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diff --git a/python-ur-rtde.spec b/python-ur-rtde.spec new file mode 100644 index 0000000..7101ff6 --- /dev/null +++ b/python-ur-rtde.spec @@ -0,0 +1,341 @@ +%global _empty_manifest_terminate_build 0 +Name: python-ur-rtde +Version: 1.5.6 +Release: 1 +Summary: A Python interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot. +License: MIT License +URL: https://gitlab.com/sdurobotics/ur_rtde +Source0: https://mirrors.nju.edu.cn/pypi/web/packages/50/ba/106bff56ef2ad36639c5ea6258e665ce6744c589874ae1659eedec35f33a/ur_rtde-1.5.6.tar.gz + + +%description +<div align="center"> + +<img width=30% src="https://gitlab.com/sdurobotics/ur_rtde/-/raw/master/doc/_static/ur_rtde_logo.png"> +</div> + +<div align="center"> + +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://pypi.org/project/ur-rtde/) +<br> +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +</div> + +A C++ interface for controlling and receiving data from a UR robot using the +[Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) + interface of the robot. The interface can also be used with python, through the provided python bindings. + +### Key Features ### + * Fast and lightweight interface for programming UR robots. + * Uses the [Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) of the robot. + * Execute with real-time priority on operating systems with a real-time kernel, see the [Real-time Setup Guide](https://sdurobotics.gitlab.io/ur_rtde/guides/guides.html#realtime-setup-guide) + * Available on multiple platforms (Linux, Windows, macOS) + * Can be used from C++ and Python. + * Relies only on STL datatypes and can be used with various robot frameworks. + * Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47]) + * Use it with the UR's [ExternalControl UR Cap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap), + download it [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/resources/externalcontrol-1.0.5.urcap) see + how to install it on the robot [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md). + In order to setup ur_rtde for using it see [here](https://sdurobotics.gitlab.io/ur_rtde/examples/examples.html#use-with-externalcontrol-ur-cap). + * Easy to install and setup. + +### Documentation ### +Documentation with installation and build instructions, examples and API resides at <https://sdurobotics.gitlab.io/ur_rtde/> + +### Quick Install ## + +#### From PPA: #### +If you are on Ubuntu, you can install ur_rtde with: + + sudo add-apt-repository ppa:sdurobotics/ur-rtde + sudo apt-get update + sudo apt install librtde librtde-dev + +#### From PyPi: #### +If you only want to the use the Python interface, you can install ur_rtde through pip: + + pip3 install ur_rtde + +:warning: Notice! Make sure your pip version >=**19.3**, otherwise the install might fail. + +#### Prebuilt python wheels support matrix: #### +| | macOS Intel | macOS Apple Silicon | Windows 64bit | Windows 32bit | Windows Arm64 | manylinux x86_64 | manylinux i686 | manylinux aarch64 | manylinux ppc64le | manylinux s390x | +|---------------|----|-----|-----|---|-----|---|---|---|-----|-----| +| CPython 3.6 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.7 | ✅ | :x: | ✅ | :x: | :x:| ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.8 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.9 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.10 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.11 | ✅ | :x: | :x: | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| PyPy 3.7 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.8 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.9 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | + +<sup>¹ Windows arm64 support is experimental.</sup><br> + +### Dependencies ### +* [Boost](https://www.boost.org/) +* [pybind11](https://github.com/pybind/pybind11) (Optional) + +### Compatible Robots ### + +* All CB-Series from CB3/CB3.1 software 3.3 +* All e-Series + +### Compatible Operating Systems ### +Currently tested on: + +* Ubuntu 16.04 (Xenial Xerus) +* Ubuntu 18.04 (Bionic Beaver) +* Ubuntu 20.04 (Focal Fossa) +* Ubuntu 22.04 (Jammy Jellyfish) +* macOS 10.14 (Mojave) +* Windows 10 Pro x64 + +### Contact ### +If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig <anpl@mmmi.sdu.dk> or create an issue [here](https://gitlab.com/caro-sdu/ur_rtde/issues). + + +%package -n python3-ur-rtde +Summary: A Python interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot. +Provides: python-ur-rtde +BuildRequires: python3-devel +BuildRequires: python3-setuptools +BuildRequires: python3-pip +BuildRequires: python3-cffi +BuildRequires: gcc +BuildRequires: gdb +%description -n python3-ur-rtde +<div align="center"> + +<img width=30% src="https://gitlab.com/sdurobotics/ur_rtde/-/raw/master/doc/_static/ur_rtde_logo.png"> +</div> + +<div align="center"> + +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://pypi.org/project/ur-rtde/) +<br> +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +</div> + +A C++ interface for controlling and receiving data from a UR robot using the +[Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) + interface of the robot. The interface can also be used with python, through the provided python bindings. + +### Key Features ### + * Fast and lightweight interface for programming UR robots. + * Uses the [Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) of the robot. + * Execute with real-time priority on operating systems with a real-time kernel, see the [Real-time Setup Guide](https://sdurobotics.gitlab.io/ur_rtde/guides/guides.html#realtime-setup-guide) + * Available on multiple platforms (Linux, Windows, macOS) + * Can be used from C++ and Python. + * Relies only on STL datatypes and can be used with various robot frameworks. + * Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47]) + * Use it with the UR's [ExternalControl UR Cap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap), + download it [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/resources/externalcontrol-1.0.5.urcap) see + how to install it on the robot [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md). + In order to setup ur_rtde for using it see [here](https://sdurobotics.gitlab.io/ur_rtde/examples/examples.html#use-with-externalcontrol-ur-cap). + * Easy to install and setup. + +### Documentation ### +Documentation with installation and build instructions, examples and API resides at <https://sdurobotics.gitlab.io/ur_rtde/> + +### Quick Install ## + +#### From PPA: #### +If you are on Ubuntu, you can install ur_rtde with: + + sudo add-apt-repository ppa:sdurobotics/ur-rtde + sudo apt-get update + sudo apt install librtde librtde-dev + +#### From PyPi: #### +If you only want to the use the Python interface, you can install ur_rtde through pip: + + pip3 install ur_rtde + +:warning: Notice! Make sure your pip version >=**19.3**, otherwise the install might fail. + +#### Prebuilt python wheels support matrix: #### +| | macOS Intel | macOS Apple Silicon | Windows 64bit | Windows 32bit | Windows Arm64 | manylinux x86_64 | manylinux i686 | manylinux aarch64 | manylinux ppc64le | manylinux s390x | +|---------------|----|-----|-----|---|-----|---|---|---|-----|-----| +| CPython 3.6 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.7 | ✅ | :x: | ✅ | :x: | :x:| ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.8 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.9 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.10 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.11 | ✅ | :x: | :x: | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| PyPy 3.7 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.8 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.9 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | + +<sup>¹ Windows arm64 support is experimental.</sup><br> + +### Dependencies ### +* [Boost](https://www.boost.org/) +* [pybind11](https://github.com/pybind/pybind11) (Optional) + +### Compatible Robots ### + +* All CB-Series from CB3/CB3.1 software 3.3 +* All e-Series + +### Compatible Operating Systems ### +Currently tested on: + +* Ubuntu 16.04 (Xenial Xerus) +* Ubuntu 18.04 (Bionic Beaver) +* Ubuntu 20.04 (Focal Fossa) +* Ubuntu 22.04 (Jammy Jellyfish) +* macOS 10.14 (Mojave) +* Windows 10 Pro x64 + +### Contact ### +If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig <anpl@mmmi.sdu.dk> or create an issue [here](https://gitlab.com/caro-sdu/ur_rtde/issues). + + +%package help +Summary: Development documents and examples for ur-rtde +Provides: python3-ur-rtde-doc +%description help +<div align="center"> + +<img width=30% src="https://gitlab.com/sdurobotics/ur_rtde/-/raw/master/doc/_static/ur_rtde_logo.png"> +</div> + +<div align="center"> + +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://pypi.org/project/ur-rtde/) +<br> +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +[](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest) +</div> + +A C++ interface for controlling and receiving data from a UR robot using the +[Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) + interface of the robot. The interface can also be used with python, through the provided python bindings. + +### Key Features ### + * Fast and lightweight interface for programming UR robots. + * Uses the [Real-Time Data Exchange (RTDE)](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/) of the robot. + * Execute with real-time priority on operating systems with a real-time kernel, see the [Real-time Setup Guide](https://sdurobotics.gitlab.io/ur_rtde/guides/guides.html#realtime-setup-guide) + * Available on multiple platforms (Linux, Windows, macOS) + * Can be used from C++ and Python. + * Relies only on STL datatypes and can be used with various robot frameworks. + * Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47]) + * Use it with the UR's [ExternalControl UR Cap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap), + download it [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/resources/externalcontrol-1.0.5.urcap) see + how to install it on the robot [here](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/install_urcap_e_series.md). + In order to setup ur_rtde for using it see [here](https://sdurobotics.gitlab.io/ur_rtde/examples/examples.html#use-with-externalcontrol-ur-cap). + * Easy to install and setup. + +### Documentation ### +Documentation with installation and build instructions, examples and API resides at <https://sdurobotics.gitlab.io/ur_rtde/> + +### Quick Install ## + +#### From PPA: #### +If you are on Ubuntu, you can install ur_rtde with: + + sudo add-apt-repository ppa:sdurobotics/ur-rtde + sudo apt-get update + sudo apt install librtde librtde-dev + +#### From PyPi: #### +If you only want to the use the Python interface, you can install ur_rtde through pip: + + pip3 install ur_rtde + +:warning: Notice! Make sure your pip version >=**19.3**, otherwise the install might fail. + +#### Prebuilt python wheels support matrix: #### +| | macOS Intel | macOS Apple Silicon | Windows 64bit | Windows 32bit | Windows Arm64 | manylinux x86_64 | manylinux i686 | manylinux aarch64 | manylinux ppc64le | manylinux s390x | +|---------------|----|-----|-----|---|-----|---|---|---|-----|-----| +| CPython 3.6 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.7 | ✅ | :x: | ✅ | :x: | :x:| ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.8 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.9 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.10 | ✅ | :x: | ✅ | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| CPython 3.11 | ✅ | :x: | :x: | :x: | ✅¹ | ✅ | ✅ | ✅ | ✅ | ✅ | +| PyPy 3.7 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.8 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | +| PyPy 3.9 v7.3 | ✅ | :x: | ✅ | :x: | :x: | ✅ | ✅ | ✅ | :x: | :x: | + +<sup>¹ Windows arm64 support is experimental.</sup><br> + +### Dependencies ### +* [Boost](https://www.boost.org/) +* [pybind11](https://github.com/pybind/pybind11) (Optional) + +### Compatible Robots ### + +* All CB-Series from CB3/CB3.1 software 3.3 +* All e-Series + +### Compatible Operating Systems ### +Currently tested on: + +* Ubuntu 16.04 (Xenial Xerus) +* Ubuntu 18.04 (Bionic Beaver) +* Ubuntu 20.04 (Focal Fossa) +* Ubuntu 22.04 (Jammy Jellyfish) +* macOS 10.14 (Mojave) +* Windows 10 Pro x64 + +### Contact ### +If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig <anpl@mmmi.sdu.dk> or create an issue [here](https://gitlab.com/caro-sdu/ur_rtde/issues). + + +%prep +%autosetup -n ur-rtde-1.5.6 + +%build +%py3_build + +%install +%py3_install +install -d -m755 %{buildroot}/%{_pkgdocdir} +if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi +if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi +if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi +if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi +pushd %{buildroot} +if [ -d usr/lib ]; then + find usr/lib -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/lib64 ]; then + find usr/lib64 -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/bin ]; then + find usr/bin -type f -printf "/%h/%f\n" >> filelist.lst +fi +if [ -d usr/sbin ]; then + find usr/sbin -type f -printf "/%h/%f\n" >> filelist.lst +fi +touch doclist.lst +if [ -d usr/share/man ]; then + find usr/share/man -type f -printf "/%h/%f.gz\n" >> doclist.lst +fi +popd +mv %{buildroot}/filelist.lst . +mv %{buildroot}/doclist.lst . + +%files -n python3-ur-rtde -f filelist.lst +%dir %{python3_sitearch}/* + +%files help -f doclist.lst +%{_docdir}/* + +%changelog +* Wed Apr 12 2023 Python_Bot <Python_Bot@openeuler.org> - 1.5.6-1 +- Package Spec generated |