Merge pull request #294 from compas-dev/ghuser_components

Migrate to GHuser components

Author: gonzalocasas

.bumpversion.cfg

@@ -24,3 +24,7 @@ replace = __version__ = '{new_version}'
 [bumpversion:file:CHANGELOG.rst]
 search = Unreleased
 replace = {new_version}
+
+[bumpversion:glob:src/compas_fab/ghpython/components/**/code.py]
+search = v{current_version}
+replace = v{new_version}

.github/workflows/build.yml

@@ -59,10 +59,14 @@ jobs:
       - uses: actions/checkout@v2
       - name: Install dependencies
         run: |
+          curl -o compas.tar.gz -LJO https://pypi.debian.net/compas/latest
+          curl -o roslibpy.tar.gz -LJO https://pypi.debian.net/roslibpy/latest
+          curl -o ironpython-pytest.tar.gz -LJO https://pypi.debian.net/ironpython-pytest/latest
           choco install ironpython --version=2.7.8.1
           ipy -X:Frames -m ensurepip
-          ipy -X:Frames -m pip install --no-deps compas roslibpy
-          ipy -X:Frames -m pip install ironpython-pytest
+          ipy -X:Frames -m pip install --no-deps compas.tar.gz
+          ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz
+          ipy -X:Frames -m pip install --no-deps ironpython-pytest.tar.gz
       - name: Run tests
         env:
           IRONPYTHONPATH: ./src

.github/workflows/deploy-n-publish.yml

@@ -13,7 +13,7 @@ on:
 jobs:
   build:
     name: build and deploy docs
-    runs-on: ubuntu-latest
+    runs-on: windows-latest
     steps:
       - uses: actions/checkout@v2
       - name: Set up Python 3.8
@@ -28,6 +28,14 @@ jobs:
       - name: 💎 Install
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt
+      - uses: NuGet/[email protected]
+      - name: Install dependencies
+        run: |
+          choco install ironpython --version=2.7.8.1
+      - uses: compas-dev/compas-actions.ghpython_components@v1
+        with:
+          source: src/compas_fab/ghpython/components
+          target: src/compas_fab/ghpython/components
       - name: 📃 Generate docs
         if: success()
         run: |
@@ -53,6 +61,7 @@ jobs:
 
           echo "Docs will be deployed to https://gramaziokohler.github.io/compas_fab/$BRANCH_OR_TAG"
           mkdir -p deploy/compas_fab/$BRANCH_OR_TAG && mv -T dist/docs deploy/compas_fab/$BRANCH_OR_TAG/
+        shell: bash
       - name: 🚢 Deploy docs
         if: success()
         uses: crazy-max/ghaction-github-pages@v2

.gitignore

@@ -116,3 +116,6 @@ docs/generated/
 
 temp/**
 !temp/.gitkeep
+
+# Grasshopper generated objects
+src/compas_fab/ghpython/components/*.ghuser

CHANGELOG.rst

@@ -12,6 +12,7 @@ Unreleased
 
 **Added**
 
+* Grasshopper components now also for Mac
 * Added support for MoveIt on ROS Noetic
 * Added support for Python 3.9
 

CONTRIBUTING.rst

@@ -103,27 +103,40 @@ The best way to send feedback is to file an issue on
 * Explain in detail how it would work.
 * Keep the scope as narrow as possible, to make it easier to implement.
 
-A Note on Architecture for Backend Clients
-------------------------------------------
+Grasshopper components
+----------------------
 
-To maintain consistency from one backend client to another and to promote modularity,
-we make use of several interfaces.  Please reference :ref:`Note on Architecture <architecture>`
-for more details on how to add or amend a backend client.
+Grasshopper user objects need to be built using `COMPAS Github Action componentizer <https://github.com/compas-dev/compas-actions.ghpython_components>`_.
 
-A Note on GhPython Components
------------------------------
+1. Apply your changes to the component source code (``src/compas_fab/ghpython/components``).
+2. Rebuild them:
+
+   .. code-block:: bash
+
+        invoke build-ghuser-components <path_to_ghio.dll>
+
+3. Install them on Rhino/Grasshopper as usual:
 
-The Grasshopper components are made with the Python GHPY compiler based on the
-`Tutorial by Giulio Piacentino <https://discourse.mcneel.com/t/tutorial-creating-a-grasshopper-component-with-the-python-ghpy-compiler/38552>`_.
-If you make changes to the files in ``src/compas_fab/ghpython/components``, the components library has to be manually recompiled.
-This is done by executing ``src\compas_fab\ghpython\components\compile.py`` with Rhino's PythonScript Editor.
-Make sure to open Grasshopper before compiling, so that the assemblies are loaded.
+   .. code-block:: bash
 
-Once compilation is completed, the components (``.ghpy`` file) are installed using the same command
-that installs COMPAS on Rhino::
+        python -m compas_rhino.install
 
-    python -m compas_rhino.install
+The install step does not copy them, but creates a symlink to the location in which they are built,
+so after the first installation, it is usually not required to reinstall them, only rebuild them (unless a new component is added).
 
+.. note::
+
+    This step requires IronPython 2.7 to be available on the system, ie. `ipy` should be callable from the command line.
+    The path to the GH_IO.dll is platform-specific, on Mac it is under the ``GrasshopperPlugin.rhp`` of the Rhino app
+    and on Windows is in the ``Grasshopper`` folder within the Rhino folder in ``ProgramFiles``.
+
+
+A Note on Architecture for Backend Clients
+------------------------------------------
+
+To maintain consistency from one backend client to another and to promote modularity,
+we make use of several interfaces.  Please reference :ref:`Note on Architecture <architecture>`
+for more details on how to add or amend a backend client.
 
 Design documents
 ----------------

src/compas_fab/ghpython/components/COMPAS FAB_0.16.0.ghpy

@@ -0,0 +1,25 @@
+"""
+Add an attached collision mesh to the robot.
+
+COMPAS FAB v0.17.0
+"""
+from ghpythonlib.componentbase import executingcomponent as component
+
+from compas_rhino.geometry import RhinoMesh
+from compas_fab.robots import AttachedCollisionMesh
+from compas_fab.robots import CollisionMesh
+
+
+class AttachedCollisionMeshComponent(component):
+    def RunScript(self, scene, mesh, identifier, link_name, touch_links, add, remove):
+        attached_collision_mesh = None
+        if scene and mesh and identifier and link_name:
+            compas_mesh = RhinoMesh.from_geometry(mesh).to_compas()
+            collision_mesh = CollisionMesh(compas_mesh, identifier)
+            attached_collision_mesh = AttachedCollisionMesh(collision_mesh, link_name, touch_links)
+            if add:
+                scene.add_attached_collision_mesh(attached_collision_mesh)
+            if remove:
+                scene.remove_attached_collision_mesh(identifier)
+                scene.remove_collision_mesh(identifier)
+        return attached_collision_mesh