Commit dca6785a authored by Nicolas Docquier's avatar Nicolas Docquier
Browse files

Merge branch 'release_1.13.0' into 'master'

Release 1.13.0 vers master

See merge request robotran/mbsysc!308
parents c3edd27e 0a54cca8
......@@ -18,8 +18,11 @@ stdout.txt
resultsR
SfunctionsR
build
_build
debug
MBsysC/mbs_interface/MBsysPy/doc/source
/MBprojects/**/animationR/vrml/*
/MBprojects/**/animationR/vtp/*
/MBprojects/**/animationR/*.pvd
......
......@@ -37,6 +37,65 @@ MBsysC_realtimeON:
expire_in: 2h
name: "Build_${CI_COMMIT_REF_NAME}"
InterfacePython :
image: immc/robotran-cross:v1.5
stage: build
before_script:
# Add ssh key
- 'which ssh-agent || ( apt update -y && apt install openssh-client -y)'
- eval $(ssh-agent -s)
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add -
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo -e "Host *\n\tStrictHostKeyChecking no\n\n" > ~/.ssh/config
script :
# Builds MBsysPy and mbs_tgc
- mkdir MBsysC/build
- cd MBsysC/build
- cmake .. -DFLAG_INTERFACE_CTYPES=ON -DFLAG_TIREGROUNDCAR=ON
- make -j4
- mkdir python/MBsysPy/libs64/darwin python/MBsysPy/libs64/windows
- mkdir python/mbs_tgc/libs64/darwin python/mbs_tgc/libs64/windows
- cd ../mbs_interface/MBsysPy/doc
# - sphinx-apidoc -o source/ ../../ -f -e
#- make html
- cd ../../../..
- mkdir MBsysC/build-mingw
- cd MBsysC/build-mingw
- cmake .. -DCMAKE_TOOLCHAIN_FILE=/mingw64/cmake-mingw -DFLAG_INTERFACE_CTYPES=ON -DFLAG_TIREGROUNDCAR=ON
- make -j4
- cp /mingw64/bin/libxml2-2.dll /mingw64/bin/libopenblas.dll python/MBsysPy/libs64/windows/
- cp python/MBsysPy/libs64/windows/*.dll ../build/python/MBsysPy/libs64/windows
- cp python/mbs_tgc/libs64/windows/*.dll ../build/python/mbs_tgc/libs64/windows
- cd ../..
- mkdir MBsysC/build-osxcross
- cd MBsysC/build-osxcross
- $(osxcross-conf) && cmake .. -DCMAKE_TOOLCHAIN_FILE=/osxcross/target/toolchain.cmake -DFLAG_INTERFACE_CTYPES=ON -DFLAG_TIREGROUNDCAR=ON -DCMAKE_SHARED_LINKER_FLAGS="-framework Accelerate"
- make -j4
- cd python/MBsysPy/libs64/darwin
- x86_64-apple-darwin19-install_name_tool -change libMBsysC_utilities.dylib @loader_path/libMBsysC_utilities.dylib libMBsysC_loadXML.dylib
- x86_64-apple-darwin19-install_name_tool -change libMBsysC_utilities.dylib @loader_path/libMBsysC_utilities.dylib libMBsysC_realtime.dylib
- x86_64-apple-darwin19-install_name_tool -change libMBsysC_utilities.dylib @loader_path/libMBsysC_utilities.dylib libMBsysC_module.dylib
- x86_64-apple-darwin19-install_name_tool -change libMBsysC_realtime.dylib @loader_path/libMBsysC_realtime.dylib libMBsysC_module.dylib
- cd ../../../mbs_tgc/libs64/darwin
- x86_64-apple-darwin19-install_name_tool -change libMBsysC_utilities.dylib @loader_path/../../../MBsysPy/libs64/darwin/libMBsysC_utilities.dylib libAddon_TireGroundCar.dylib
- cd ../../../..
- cp python/MBsysPy/libs64/darwin/*.dylib ../build/python/MBsysPy/libs64/darwin
- cp python/mbs_tgc/libs64/darwin/*.dylib ../build/python/mbs_tgc/libs64/darwin
- cp python/MBsysPy/libs64/darwin/libMBsysC_utilities.dylib ../build/python/mbs_tgc/libs64/darwin
# Creating the packages
- cd ../build/python
- python3 setup_MBsysPy.py sdist bdist_wheel
- rm -r build
- python3 setup_mbs_tgc.py sdist bdist_wheel
- rm -r build
artifacts:
paths:
- MBsysC/build/python/dist/*
#- MBsysC/mbs_interface/MBsysPy/doc/_build/html/*
expire_in: 2d
name: "robotran-python-${CI_COMMIT_REF_NAME}"
# --------------------------------------------------------------------------
# Dev test Only
......@@ -617,17 +676,21 @@ issue_170_User_Model:
pages:
image: alpine
stage: deploy
# dependencies:
# - InterfacePython
script:
- apk update && apk add doxygen
- cd ./MBsysC/mbs_documentation/src
- doxygen Doxyfile
- cd ../../..
- mv ./MBsysC/mbs_documentation/html/ public/
#- mkdir public/MBsysPy
#- cp ./MBsysC/mbs_interface/MBsysPy/MBsysPy/doc/_build/html/ public/MBsysPy
artifacts:
paths:
- public
only:
- dev
- master
# --------------------------------------------------------------------------
# Old disable tests
......
## Changes for next release
* ....
* To be defined
## Robotran v1.13.0
* [Python] A Python interface is available (MBsysPy)
* [Fix] The norm of the constraints errors were not correctly computed in some specific case (with user constraints and non-independent constraints)
* [New] The value of the Lagrange multipliers is saved to file.
* Sensors:
* function `mbs_new_sensor` allocate the memory for the sensor, allocate the jacobian and rotation matrices and initialize the fields to 0.
* function `mbs_delete_sensor` deallocate all the memory of the sensor including itself (instead of `free_sensor`)
* **For user: do not call anymore `allocate_sensor` and `init_sensor` and call `mbs_delete_sensor` instead of `free_sensor`**
## Robotran v1.12.0
* [New] Inverse Dynamic module (Invdyn)
* See examples `PendulumSpringC` and `miscellaneous/Invdyna_Delta`
......
......@@ -95,7 +95,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(${SYMBOLIC_LIB_NAME} ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -140,7 +140,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -175,7 +175,7 @@ flags_clean()
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
......
......@@ -91,7 +91,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(Project_symbolic ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -136,7 +136,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -171,7 +171,7 @@ flags_clean()
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
......
......@@ -2,7 +2,7 @@ from pylmgc90 import pre
import numpy as np
import math
import preBox
import py_mbs_lmgc as ml
import mbs_lmgc90 as ml
dim = 3
......@@ -214,15 +214,15 @@ chipy.MBS3D_initialize()
chipy.LoadTactors()
chipy.ReadIniVlocRloc()
chipy.OpenPostproFiles()
print '-'
print('-')
chipy.OpenDisplayFiles()
print '--'
print('--')
#chipy.WriteDisplayFiles(freq_display,ref_radius)
print '---'
print('---')
chipy.ComputeMass()
print '----'
print('----')
for i in xrange(1200):
for i in range(1200):
chipy.IncrementStep()
chipy.ComputeFext()
chipy.ComputeBulk()
......
......@@ -91,7 +91,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(Project_symbolic ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -136,7 +136,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -175,7 +175,7 @@ flags_clean()
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
......
......@@ -95,7 +95,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(${SYMBOLIC_LIB_NAME} ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -95,7 +95,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(${SYMBOLIC_LIB_NAME} ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -95,7 +95,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
target_link_libraries(${SYMBOLIC_LIB_NAME} ${LIB_MBSYSC_MODULES})
endif()
......
......@@ -140,7 +140,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -140,7 +140,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -140,7 +140,7 @@ endif()
# MBSysC libraries
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
endif()
......
......@@ -172,7 +172,7 @@ flags_clean()
if ( FLAG_SEPARATE_BUILD ) # find MBSysC dynamic libraries
find_path(LibRobotranC_DIR LibRobotranCConfig.cmake "${ROBOTRAN_SOURCE_DIR}/build")
find_package( LibRobotranC 1.12.0 REQUIRED )
find_package( LibRobotranC 1.13.0 REQUIRED )
target_link_libraries( ${Executable} ${LIB_MBSYSC_MODULES} ${LIB_MBSYSC_LOAD} ${LIB_MBSYSC_UTILITIES} )
add_definitions(${LIB_MBSYSC_DEFINITIONS})
......
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