python-ur-rtde.spec


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%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>
&nbsp;
<div align="center">

[![build status](https://gitlab.com/sdurobotics/ur_rtde/badges/master/pipeline.svg)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![pypi](https://badgen.net/pypi/v/ur_rtde)](https://pypi.org/project/ur-rtde/)
<br>
[![ps-3.7.2](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_7_2.svg?job=polyscope-3.7.2)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-3.15.8](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_15_8.svg?job=polyscope-3.15.8)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.5.1](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_5_1.svg?job=polyscope-5.5.1)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.12.4](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_12_4.svg?job=polyscope-5.12.4)](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>
&nbsp;
<div align="center">

[![build status](https://gitlab.com/sdurobotics/ur_rtde/badges/master/pipeline.svg)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![pypi](https://badgen.net/pypi/v/ur_rtde)](https://pypi.org/project/ur-rtde/)
<br>
[![ps-3.7.2](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_7_2.svg?job=polyscope-3.7.2)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-3.15.8](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_15_8.svg?job=polyscope-3.15.8)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.5.1](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_5_1.svg?job=polyscope-5.5.1)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.12.4](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_12_4.svg?job=polyscope-5.12.4)](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>
&nbsp;
<div align="center">

[![build status](https://gitlab.com/sdurobotics/ur_rtde/badges/master/pipeline.svg)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![pypi](https://badgen.net/pypi/v/ur_rtde)](https://pypi.org/project/ur-rtde/)
<br>
[![ps-3.7.2](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_7_2.svg?job=polyscope-3.7.2)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-3.15.8](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_3_15_8.svg?job=polyscope-3.15.8)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.5.1](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_5_1.svg?job=polyscope-5.5.1)](https://gitlab.com/sdurobotics/ur_rtde/-/pipelines/latest)
[![ps-5.12.4](https://gitlab.com/sdurobotics/ur_rtde/-/jobs/artifacts/master/raw/ps_5_12_4.svg?job=polyscope-5.12.4)](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
* Tue Apr 25 2023 Python_Bot <Python_Bot@openeuler.org> - 1.5.6-1
- Package Spec generated