FloatArray> aux = 13;
+
+    float vbatt = 14;
+    float ibatt = 15;
+}

proto/process_output.proto

@@ -0,0 +1,8 @@
+syntax = "proto3";
+
+message ProcessOutput {
+
+    string name = 1;
+    string out = 2;
+    string err = 3;
+}

proto/text.proto

@@ -0,0 +1,6 @@
+syntax = "proto3";
+
+message Text {
+
+    string text = 1;
+}

proto/theora_packet.proto

@@ -0,0 +1,11 @@
+syntax = "proto3";
+
+message TheoraPacket {
+    string stream_name = 1;
+    bytes data = 2;
+    int32 b_o_s = 3;
+    int32 e_o_s = 4;
+    int32 granulepos = 5;
+    int32 packetno = 6;
+}
+

proto/update_proto.bash

@@ -0,0 +1 @@
+protoc *.proto --python_out=../server/src/xbot2_gui_server/proto

server/setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = xbot2_gui_server
-version = 2.6.0
+version = 2.7.3
 author = Arturo Laurenzi
 author_email = arturo.laurenzi@iit.it
 description = Backend for XBot2 QML GUI
@@ -23,6 +23,7 @@ python_requires = >=3.8
 install_requires =
     aiohttp
     asyncudp
+    protobuf>=5.29.0,<5.29.9
 
 
 [options.packages.find]
@@ -31,3 +32,4 @@ where = src
 [options.entry_points]
 console_scripts =
     xbot2_gui_server = xbot2_gui_server.main:main
+    xbot2_gui = xbot2_gui_server.xbot2_gui:main

server/src/xbot2_gui_server/cosecosecose.py

@@ -0,0 +1,5 @@
+from ecat_repl.stuff import read_sdo, set_uri
+
+set_uri('amax-5580.local:5555')
+an = read_sdo(['Assigned_name'], [1])[1]['Assigned_name']
+print(an)