Merge upstream main and format code

.clang-format

@@ -1,66 +1,64 @@
 ---
-BasedOnStyle:  Google
 AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
 AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortFunctionsOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BasedOnStyle: Google
+BinPackParameters: true
+
+BraceWrapping:  # Control of individual brace wrapping cases
+  AfterCaseLabel: 'true'
+  AfterClass: 'true'
+  AfterControlStatement: 'true'
+  AfterEnum: 'true'
+  AfterFunction: 'true'
+  AfterNamespace: 'true'
+  AfterStruct: 'true'
+  AfterUnion: 'true'
+  BeforeCatch: 'true'
+  BeforeElse: 'true'
+  IndentBraces: 'false'
+
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
-BinPackParameters: true
-ColumnLimit:    120
+BreakBeforeBraces: Custom  # Configure each individual brace in BraceWrapping
+
+ColumnLimit: 120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: false
 DerivePointerBinding: false
-PointerBindsToType: true
 ExperimentalAutoDetectBinPacking: false
 IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+IndentPPDirectives: AfterHash
+IndentWidth: 2
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCSpaceBeforeProtocolList: true
 PenaltyBreakBeforeFirstCallParameter: 19
 PenaltyBreakComment: 60
-PenaltyBreakString: 1
 PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString: 1
 PenaltyExcessCharacter: 1000
 PenaltyReturnTypeOnItsOwnLine: 90
-SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
-SpacesInParentheses: false
-SpacesInAngles:  false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
+PointerBindsToType: true
 SortIncludes: false
 SpaceAfterCStyleCast: false
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterCaseLabel: 'true'
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-}
-...
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+Standard: Auto
+TabWidth: 2
+UseTab: Never

.github/helpers/check_urls.sh

@@ -38,6 +38,7 @@ urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))(
 fail_counter=0
 
 FAILED_LINKS=()
+CHECKED_LINKS=()
 for item in $urls; do
 #     echo $item
     skip=0
@@ -53,15 +54,18 @@ for item in $urls; do
     filename=$(echo "$item" | cut -d':' -f1)
     url=$(echo "$item" | cut -d':' -f2-)
     echo -n "Checking $url from file $filename"
-    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
-        echo -e " \033[0;31mNOT FOUND\033[32m\n"
+    if [[ $(echo ${CHECKED_LINKS[@]} | fgrep -w $url) ]]; then
+      echo -e " \033[36malready checked\033[0m"
+    elif ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo -e " \033[0;31mNOT FOUND\033[0m"
         FAILED_LINKS+=("$url from file $filename")
         ((fail_counter=fail_counter+1))
     else
-        printf " \033[32mok\033[0m\n"
+        echo -e " \033[32mok\033[0m"
     fi
+    CHECKED_LINKS+=("$url")
 done
 
 echo "Failed files:"
 printf '%s\n' "${FAILED_LINKS[@]}"
-exit $fail_counter
+exit $fail_counter

.github/workflows/ci.yml

@@ -4,7 +4,9 @@ on:
   pull_request:
   push:
     branches:
-      - main
+      - master
+  schedule:
+    - cron: '38 2 * * *'
 
 jobs:
   build:
@@ -15,22 +17,13 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5'
+          - ROBOT_MODEL: 'ur5'
             URSIM_VERSION: '3.14.3'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5e'
+          - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur20'
+          - ROBOT_MODEL: 'ur20'
             URSIM_VERSION: 'latest'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
@@ -39,7 +32,11 @@ jobs:
       - name: start ursim
         run: |
           scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
-        env: ${{matrix.env}}
+        env:
+          DOCKER_RUN_OPTS: --network ursim_net
+          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
+          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
@@ -51,7 +48,13 @@ jobs:
       - name: Create folder for test artifacts
         run: mkdir -p test_artifacts
       - name: test
-        run: cd build && ctest --output-on-failure
+        run: cd build && ctest --output-on-failure --output-junit junit.xml
+      - name: Upload test results to Codecov
+        if: ${{ !cancelled() }}
+        uses: codecov/test-results-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          fail_ci_if_error: true
       - name: run examples
         run: ./run_examples.sh "192.168.56.101" 1
       - name: install gcovr
@@ -63,6 +66,7 @@ jobs:
         with:
           fail_ci_if_error: true
           token: ${{ secrets.CODECOV_TOKEN }}
+          flags: ${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }}
       - name: Generate URSim log files
         if: always()
         run: |
@@ -103,5 +107,5 @@ jobs:
         run: |
           .github/helpers/check_urls.sh \
             -d ".git build CMakeModules debian" \
-            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh" \
+            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh ursim_docker.rst" \
             -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"

3rdparty/endian/endian.h

@@ -16,88 +16,88 @@
 
 // Byte order
 #if defined(linux) || defined(__linux) || defined(__linux__) || defined(__CYGWIN__)
-#   include <endian.h>
+#  include <endian.h>
 #elif defined(__APPLE__)
-#   include <libkern/OSByteOrder.h>
+#  include <libkern/OSByteOrder.h>
 
-#   define htobe16(x) OSSwapHostToBigInt16(x)
-#   define htole16(x) OSSwapHostToLittleInt16(x)
-#   define be16toh(x) OSSwapBigToHostInt16(x)
-#   define le16toh(x) OSSwapLittleToHostInt16(x)
+#  define htobe16(x) OSSwapHostToBigInt16(x)
+#  define htole16(x) OSSwapHostToLittleInt16(x)
+#  define be16toh(x) OSSwapBigToHostInt16(x)
+#  define le16toh(x) OSSwapLittleToHostInt16(x)
 
-#   define htobe32(x) OSSwapHostToBigInt32(x)
-#   define htole32(x) OSSwapHostToLittleInt32(x)
-#   define be32toh(x) OSSwapBigToHostInt32(x)
-#   define le32toh(x) OSSwapLittleToHostInt32(x)
+#  define htobe32(x) OSSwapHostToBigInt32(x)
+#  define htole32(x) OSSwapHostToLittleInt32(x)
+#  define be32toh(x) OSSwapBigToHostInt32(x)
+#  define le32toh(x) OSSwapLittleToHostInt32(x)
 
-#   define htobe64(x) OSSwapHostToBigInt64(x)
-#   define htole64(x) OSSwapHostToLittleInt64(x)
-#   define be64toh(x) OSSwapBigToHostInt64(x)
-#   define le64toh(x) OSSwapLittleToHostInt64(x)
+#  define htobe64(x) OSSwapHostToBigInt64(x)
+#  define htole64(x) OSSwapHostToLittleInt64(x)
+#  define be64toh(x) OSSwapBigToHostInt64(x)
+#  define le64toh(x) OSSwapLittleToHostInt64(x)
 
-#   define __BYTE_ORDER    BYTE_ORDER
-#   define __BIG_ENDIAN    BIG_ENDIAN
-#   define __LITTLE_ENDIAN LITTLE_ENDIAN
-#   define __PDP_ENDIAN    PDP_ENDIAN
+#  define __BYTE_ORDER BYTE_ORDER
+#  define __BIG_ENDIAN BIG_ENDIAN
+#  define __LITTLE_ENDIAN LITTLE_ENDIAN
+#  define __PDP_ENDIAN PDP_ENDIAN
 #elif defined(__OpenBSD__)
-#   include <sys/endian.h>
+#  include <sys/endian.h>
 #elif defined(__NetBSD__) || defined(__FreeBSD__) || defined(__DragonFly__)
-#   include <sys/endian.h>
+#  include <sys/endian.h>
 
-#   define be16toh(x) betoh16(x)
-#   define le16toh(x) letoh16(x)
+#  define be16toh(x) betoh16(x)
+#  define le16toh(x) letoh16(x)
 
-#   define be32toh(x) betoh32(x)
-#   define le32toh(x) letoh32(x)
+#  define be32toh(x) betoh32(x)
+#  define le32toh(x) letoh32(x)
 
-#   define be64toh(x) betoh64(x)
-#   define le64toh(x) letoh64(x)
+#  define be64toh(x) betoh64(x)
+#  define le64toh(x) letoh64(x)
 #elif defined(_WIN32)
-#   include <stdlib.h>
-#   if BYTE_ORDER == LITTLE_ENDIAN
-#       if defined(_MSC_VER)
-#           define htobe16(x) _byteswap_ushort(x)
-#           define htole16(x) (x)
-#           define be16toh(x) _byteswap_ushort(x)
-#           define le16toh(x) (x)
+#  include <stdlib.h>
+#  if BYTE_ORDER == LITTLE_ENDIAN
+#    if defined(_MSC_VER)
+#      define htobe16(x) _byteswap_ushort(x)
+#      define htole16(x) (x)
+#      define be16toh(x) _byteswap_ushort(x)
+#      define le16toh(x) (x)
 
-#           define htobe32(x) _byteswap_ulong(x)
-#           define htole32(x) (x)
-#           define be32toh(x) _byteswap_ulong(x)
-#           define le32toh(x) (x)
+#      define htobe32(x) _byteswap_ulong(x)
+#      define htole32(x) (x)
+#      define be32toh(x) _byteswap_ulong(x)
+#      define le32toh(x) (x)
 
-#           define htobe64(x) _byteswap_uint64(x)
-#           define htole64(x) (x)
-#           define be64toh(x) _byteswap_uint64(x)
-#           define le64toh(x) (x)
-#       elif defined(__GNUC__) || defined(__clang__)
-#           define htobe16(x) __builtin_bswap16(x)
-#           define htole16(x) (x)
-#           define be16toh(x) __builtin_bswap16(x)
-#           define le16toh(x) (x)
+#      define htobe64(x) _byteswap_uint64(x)
+#      define htole64(x) (x)
+#      define be64toh(x) _byteswap_uint64(x)
+#      define le64toh(x) (x)
+#    elif defined(__GNUC__) || defined(__clang__)
+#      define htobe16(x) __builtin_bswap16(x)
+#      define htole16(x) (x)
+#      define be16toh(x) __builtin_bswap16(x)
+#      define le16toh(x) (x)
 
-#           define htobe32(x) __builtin_bswap32(x)
-#           define htole32(x) (x)
-#           define be32toh(x) __builtin_bswap32(x)
-#           define le32toh(x) (x)
+#      define htobe32(x) __builtin_bswap32(x)
+#      define htole32(x) (x)
+#      define be32toh(x) __builtin_bswap32(x)
+#      define le32toh(x) (x)
 
-#           define htobe64(x) __builtin_bswap64(x)
-#           define htole64(x) (x)
-#           define be64toh(x) __builtin_bswap64(x)
-#           define le64toh(x) (x)
-#       else
-#           error Compiler is not supported
-#       endif
-#   else
-#       error Byte order is not supported
-#   endif
+#      define htobe64(x) __builtin_bswap64(x)
+#      define htole64(x) (x)
+#      define be64toh(x) __builtin_bswap64(x)
+#      define le64toh(x) (x)
+#    else
+#      error Compiler is not supported
+#    endif
+#  else
+#    error Byte order is not supported
+#  endif
 
-#   define __BYTE_ORDER    BYTE_ORDER
-#   define __BIG_ENDIAN    BIG_ENDIAN
-#   define __LITTLE_ENDIAN LITTLE_ENDIAN
-#   define __PDP_ENDIAN    PDP_ENDIAN
+#  define __BYTE_ORDER BYTE_ORDER
+#  define __BIG_ENDIAN BIG_ENDIAN
+#  define __LITTLE_ENDIAN LITTLE_ENDIAN
+#  define __PDP_ENDIAN PDP_ENDIAN
 #else
-#   error Platform is not supported
+#  error Platform is not supported
 #endif
 
-#endif // PORTABLE_ENDIAN_H__
+#endif  // PORTABLE_ENDIAN_H__

CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package ur_client_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.6.0 (2025-01-23)
+------------------
+* Do not throw exception in DashboardClient::sendRequest (`#249 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/249>`_)
+* Add instruction executor for high-level robot control (`#242 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/242>`_)
+* Modernize cmake (`#244 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/244>`_)
+* Update links to dashboard server documentation (`#243 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/243>`_)
+* Trajectory point velocities and example (`#241 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/241>`_)
+* Updated documentation (`#228 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/228>`_)
+* Update ci (`#239 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/239>`_)
+* Enable force mode compatibility with various move types (`#230 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/230>`_)
+* Update package maintainers (`#238 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/238>`_)
+* Bump codecov/codecov-action from 3 to 5 (`#234 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/234>`_)
+* Remove the not regarding MIT license (`#237 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/237>`_)
+* Bump pre-commit/action from 3.0.0 to 3.0.1 (`#236 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/236>`_)
+* Bump actions/checkout from 1 to 4 (`#232 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/232>`_)
+* Bump actions/setup-python from 4 to 5 (`#235 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/235>`_)
+* Bump actions/upload-artifact from 3 to 4 (`#233 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/233>`_)
+* Add dependabot configuration to update actions (`#231 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/231>`_)
+* Contributors: Felix Exner, Rune Søe-Knudsen, dependabot[bot]
+
 1.5.0 (2024-11-25)
 ------------------
 * Adapt RTDE output recipe based on robot response (`#221 <https://github.com/UniversalRobots/Universal_Robots_Client_Library/issues/221>`_)