Ci scripts

.github/workflows/TIRPC.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+set -e
+
+echo "TIRPC=YES" >> ./configure/CONFIG_SITE.local
+echo "DRV_VXI11=YES" >> ./configure/CONFIG_SITE.local

.github/workflows/ci-scripts-build.yml

@@ -0,0 +1,126 @@
+# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
+# (see: https://github.com/epics-base/ci-scripts)
+
+# This is YAML - indentation levels are crucial
+
+# Set the 'name:' properties to values that work for you (MYMODULE)
+
+name: URROBOT
+
+# Trigger on pushes and PRs to any branch
+on:
+  push:
+    paths-ignore:
+      - 'docs/**'
+      - 'documentation/**'
+      - '**/*.html'
+      - '**/*.md'
+    branches:
+      - master
+  pull_request:
+
+env:
+  SETUP_PATH: .github/workflows:.ci
+  # For sequencer and asyn
+  APT: re2c libtirpc-dev libreadline-dev libboost-all-dev
+  CHOCO: re2c boost-msvc-14.3
+  BREW: re2c boost
+
+jobs:
+  build-base:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+    # Set environment variables from matrix parameters
+    env:
+      CMP: ${{ matrix.cmp }}
+      BCFG: ${{ matrix.configuration }}
+      WINE: ${{ matrix.wine }}
+      RTEMS: ${{ matrix.rtems }}
+      RTEMS_TARGET: ${{ matrix.rtems_target }}
+      EXTRA: ${{ matrix.extra }}
+      TEST: ${{ matrix.test }}
+      SET: ${{ matrix.set }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Job names also name artifacts, character limitations apply
+        include:
+          - os: ubuntu-24.04
+            cmp: gcc
+            configuration: default
+            set: linux-stable
+            base: "7.0"
+            name: "Linux stable 7.0"
+
+          - os: ubuntu-24.04
+            cmp: gcc
+            configuration: default
+            set: linux-stable
+            base: "3.15"
+            name: "Linux stable 3.15"
+
+          - os: ubuntu-24.04
+            cmp: gcc
+            configuration: default
+            set: linux-master
+            base: "7.0"
+            name: "Linux master 7.0"
+
+          - os: ubuntu-24.04
+            cmp: gcc
+            configuration: default
+            set: linux-master
+            base: "3.15"
+            name: "Linux master 3.15"
+
+          - os: macos-latest
+            cmp: clang
+            configuration: default
+            set: macos
+            name: "MacOS master 7.0"
+
+          - os: windows-2022
+            cmp: vs2022
+            configuration: static
+            set: windows
+            name: "Windows master 7.0"
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - name: Automatic core dumper analysis
+      uses: mdavidsaver/ci-core-dumper@master
+    - name: "apt-get install"
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
+      if: runner.os == 'Linux'
+    - name: "apt-get install ${{ matrix.cmp }}"
+      run: |
+        sudo apt-get -y install software-properties-common
+        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
+        sudo apt-get update
+        sudo apt-get -y install ${{ matrix.cmp }}
+      if: matrix.utoolchain
+    - name: Prepare and compile dependencies
+      run: python .ci/cue.py prepare
+    - name: Configure Boost for Windows
+      if: runner.os == 'Windows'
+      shell: powershell
+      run: |
+        $boostDir = (Get-ChildItem C:\local\boost_* -Directory | Select-Object -First 1).FullName
+        $boostDirUnix = $boostDir -replace '\\','/'
+        Add-Content -Path configure/CONFIG_SITE.local -Value "USR_INCLUDES += -I$boostDirUnix"
+        Add-Content -Path configure/CONFIG_SITE.local -Value "USR_LDFLAGS += -LIBPATH:$boostDirUnix/lib64-msvc-14.3"
+    - name: Build main module
+      run: python .ci/cue.py build
+    - name: Run main module tests
+      run: python .ci/cue.py -T 15M test
+    - name: Upload tapfiles Artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: tapfiles ${{ matrix.name }}
+        path: '**/O.*/*.tap'
+    - name: Collect and show test results
+      run: python .ci/cue.py test-results

.github/workflows/linux-master.set

@@ -0,0 +1,3 @@
+include master
+
+ASYN_HOOK=.github/workflows/TIRPC.sh

.github/workflows/linux-stable.set

@@ -0,0 +1,3 @@
+include stable
+
+ASYN_HOOK=.github/workflows/TIRPC.sh

.github/workflows/macos.set

@@ -0,0 +1 @@
+include master

.github/workflows/master.set

@@ -0,0 +1,3 @@
+MODULES="asyn"
+
+ASYN="master"

.github/workflows/stable.set

@@ -0,0 +1,3 @@
+MODULES="asyn"
+
+ASYN="R4-42"

.github/workflows/windows.set

@@ -0,0 +1 @@
+include master

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "urRobotApp/src/spdlog"]
 	path = urRobotApp/src/spdlog
 	url = https://github.com/gabime/spdlog.git
+[submodule ".ci"]
+	path = .ci
+	url = https://github.com/epics-base/ci-scripts

urRobotApp/op/adl/phoebus_convert.sh

@@ -0,0 +1 @@
+phoebus -main org.csstudio.display.converter.medm.Converter

urRobotApp/op/adl/stylesheet.qss

@@ -0,0 +1,92 @@
+caTable {
+       background: cornsilk;
+       alternate-background-color: wheat;
+}
+
+caLineEdit {
+     border-radius: 1px;
+     background: lightyellow;
+     color: black;
+ }
+
+ caLabel {
+     border-radius: 1px;
+     background: lightyellow;
+     color: black;
+ }
+
+caTextEntry {
+    color: rgb(127, 0, 63);
+    background-color: cornsilk;
+    selection-color: #0a214c;
+    selection-background-color: wheat;
+    border: 1px groove black;
+    border-radius: 1px;
+    padding: 1px;
+}
+
+caTextEntry:focus {
+    padding: 0px;
+    border: 2px groove darkred;
+    border-radius: 1px;
+}
+
+/* when font specified, no font sizing is done any more,  font: 10pt; is not bad */
+QPushButton {
+      border-color: #00b;
+      border-radius: 2px;
+      padding: 3px;
+      border-width: 1px;
+
+	background: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1,
+						   stop:0   rgba(224, 239, 255, 255),
+						   stop:0.5 rgba(199, 215, 230, 255),
+						   stop:1   rgba(184, 214, 236, 255));
+}
+QPushButton:hover {
+	background: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1,
+						stop:0   rgba(201, 226, 255, 255),
+						stop:0.5 rgba(177, 204, 230, 255),
+						stop:1   rgba(163, 205, 236, 255));
+}
+QPushButton:pressed {
+	background: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1,
+						stop:0   rgba(174, 219, 255, 255),
+						stop:0.5 rgba(165, 199, 230, 255),
+						stop:1   rgba(134, 188, 236, 255));
+}
+
+QPushButton:disabled {
+	background: qlineargradient(spread:pad, x1:0, y1:0, x2:0, y2:1,
+						stop:0   rgba(174, 219, 255, 255),
+						stop:0.5 rgba(165, 199, 230, 255),
+						stop:1   rgba(134, 188, 236, 255));
+}
+
+
+caChoice > QPushButton {
+text-align: left;
+background-color: lightgray;
+border: 3px gray;
+}
+
+caChoice > QPushButton:pressed {
+background-color: lightgray;
+border: 3px gray;
+}
+
+caChoice > QPushButton:checked {
+background-color: #EEEEEE;
+border: 3px gray;
+}
+
+caChoice > QPushButton:default {
+background-color: lightgray;
+border: 3px gray;
+}
+
+caMenu{
+    background: lightyellow;
+}
+
+

urRobotApp/src/Makefile

@@ -30,22 +30,19 @@ urRobot_SRCS += gripper_driver.cpp
 urRobot_LIBS += asyn
 urRobot_LIBS += rtde
 urRobot_LIBS += $(EPICS_BASE_IOC_LIBS)
-urRobot_SYS_LIBS += boost_system
 urRobot_SYS_LIBS += boost_thread
 
 # Tool for calibrating the Robotiq Gripper
 PROD += calibrate_gripper
 calibrate_gripper_SRCS += calibrate_gripper.cpp
 calibrate_gripper_LIBS += rtde
-calibrate_gripper_SYS_LIBS += boost_system
 calibrate_gripper_SYS_LIBS += boost_thread
 calibrate_gripper_SYS_LIBS += pthread
 
 # Program for testing ur_rtde by itself without asyn
 TESTPROD += urtest
 urtest_SRCS += urtest.cpp
 urtest_LIBS += rtde
-urtest_SYS_LIBS += boost_system
 urtest_SYS_LIBS += boost_thread
 urtest_SYS_LIBS += pthread
 

urRobotSupport/rtdeSrc/Makefile

@@ -32,7 +32,6 @@ rtde_SRCS_Darwin += tcp_server.cpp
 rtde_SRCS_Darwin += log.cpp
 rtde_SRCS_Darwin += default_log_handler.cpp
 
-rtde_SYS_LIBS += boost_system
 rtde_SYS_LIBS += boost_thread
 
 INC += ur_rtde/dashboard_client.h
@@ -49,6 +48,7 @@ INC += ur_rtde/rtde_io_interface_doc.h
 INC += ur_rtde/rtde_receive_interface.h
 INC += ur_rtde/rtde_receive_interface_doc.h
 INC += ur_rtde/rtde_utility.h
+INC += ur_rtde/thread_utility.h
 INC += ur_rtde/script_client.h
 INC += urcl/default_log_handler.h
 INC += urcl/log.h