diff --git a/CMakeLists.txt b/CMakeLists.txt index b2e6832..aa9bff5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,29 +1,28 @@ cmake_minimum_required(VERSION 3.8) project(pick_place_fsm) -set(CMAKE_CXX_STANDARD 20) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) -find_package(rclcpp_action REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(eddie_ros REQUIRED) # ← only for .action headers +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/CaptureReference.srv" +) + +install(PROGRAMS + src/pick_place.py + DESTINATION lib/${PROJECT_NAME} + RENAME pick_place +) -# ---------- CLIENT NODE ---------- -add_executable(pick_place_fsm_mock - src/pick_place_fsm_mock.cpp) -ament_target_dependencies(pick_place_fsm_mock - rclcpp rclcpp_action geometry_msgs eddie_ros) -install(TARGETS pick_place_fsm_mock - DESTINATION lib/${PROJECT_NAME}) +install(PROGRAMS + include/fsm_pick_place.py + src/error_handling.py + DESTINATION lib/${PROJECT_NAME} +) -# ---------- MOCK SERVER NODE ---------- -add_executable(mock_servers_only - src/mock_servers_only.cpp) -ament_target_dependencies(mock_servers_only - rclcpp rclcpp_action eddie_ros) # geometry_msgs pulled in by eddie_ros -install(TARGETS mock_servers_only - DESTINATION lib/${PROJECT_NAME}) +install( + DIRECTORY include/ + DESTINATION include +) ament_package() \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..07a5b19 --- /dev/null +++ b/README.md @@ -0,0 +1,59 @@ +# Pick and Place FSM (Python) + +This package contains a Python pick-and-place FSM client that talks to the arm/gripper action servers and delegates arm motion to the spline planner. + +## FSM Overview + +![FSM diagram](images/fsm_diagram.png) + +States (see `include/pick_place_py.fsm`): +- `S_IDLE` → waits for start +- `S_POSE_DETECTION` → listens for `/object_pose` +- `S_MOVE_ARM` → send arm motion (via spline planner action) +- `S_CLOSE_GRIPPER` → close on object +- `S_OPEN_GRIPPER` → release object +- `S_FINISHED` → success path +- `S_MOVE_ARM_HOME` → return home +- `S_EXIT` → terminal state + +Key events: `E_START`, `E_PERCEPTION_POSE`, `E_PICK_MOVE_DONE`, `E_PLACE_MOVE_DONE`, `E_GRIPPER_CLOSE_DONE_OK`, `E_OPEN_DONE_OK`, `E_HOME_DONE_OK`, `E_ARM_MOVE_DONE_FAIL`, `E_HOME_DONE_FAIL`, `E_PERCEPTION_FAIL`, `E_GO_HOME`. + +## Runtime Topics & Actions +- Subscribes: `/object_pose` (`geometry_msgs/PoseStamped`) +- Actions (real or mock): + - `right_arm/arm_control` (`eddie_ros/ArmControl`) + - `right_arm/gripper_control` (`eddie_ros/GripperControl`) +- Planner: `spline_plan` (`cartesian_planner/PlanSpline`) for generating/executing waypoints + +## Object Slip Detection +- Reference capture +After the gripper successfully finishes a close action, the pick-and-place FSM calls the service +/gripper_slip/capture_reference. +At that moment, the slip detector latches the current measured gripper opening derived from the gripper joint encoder in /joint_states. +The detector converts the joint position of eddie_right_arm_robotiq_85_left_knuckle_joint +into a percentage opening (0–100 %) and stores this single value as the reference position. + +- Motion check +During subsequent motion, the slip detector continuously listens to /joint_states and updates the current measured gripper opening in percent. +The detector compares each incoming measurement against the stored reference. +If the relative drift between the current value and the reference exceeds a configurable threshold (drift_thresh_percent), the node flags a slip event and publishes True on /gripper_slip + +drift : |current − reference| / reference + +## Quick Start +``` +colcon build +source install/setup.bash +# Eddie interface depending on simulation or real hardware + +ros2 run cartesian_planner spline_planner # planner +ros2 run pick_place_fsm pick_place # FSM client +ros2 run pick_place_fsm error_handling.py # object slip detection +``` +### Refer [Detail steps](how_to_run.md) on how to run with complete robot setup + +## Regenerating FSM Code(.fsm) +Requires `coord-dsl`: +``` +textx generate include/pick_place_py.fsm --target fsm_py -o include/fsm_pick_place.py +``` diff --git a/build/.built_by b/build/.built_by deleted file mode 100644 index 06e74ac..0000000 --- a/build/.built_by +++ /dev/null @@ -1 +0,0 @@ -colcon diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/build/pick_place_fsm/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2 b/build/pick_place_fsm/.cmake/api/v1/query/client-colcon-cmake/codemodel-v2 deleted file mode 100644 index e69de29..0000000 diff --git a/build/pick_place_fsm/AMENT_IGNORE b/build/pick_place_fsm/AMENT_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/build/pick_place_fsm/CMakeCache.txt b/build/pick_place_fsm/CMakeCache.txt deleted file mode 100644 index ca62c00..0000000 --- a/build/pick_place_fsm/CMakeCache.txt +++ /dev/null @@ -1,705 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/wasim/FSM/build/pick_place_fsm -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - -//Generate environment files in the CMAKE_INSTALL_PREFIX -AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF - -//Generate environment files in the package share folder -AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON - -//Generate marker file containing the parent prefix path -AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON - -//Replace the CMake install command with a custom implementation -// using symlinks instead of copying resources -AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF - -//Generate an uninstall target to revert the effects of the install -// step -AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON - -//The path where test results are generated -AMENT_TEST_RESULTS_DIR:PATH=/home/wasim/FSM/build/pick_place_fsm/test_results - -//Build the testing tree. -BUILD_TESTING:BOOL=ON - -//Path to a program. -CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line - -//Path to a program. -CMAKE_AR:FILEPATH=/usr/bin/ar - -//Choose the type of build, options are: None Debug Release RelWithDebInfo -// MinSizeRel ... -CMAKE_BUILD_TYPE:STRING= - -//Enable/Disable color output during build. -CMAKE_COLOR_MAKEFILE:BOOL=ON - -//CXX compiler -CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-13 - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-13 - -//Flags used by the CXX compiler during all build types. -CMAKE_CXX_FLAGS:STRING= - -//Flags used by the CXX compiler during DEBUG builds. -CMAKE_CXX_FLAGS_DEBUG:STRING=-g - -//Flags used by the CXX compiler during MINSIZEREL builds. -CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the CXX compiler during RELEASE builds. -CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - -//Flags used by the CXX compiler during RELWITHDEBINFO builds. -CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG - -//C compiler -CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-13 - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-13 - -//Flags used by the C compiler during all build types. -CMAKE_C_FLAGS:STRING= - -//Flags used by the C compiler during DEBUG builds. -CMAKE_C_FLAGS_DEBUG:STRING=-g - -//Flags used by the C compiler during MINSIZEREL builds. -CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the C compiler during RELEASE builds. -CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - -//Flags used by the C compiler during RELWITHDEBINFO builds. -CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG - -//Path to a program. -CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND - -//Flags used by the linker during all build types. -CMAKE_EXE_LINKER_FLAGS:STRING= - -//Flags used by the linker during DEBUG builds. -CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during MINSIZEREL builds. -CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during RELEASE builds. -CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during RELWITHDEBINFO builds. -CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Enable/Disable output of compile commands during generation. -CMAKE_EXPORT_COMPILE_COMMANDS:BOOL= - -//Value Computed by CMake. -CMAKE_FIND_PACKAGE_REDIRECTS_DIR:STATIC=/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/pkgRedirects - -//Install path prefix, prepended onto install directories. -CMAKE_INSTALL_PREFIX:PATH=/home/wasim/FSM/install/pick_place_fsm - -//Path to a program. -CMAKE_LINKER:FILEPATH=/usr/bin/ld - -//Path to a program. -CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake - -//Flags used by the linker during the creation of modules during -// all build types. -CMAKE_MODULE_LINKER_FLAGS:STRING= - -//Flags used by the linker during the creation of modules during -// DEBUG builds. -CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during the creation of modules during -// MINSIZEREL builds. -CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during the creation of modules during -// RELEASE builds. -CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during the creation of modules during -// RELWITHDEBINFO builds. -CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Path to a program. -CMAKE_NM:FILEPATH=/usr/bin/nm - -//Path to a program. -CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy - -//Path to a program. -CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump - -//Value Computed by CMake -CMAKE_PROJECT_DESCRIPTION:STATIC= - -//Value Computed by CMake -CMAKE_PROJECT_HOMEPAGE_URL:STATIC= - -//Value Computed by CMake -CMAKE_PROJECT_NAME:STATIC=pick_place_fsm - -//Path to a program. -CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib - -//Path to a program. -CMAKE_READELF:FILEPATH=/usr/bin/readelf - -//Flags used by the linker during the creation of shared libraries -// during all build types. -CMAKE_SHARED_LINKER_FLAGS:STRING= - -//Flags used by the linker during the creation of shared libraries -// during DEBUG builds. -CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during the creation of shared libraries -// during MINSIZEREL builds. -CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during the creation of shared libraries -// during RELEASE builds. -CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during the creation of shared libraries -// during RELWITHDEBINFO builds. -CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//If set, runtime paths are not added when installing shared libraries, -// but are added when building. -CMAKE_SKIP_INSTALL_RPATH:BOOL=NO - -//If set, runtime paths are not added when using shared libraries. -CMAKE_SKIP_RPATH:BOOL=NO - -//Flags used by the linker during the creation of static libraries -// during all build types. -CMAKE_STATIC_LINKER_FLAGS:STRING= - -//Flags used by the linker during the creation of static libraries -// during DEBUG builds. -CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= - -//Flags used by the linker during the creation of static libraries -// during MINSIZEREL builds. -CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= - -//Flags used by the linker during the creation of static libraries -// during RELEASE builds. -CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= - -//Flags used by the linker during the creation of static libraries -// during RELWITHDEBINFO builds. -CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= - -//Path to a program. -CMAKE_STRIP:FILEPATH=/usr/bin/strip - -//Path to a program. -CMAKE_TAPI:FILEPATH=CMAKE_TAPI-NOTFOUND - -//If this value is on, makefiles will be generated without the -// .SILENT directive, and all commands will be echoed to the console -// during the make. This is useful for debugging only. With Visual -// Studio IDE projects all commands are done without /nologo. -CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE - -//Path to a library. -FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND - -//Path to a library. -FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/jazzy/lib/libfastcdr.so - -//Path to a file. -FastRTPS_INCLUDE_DIR:PATH=/opt/ros/jazzy/include - -//Path to a library. -FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND - -//Path to a library. -FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/jazzy/lib/libfastrtps.so - -//Path to a library. -OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so - -//Path to a file. -OPENSSL_INCLUDE_DIR:PATH=/usr/include - -//Path to a library. -OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so - -//Arguments to supply to pkg-config -PKG_CONFIG_ARGN:STRING= - -//pkg-config executable -PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config - -//Name of the computer/site where compile is being run -SITE:STRING=wasim-IdeaPad-5-Pro-16ACH6 - -//The directory containing a CMake configuration file for TinyXML2. -TinyXML2_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/tinyxml2 - -//Path to a library. -_lib:FILEPATH=/opt/ros/jazzy/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so - -//The directory containing a CMake configuration file for action_msgs. -action_msgs_DIR:PATH=/opt/ros/jazzy/share/action_msgs/cmake - -//The directory containing a CMake configuration file for ament_cmake. -ament_cmake_DIR:PATH=/opt/ros/jazzy/share/ament_cmake/cmake - -//The directory containing a CMake configuration file for ament_cmake_core. -ament_cmake_core_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_core/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_definitions. -ament_cmake_export_definitions_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_definitions/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_dependencies. -ament_cmake_export_dependencies_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_dependencies/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_include_directories. -ament_cmake_export_include_directories_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_include_directories/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_interfaces. -ament_cmake_export_interfaces_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_interfaces/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_libraries. -ament_cmake_export_libraries_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_libraries/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_link_flags. -ament_cmake_export_link_flags_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_link_flags/cmake - -//The directory containing a CMake configuration file for ament_cmake_export_targets. -ament_cmake_export_targets_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_export_targets/cmake - -//The directory containing a CMake configuration file for ament_cmake_gen_version_h. -ament_cmake_gen_version_h_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_gen_version_h/cmake - -//The directory containing a CMake configuration file for ament_cmake_include_directories. -ament_cmake_include_directories_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_include_directories/cmake - -//The directory containing a CMake configuration file for ament_cmake_libraries. -ament_cmake_libraries_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_libraries/cmake - -//The directory containing a CMake configuration file for ament_cmake_python. -ament_cmake_python_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_python/cmake - -//The directory containing a CMake configuration file for ament_cmake_target_dependencies. -ament_cmake_target_dependencies_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_target_dependencies/cmake - -//The directory containing a CMake configuration file for ament_cmake_test. -ament_cmake_test_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_test/cmake - -//The directory containing a CMake configuration file for ament_cmake_version. -ament_cmake_version_DIR:PATH=/opt/ros/jazzy/share/ament_cmake_version/cmake - -//The directory containing a CMake configuration file for ament_index_cpp. -ament_index_cpp_DIR:PATH=/opt/ros/jazzy/share/ament_index_cpp/cmake - -//The directory containing a CMake configuration file for builtin_interfaces. -builtin_interfaces_DIR:PATH=/opt/ros/jazzy/share/builtin_interfaces/cmake - -//The directory containing a CMake configuration file for eddie_ros. -eddie_ros_DIR:PATH=eddie_ros_DIR-NOTFOUND - -//The directory containing a CMake configuration file for fastcdr. -fastcdr_DIR:PATH=/opt/ros/jazzy/lib/cmake/fastcdr - -//The directory containing a CMake configuration file for fastrtps. -fastrtps_DIR:PATH=/opt/ros/jazzy/share/fastrtps/cmake - -//The directory containing a CMake configuration file for fastrtps_cmake_module. -fastrtps_cmake_module_DIR:PATH=/opt/ros/jazzy/share/fastrtps_cmake_module/cmake - -//The directory containing a CMake configuration file for foonathan_memory. -foonathan_memory_DIR:PATH=/opt/ros/jazzy/lib/foonathan_memory/cmake - -//The directory containing a CMake configuration file for geometry_msgs. -geometry_msgs_DIR:PATH=/opt/ros/jazzy/share/geometry_msgs/cmake - -//The directory containing a CMake configuration file for libstatistics_collector. -libstatistics_collector_DIR:PATH=/opt/ros/jazzy/share/libstatistics_collector/cmake - -//Value Computed by CMake -pick_place_fsm_BINARY_DIR:STATIC=/home/wasim/FSM/build/pick_place_fsm - -//Value Computed by CMake -pick_place_fsm_IS_TOP_LEVEL:STATIC=ON - -//Value Computed by CMake -pick_place_fsm_SOURCE_DIR:STATIC=/home/wasim/FSM - -//Path to a library. -pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so - -//Path to a library. -pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so - -//The directory containing a CMake configuration file for rcl. -rcl_DIR:PATH=/opt/ros/jazzy/share/rcl/cmake - -//The directory containing a CMake configuration file for rcl_action. -rcl_action_DIR:PATH=/opt/ros/jazzy/share/rcl_action/cmake - -//The directory containing a CMake configuration file for rcl_interfaces. -rcl_interfaces_DIR:PATH=/opt/ros/jazzy/share/rcl_interfaces/cmake - -//The directory containing a CMake configuration file for rcl_logging_interface. -rcl_logging_interface_DIR:PATH=/opt/ros/jazzy/share/rcl_logging_interface/cmake - -//The directory containing a CMake configuration file for rcl_yaml_param_parser. -rcl_yaml_param_parser_DIR:PATH=/opt/ros/jazzy/share/rcl_yaml_param_parser/cmake - -//The directory containing a CMake configuration file for rclcpp. -rclcpp_DIR:PATH=/opt/ros/jazzy/share/rclcpp/cmake - -//The directory containing a CMake configuration file for rclcpp_action. -rclcpp_action_DIR:PATH=/opt/ros/jazzy/share/rclcpp_action/cmake - -//The directory containing a CMake configuration file for rcpputils. -rcpputils_DIR:PATH=/opt/ros/jazzy/share/rcpputils/cmake - -//The directory containing a CMake configuration file for rcutils. -rcutils_DIR:PATH=/opt/ros/jazzy/share/rcutils/cmake - -//The directory containing a CMake configuration file for rmw. -rmw_DIR:PATH=/opt/ros/jazzy/share/rmw/cmake - -//The directory containing a CMake configuration file for rmw_dds_common. -rmw_dds_common_DIR:PATH=/opt/ros/jazzy/share/rmw_dds_common/cmake - -//The directory containing a CMake configuration file for rmw_fastrtps_cpp. -rmw_fastrtps_cpp_DIR:PATH=/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake - -//The directory containing a CMake configuration file for rmw_fastrtps_shared_cpp. -rmw_fastrtps_shared_cpp_DIR:PATH=/opt/ros/jazzy/share/rmw_fastrtps_shared_cpp/cmake - -//The directory containing a CMake configuration file for rmw_implementation. -rmw_implementation_DIR:PATH=/opt/ros/jazzy/share/rmw_implementation/cmake - -//The directory containing a CMake configuration file for rmw_implementation_cmake. -rmw_implementation_cmake_DIR:PATH=/opt/ros/jazzy/share/rmw_implementation_cmake/cmake - -//The directory containing a CMake configuration file for rosgraph_msgs. -rosgraph_msgs_DIR:PATH=/opt/ros/jazzy/share/rosgraph_msgs/cmake - -//The directory containing a CMake configuration file for rosidl_core_runtime. -rosidl_core_runtime_DIR:PATH=/opt/ros/jazzy/share/rosidl_core_runtime/cmake - -//The directory containing a CMake configuration file for rosidl_default_runtime. -rosidl_default_runtime_DIR:PATH=/opt/ros/jazzy/share/rosidl_default_runtime/cmake - -//The directory containing a CMake configuration file for rosidl_dynamic_typesupport. -rosidl_dynamic_typesupport_DIR:PATH=/opt/ros/jazzy/share/rosidl_dynamic_typesupport/cmake - -//The directory containing a CMake configuration file for rosidl_generator_c. -rosidl_generator_c_DIR:PATH=/opt/ros/jazzy/share/rosidl_generator_c/cmake - -//The directory containing a CMake configuration file for rosidl_generator_cpp. -rosidl_generator_cpp_DIR:PATH=/opt/ros/jazzy/share/rosidl_generator_cpp/cmake - -//The directory containing a CMake configuration file for rosidl_generator_type_description. -rosidl_generator_type_description_DIR:PATH=/opt/ros/jazzy/share/rosidl_generator_type_description/cmake - -//The directory containing a CMake configuration file for rosidl_runtime_c. -rosidl_runtime_c_DIR:PATH=/opt/ros/jazzy/share/rosidl_runtime_c/cmake - -//The directory containing a CMake configuration file for rosidl_runtime_cpp. -rosidl_runtime_cpp_DIR:PATH=/opt/ros/jazzy/share/rosidl_runtime_cpp/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_c. -rosidl_typesupport_c_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_c/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_cpp. -rosidl_typesupport_cpp_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_cpp/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c. -rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_fastrtps_c/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp. -rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_fastrtps_cpp/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_interface. -rosidl_typesupport_interface_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_interface/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c. -rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_introspection_c/cmake - -//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp. -rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/jazzy/share/rosidl_typesupport_introspection_cpp/cmake - -//The directory containing a CMake configuration file for service_msgs. -service_msgs_DIR:PATH=/opt/ros/jazzy/share/service_msgs/cmake - -//The directory containing a CMake configuration file for statistics_msgs. -statistics_msgs_DIR:PATH=/opt/ros/jazzy/share/statistics_msgs/cmake - -//The directory containing a CMake configuration file for std_msgs. -std_msgs_DIR:PATH=/opt/ros/jazzy/share/std_msgs/cmake - -//The directory containing a CMake configuration file for tracetools. -tracetools_DIR:PATH=/opt/ros/jazzy/share/tracetools/cmake - -//The directory containing a CMake configuration file for type_description_interfaces. -type_description_interfaces_DIR:PATH=/opt/ros/jazzy/share/type_description_interfaces/cmake - -//The directory containing a CMake configuration file for unique_identifier_msgs. -unique_identifier_msgs_DIR:PATH=/opt/ros/jazzy/share/unique_identifier_msgs/cmake - - -######################## -# INTERNAL cache entries -######################## - -//ADVANCED property for variable: CMAKE_ADDR2LINE -CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_AR -CMAKE_AR-ADVANCED:INTERNAL=1 -//This is the directory where this CMakeCache.txt was created -CMAKE_CACHEFILE_DIR:INTERNAL=/home/wasim/FSM/build/pick_place_fsm -//Major version of cmake used to create the current loaded cache -CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 -//Minor version of cmake used to create the current loaded cache -CMAKE_CACHE_MINOR_VERSION:INTERNAL=28 -//Patch version of cmake used to create the current loaded cache -CMAKE_CACHE_PATCH_VERSION:INTERNAL=3 -//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE -CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1 -//Path to CMake executable. -CMAKE_COMMAND:INTERNAL=/usr/bin/cmake -//Path to cpack program executable. -CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack -//Path to ctest program executable. -CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest -//ADVANCED property for variable: CMAKE_CXX_COMPILER -CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR -CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB -CMAKE_CXX_COMPILER_RANLIB-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_FLAGS -CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG -CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL -CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE -CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO -CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_COMPILER -CMAKE_C_COMPILER-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_COMPILER_AR -CMAKE_C_COMPILER_AR-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_COMPILER_RANLIB -CMAKE_C_COMPILER_RANLIB-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_FLAGS -CMAKE_C_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_FLAGS_DEBUG -CMAKE_C_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_FLAGS_MINSIZEREL -CMAKE_C_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_FLAGS_RELEASE -CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO -CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_DLLTOOL -CMAKE_DLLTOOL-ADVANCED:INTERNAL=1 -//Executable file format -CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF -//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS -CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG -CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL -CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE -CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO -CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS -CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1 -//Name of external makefile project generator. -CMAKE_EXTRA_GENERATOR:INTERNAL= -//Name of generator. -CMAKE_GENERATOR:INTERNAL=Unix Makefiles -//Generator instance identifier. -CMAKE_GENERATOR_INSTANCE:INTERNAL= -//Name of generator platform. -CMAKE_GENERATOR_PLATFORM:INTERNAL= -//Name of generator toolset. -CMAKE_GENERATOR_TOOLSET:INTERNAL= -//Source directory with the top level CMakeLists.txt file for this -// project -CMAKE_HOME_DIRECTORY:INTERNAL=/home/wasim/FSM -//Install .so files without execute permission. -CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1 -//ADVANCED property for variable: CMAKE_LINKER -CMAKE_LINKER-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MAKE_PROGRAM -CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS -CMAKE_MODULE_LINKER_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_DEBUG -CMAKE_MODULE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL -CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELEASE -CMAKE_MODULE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO -CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_NM -CMAKE_NM-ADVANCED:INTERNAL=1 -//number of local generators -CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=1 -//ADVANCED property for variable: CMAKE_OBJCOPY -CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_OBJDUMP -CMAKE_OBJDUMP-ADVANCED:INTERNAL=1 -//Platform information initialized -CMAKE_PLATFORM_INFO_INITIALIZED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_RANLIB -CMAKE_RANLIB-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_READELF -CMAKE_READELF-ADVANCED:INTERNAL=1 -//Path to CMake installation. -CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.28 -//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS -CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG -CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL -CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE -CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO -CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SKIP_INSTALL_RPATH -CMAKE_SKIP_INSTALL_RPATH-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_SKIP_RPATH -CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS -CMAKE_STATIC_LINKER_FLAGS-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_DEBUG -CMAKE_STATIC_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL -CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELEASE -CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO -CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_STRIP -CMAKE_STRIP-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: CMAKE_TAPI -CMAKE_TAPI-ADVANCED:INTERNAL=1 -//uname command -CMAKE_UNAME:INTERNAL=/usr/bin/uname -//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE -CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1 -//Details about finding FastRTPS -FIND_PACKAGE_MESSAGE_DETAILS_FastRTPS:INTERNAL=[/opt/ros/jazzy/include][/opt/ros/jazzy/lib/libfastrtps.so;/opt/ros/jazzy/lib/libfastcdr.so][v(2.13)] -//Details about finding OpenSSL -FIND_PACKAGE_MESSAGE_DETAILS_OpenSSL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libcrypto.so][/usr/include][c ][v3.0.13()] -//Details about finding Python3 -FIND_PACKAGE_MESSAGE_DETAILS_Python3:INTERNAL=[/usr/bin/python3][cfound components: Interpreter ][v3.12.3()] -//ADVANCED property for variable: OPENSSL_CRYPTO_LIBRARY -OPENSSL_CRYPTO_LIBRARY-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: OPENSSL_INCLUDE_DIR -OPENSSL_INCLUDE_DIR-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: OPENSSL_SSL_LIBRARY -OPENSSL_SSL_LIBRARY-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: PKG_CONFIG_ARGN -PKG_CONFIG_ARGN-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: PKG_CONFIG_EXECUTABLE -PKG_CONFIG_EXECUTABLE-ADVANCED:INTERNAL=1 -//linker supports push/pop state -_CMAKE_LINKER_PUSHPOP_STATE_SUPPORTED:INTERNAL=TRUE -_OPENSSL_CFLAGS:INTERNAL=-I/usr/include -_OPENSSL_CFLAGS_I:INTERNAL= -_OPENSSL_CFLAGS_OTHER:INTERNAL= -_OPENSSL_FOUND:INTERNAL=1 -_OPENSSL_INCLUDEDIR:INTERNAL=/usr/include -_OPENSSL_INCLUDE_DIRS:INTERNAL=/usr/include -_OPENSSL_LDFLAGS:INTERNAL=-L/usr/lib/x86_64-linux-gnu;-lssl;-lcrypto -_OPENSSL_LDFLAGS_OTHER:INTERNAL= -_OPENSSL_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu -_OPENSSL_LIBRARIES:INTERNAL=ssl;crypto -_OPENSSL_LIBRARY_DIRS:INTERNAL=/usr/lib/x86_64-linux-gnu -_OPENSSL_LIBS:INTERNAL= -_OPENSSL_LIBS_L:INTERNAL= -_OPENSSL_LIBS_OTHER:INTERNAL= -_OPENSSL_LIBS_PATHS:INTERNAL= -_OPENSSL_MODULE_NAME:INTERNAL=openssl -_OPENSSL_PREFIX:INTERNAL=/usr -_OPENSSL_STATIC_CFLAGS:INTERNAL=-I/usr/include -_OPENSSL_STATIC_CFLAGS_I:INTERNAL= -_OPENSSL_STATIC_CFLAGS_OTHER:INTERNAL= -_OPENSSL_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include -_OPENSSL_STATIC_LDFLAGS:INTERNAL=-L/usr/lib/x86_64-linux-gnu;-lssl;-L/usr/lib/x86_64-linux-gnu;-ldl;-pthread;-lcrypto;-ldl;-pthread -_OPENSSL_STATIC_LDFLAGS_OTHER:INTERNAL=-pthread;-pthread -_OPENSSL_STATIC_LIBDIR:INTERNAL= -_OPENSSL_STATIC_LIBRARIES:INTERNAL=ssl;dl;crypto;dl -_OPENSSL_STATIC_LIBRARY_DIRS:INTERNAL=/usr/lib/x86_64-linux-gnu;/usr/lib/x86_64-linux-gnu -_OPENSSL_STATIC_LIBS:INTERNAL= -_OPENSSL_STATIC_LIBS_L:INTERNAL= -_OPENSSL_STATIC_LIBS_OTHER:INTERNAL= -_OPENSSL_STATIC_LIBS_PATHS:INTERNAL= -_OPENSSL_VERSION:INTERNAL=3.0.13 -_OPENSSL_openssl_INCLUDEDIR:INTERNAL= -_OPENSSL_openssl_LIBDIR:INTERNAL= -_OPENSSL_openssl_PREFIX:INTERNAL= -_OPENSSL_openssl_VERSION:INTERNAL= -//Compiler reason failure -_Python3_Compiler_REASON_FAILURE:INTERNAL= -//Development reason failure -_Python3_Development_REASON_FAILURE:INTERNAL= -//Path to a program. -_Python3_EXECUTABLE:INTERNAL=/usr/bin/python3 -//Python3 Properties -_Python3_INTERPRETER_PROPERTIES:INTERNAL=Python;3;12;3;64;32;;cpython-312-x86_64-linux-gnu;abi3;/usr/lib/python3.12;/usr/lib/python3.12;/usr/local/lib/python3.12/dist-packages;/usr/local/lib/python3.12/dist-packages -_Python3_INTERPRETER_SIGNATURE:INTERNAL=4c8bfa8951e99fa32e4000a94f8c04a2 -//NumPy reason failure -_Python3_NumPy_REASON_FAILURE:INTERNAL= -__pkg_config_arguments__OPENSSL:INTERNAL=QUIET;openssl -__pkg_config_checked__OPENSSL:INTERNAL=1 -//ADVANCED property for variable: pkgcfg_lib__OPENSSL_crypto -pkgcfg_lib__OPENSSL_crypto-ADVANCED:INTERNAL=1 -//ADVANCED property for variable: pkgcfg_lib__OPENSSL_ssl -pkgcfg_lib__OPENSSL_ssl-ADVANCED:INTERNAL=1 -prefix_result:INTERNAL=/usr/lib/x86_64-linux-gnu - diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCCompiler.cmake b/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCCompiler.cmake deleted file mode 100644 index 3766fe1..0000000 --- a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCCompiler.cmake +++ /dev/null @@ -1,74 +0,0 @@ -set(CMAKE_C_COMPILER "/usr/bin/cc") -set(CMAKE_C_COMPILER_ARG1 "") -set(CMAKE_C_COMPILER_ID "GNU") -set(CMAKE_C_COMPILER_VERSION "13.3.0") -set(CMAKE_C_COMPILER_VERSION_INTERNAL "") -set(CMAKE_C_COMPILER_WRAPPER "") -set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "17") -set(CMAKE_C_EXTENSIONS_COMPUTED_DEFAULT "ON") -set(CMAKE_C_COMPILE_FEATURES "c_std_90;c_function_prototypes;c_std_99;c_restrict;c_variadic_macros;c_std_11;c_static_assert;c_std_17;c_std_23") -set(CMAKE_C90_COMPILE_FEATURES "c_std_90;c_function_prototypes") -set(CMAKE_C99_COMPILE_FEATURES "c_std_99;c_restrict;c_variadic_macros") -set(CMAKE_C11_COMPILE_FEATURES "c_std_11;c_static_assert") -set(CMAKE_C17_COMPILE_FEATURES "c_std_17") -set(CMAKE_C23_COMPILE_FEATURES "c_std_23") - -set(CMAKE_C_PLATFORM_ID "Linux") -set(CMAKE_C_SIMULATE_ID "") -set(CMAKE_C_COMPILER_FRONTEND_VARIANT "GNU") -set(CMAKE_C_SIMULATE_VERSION "") - - - - -set(CMAKE_AR "/usr/bin/ar") -set(CMAKE_C_COMPILER_AR "/usr/bin/gcc-ar-13") -set(CMAKE_RANLIB "/usr/bin/ranlib") -set(CMAKE_C_COMPILER_RANLIB "/usr/bin/gcc-ranlib-13") -set(CMAKE_LINKER "/usr/bin/ld") -set(CMAKE_MT "") -set(CMAKE_TAPI "CMAKE_TAPI-NOTFOUND") -set(CMAKE_COMPILER_IS_GNUCC 1) -set(CMAKE_C_COMPILER_LOADED 1) -set(CMAKE_C_COMPILER_WORKS TRUE) -set(CMAKE_C_ABI_COMPILED TRUE) - -set(CMAKE_C_COMPILER_ENV_VAR "CC") - -set(CMAKE_C_COMPILER_ID_RUN 1) -set(CMAKE_C_SOURCE_FILE_EXTENSIONS c;m) -set(CMAKE_C_IGNORE_EXTENSIONS h;H;o;O;obj;OBJ;def;DEF;rc;RC) -set(CMAKE_C_LINKER_PREFERENCE 10) -set(CMAKE_C_LINKER_DEPFILE_SUPPORTED TRUE) - -# Save compiler ABI information. -set(CMAKE_C_SIZEOF_DATA_PTR "8") -set(CMAKE_C_COMPILER_ABI "ELF") -set(CMAKE_C_BYTE_ORDER "LITTLE_ENDIAN") -set(CMAKE_C_LIBRARY_ARCHITECTURE "x86_64-linux-gnu") - -if(CMAKE_C_SIZEOF_DATA_PTR) - set(CMAKE_SIZEOF_VOID_P "${CMAKE_C_SIZEOF_DATA_PTR}") -endif() - -if(CMAKE_C_COMPILER_ABI) - set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_C_COMPILER_ABI}") -endif() - -if(CMAKE_C_LIBRARY_ARCHITECTURE) - set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu") -endif() - -set(CMAKE_C_CL_SHOWINCLUDES_PREFIX "") -if(CMAKE_C_CL_SHOWINCLUDES_PREFIX) - set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_C_CL_SHOWINCLUDES_PREFIX}") -endif() - - - - - -set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/13/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include") -set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "gcc;gcc_s;c;gcc;gcc_s") -set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/13;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib") -set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "") diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCXXCompiler.cmake b/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCXXCompiler.cmake deleted file mode 100644 index 8dbc9d3..0000000 --- a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeCXXCompiler.cmake +++ /dev/null @@ -1,85 +0,0 @@ -set(CMAKE_CXX_COMPILER "/usr/bin/c++") -set(CMAKE_CXX_COMPILER_ARG1 "") -set(CMAKE_CXX_COMPILER_ID "GNU") -set(CMAKE_CXX_COMPILER_VERSION "13.3.0") -set(CMAKE_CXX_COMPILER_VERSION_INTERNAL "") -set(CMAKE_CXX_COMPILER_WRAPPER "") -set(CMAKE_CXX_STANDARD_COMPUTED_DEFAULT "17") -set(CMAKE_CXX_EXTENSIONS_COMPUTED_DEFAULT "ON") -set(CMAKE_CXX_COMPILE_FEATURES "cxx_std_98;cxx_template_template_parameters;cxx_std_11;cxx_alias_templates;cxx_alignas;cxx_alignof;cxx_attributes;cxx_auto_type;cxx_constexpr;cxx_decltype;cxx_decltype_incomplete_return_types;cxx_default_function_template_args;cxx_defaulted_functions;cxx_defaulted_move_initializers;cxx_delegating_constructors;cxx_deleted_functions;cxx_enum_forward_declarations;cxx_explicit_conversions;cxx_extended_friend_declarations;cxx_extern_templates;cxx_final;cxx_func_identifier;cxx_generalized_initializers;cxx_inheriting_constructors;cxx_inline_namespaces;cxx_lambdas;cxx_local_type_template_args;cxx_long_long_type;cxx_noexcept;cxx_nonstatic_member_init;cxx_nullptr;cxx_override;cxx_range_for;cxx_raw_string_literals;cxx_reference_qualified_functions;cxx_right_angle_brackets;cxx_rvalue_references;cxx_sizeof_member;cxx_static_assert;cxx_strong_enums;cxx_thread_local;cxx_trailing_return_types;cxx_unicode_literals;cxx_uniform_initialization;cxx_unrestricted_unions;cxx_user_literals;cxx_variadic_macros;cxx_variadic_templates;cxx_std_14;cxx_aggregate_default_initializers;cxx_attribute_deprecated;cxx_binary_literals;cxx_contextual_conversions;cxx_decltype_auto;cxx_digit_separators;cxx_generic_lambdas;cxx_lambda_init_captures;cxx_relaxed_constexpr;cxx_return_type_deduction;cxx_variable_templates;cxx_std_17;cxx_std_20;cxx_std_23") -set(CMAKE_CXX98_COMPILE_FEATURES "cxx_std_98;cxx_template_template_parameters") -set(CMAKE_CXX11_COMPILE_FEATURES "cxx_std_11;cxx_alias_templates;cxx_alignas;cxx_alignof;cxx_attributes;cxx_auto_type;cxx_constexpr;cxx_decltype;cxx_decltype_incomplete_return_types;cxx_default_function_template_args;cxx_defaulted_functions;cxx_defaulted_move_initializers;cxx_delegating_constructors;cxx_deleted_functions;cxx_enum_forward_declarations;cxx_explicit_conversions;cxx_extended_friend_declarations;cxx_extern_templates;cxx_final;cxx_func_identifier;cxx_generalized_initializers;cxx_inheriting_constructors;cxx_inline_namespaces;cxx_lambdas;cxx_local_type_template_args;cxx_long_long_type;cxx_noexcept;cxx_nonstatic_member_init;cxx_nullptr;cxx_override;cxx_range_for;cxx_raw_string_literals;cxx_reference_qualified_functions;cxx_right_angle_brackets;cxx_rvalue_references;cxx_sizeof_member;cxx_static_assert;cxx_strong_enums;cxx_thread_local;cxx_trailing_return_types;cxx_unicode_literals;cxx_uniform_initialization;cxx_unrestricted_unions;cxx_user_literals;cxx_variadic_macros;cxx_variadic_templates") -set(CMAKE_CXX14_COMPILE_FEATURES "cxx_std_14;cxx_aggregate_default_initializers;cxx_attribute_deprecated;cxx_binary_literals;cxx_contextual_conversions;cxx_decltype_auto;cxx_digit_separators;cxx_generic_lambdas;cxx_lambda_init_captures;cxx_relaxed_constexpr;cxx_return_type_deduction;cxx_variable_templates") -set(CMAKE_CXX17_COMPILE_FEATURES "cxx_std_17") -set(CMAKE_CXX20_COMPILE_FEATURES "cxx_std_20") -set(CMAKE_CXX23_COMPILE_FEATURES "cxx_std_23") - -set(CMAKE_CXX_PLATFORM_ID "Linux") -set(CMAKE_CXX_SIMULATE_ID "") -set(CMAKE_CXX_COMPILER_FRONTEND_VARIANT "GNU") -set(CMAKE_CXX_SIMULATE_VERSION "") - - - - -set(CMAKE_AR "/usr/bin/ar") -set(CMAKE_CXX_COMPILER_AR "/usr/bin/gcc-ar-13") -set(CMAKE_RANLIB "/usr/bin/ranlib") -set(CMAKE_CXX_COMPILER_RANLIB "/usr/bin/gcc-ranlib-13") -set(CMAKE_LINKER "/usr/bin/ld") -set(CMAKE_MT "") -set(CMAKE_TAPI "CMAKE_TAPI-NOTFOUND") -set(CMAKE_COMPILER_IS_GNUCXX 1) -set(CMAKE_CXX_COMPILER_LOADED 1) -set(CMAKE_CXX_COMPILER_WORKS TRUE) -set(CMAKE_CXX_ABI_COMPILED TRUE) - -set(CMAKE_CXX_COMPILER_ENV_VAR "CXX") - -set(CMAKE_CXX_COMPILER_ID_RUN 1) -set(CMAKE_CXX_SOURCE_FILE_EXTENSIONS C;M;c++;cc;cpp;cxx;m;mm;mpp;CPP;ixx;cppm;ccm;cxxm;c++m) -set(CMAKE_CXX_IGNORE_EXTENSIONS inl;h;hpp;HPP;H;o;O;obj;OBJ;def;DEF;rc;RC) - -foreach (lang C OBJC OBJCXX) - if (CMAKE_${lang}_COMPILER_ID_RUN) - foreach(extension IN LISTS CMAKE_${lang}_SOURCE_FILE_EXTENSIONS) - list(REMOVE_ITEM CMAKE_CXX_SOURCE_FILE_EXTENSIONS ${extension}) - endforeach() - endif() -endforeach() - -set(CMAKE_CXX_LINKER_PREFERENCE 30) -set(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1) -set(CMAKE_CXX_LINKER_DEPFILE_SUPPORTED TRUE) - -# Save compiler ABI information. -set(CMAKE_CXX_SIZEOF_DATA_PTR "8") -set(CMAKE_CXX_COMPILER_ABI "ELF") -set(CMAKE_CXX_BYTE_ORDER "LITTLE_ENDIAN") -set(CMAKE_CXX_LIBRARY_ARCHITECTURE "x86_64-linux-gnu") - -if(CMAKE_CXX_SIZEOF_DATA_PTR) - set(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}") -endif() - -if(CMAKE_CXX_COMPILER_ABI) - set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_CXX_COMPILER_ABI}") -endif() - -if(CMAKE_CXX_LIBRARY_ARCHITECTURE) - set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu") -endif() - -set(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX "") -if(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX) - set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_CXX_CL_SHOWINCLUDES_PREFIX}") -endif() - - - - - -set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/include/c++/13;/usr/include/x86_64-linux-gnu/c++/13;/usr/include/c++/13/backward;/usr/lib/gcc/x86_64-linux-gnu/13/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include") -set(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;gcc_s;gcc;c;gcc_s;gcc") -set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/13;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib") -set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "") diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_C.bin b/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_C.bin deleted file mode 100755 index 0e5f034..0000000 Binary files a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_C.bin and /dev/null differ diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_CXX.bin b/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_CXX.bin deleted file mode 100755 index e90f3f7..0000000 Binary files a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeDetermineCompilerABI_CXX.bin and /dev/null differ diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeSystem.cmake b/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeSystem.cmake deleted file mode 100644 index 7f34d27..0000000 --- a/build/pick_place_fsm/CMakeFiles/3.28.3/CMakeSystem.cmake +++ /dev/null @@ -1,15 +0,0 @@ -set(CMAKE_HOST_SYSTEM "Linux-6.11.0-29-generic") -set(CMAKE_HOST_SYSTEM_NAME "Linux") -set(CMAKE_HOST_SYSTEM_VERSION "6.11.0-29-generic") -set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64") - - - -set(CMAKE_SYSTEM "Linux-6.11.0-29-generic") -set(CMAKE_SYSTEM_NAME "Linux") -set(CMAKE_SYSTEM_VERSION "6.11.0-29-generic") -set(CMAKE_SYSTEM_PROCESSOR "x86_64") - -set(CMAKE_CROSSCOMPILING "FALSE") - -set(CMAKE_SYSTEM_LOADED 1) diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/CMakeCCompilerId.c b/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/CMakeCCompilerId.c deleted file mode 100644 index 0a0ec9b..0000000 --- a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/CMakeCCompilerId.c +++ /dev/null @@ -1,880 +0,0 @@ -#ifdef __cplusplus -# error "A C++ compiler has been selected for C." -#endif - -#if defined(__18CXX) -# define ID_VOID_MAIN -#endif -#if defined(__CLASSIC_C__) -/* cv-qualifiers did not exist in K&R C */ -# define const -# define volatile -#endif - -#if !defined(__has_include) -/* If the compiler does not have __has_include, pretend the answer is - always no. */ -# define __has_include(x) 0 -#endif - - -/* Version number components: V=Version, R=Revision, P=Patch - Version date components: YYYY=Year, MM=Month, DD=Day */ - -#if defined(__INTEL_COMPILER) || defined(__ICC) -# define COMPILER_ID "Intel" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# if defined(__GNUC__) -# define SIMULATE_ID "GNU" -# endif - /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, - except that a few beta releases use the old format with V=2021. */ -# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 -# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) -# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) -# if defined(__INTEL_COMPILER_UPDATE) -# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) -# else -# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) -# endif -# else -# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) -# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) - /* The third version component from --version is an update index, - but no macro is provided for it. */ -# define COMPILER_VERSION_PATCH DEC(0) -# endif -# if defined(__INTEL_COMPILER_BUILD_DATE) - /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ -# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) -# endif -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif -# if defined(__GNUC__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -# elif defined(__GNUG__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) -# endif -# if defined(__GNUC_MINOR__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -# endif -# if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif - -#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) -# define COMPILER_ID "IntelLLVM" -#if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -#endif -#if defined(__GNUC__) -# define SIMULATE_ID "GNU" -#endif -/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and - * later. Look for 6 digit vs. 8 digit version number to decide encoding. - * VVVV is no smaller than the current year when a version is released. - */ -#if __INTEL_LLVM_COMPILER < 1000000L -# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) -# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) -#else -# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) -# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) -# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) -#endif -#if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -#endif -#if defined(__GNUC__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -#elif defined(__GNUG__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) -#endif -#if defined(__GNUC_MINOR__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -#endif -#if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -#endif - -#elif defined(__PATHCC__) -# define COMPILER_ID "PathScale" -# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) -# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) -# if defined(__PATHCC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) -# endif - -#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) -# define COMPILER_ID "Embarcadero" -# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) -# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) -# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) - -#elif defined(__BORLANDC__) -# define COMPILER_ID "Borland" - /* __BORLANDC__ = 0xVRR */ -# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) -# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) - -#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 -# define COMPILER_ID "Watcom" - /* __WATCOMC__ = VVRR */ -# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) -# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) -# if (__WATCOMC__ % 10) > 0 -# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) -# endif - -#elif defined(__WATCOMC__) -# define COMPILER_ID "OpenWatcom" - /* __WATCOMC__ = VVRP + 1100 */ -# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) -# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) -# if (__WATCOMC__ % 10) > 0 -# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) -# endif - -#elif defined(__SUNPRO_C) -# define COMPILER_ID "SunPro" -# if __SUNPRO_C >= 0x5100 - /* __SUNPRO_C = 0xVRRP */ -# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12) -# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF) -# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) -# else - /* __SUNPRO_CC = 0xVRP */ -# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8) -# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF) -# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF) -# endif - -#elif defined(__HP_cc) -# define COMPILER_ID "HP" - /* __HP_cc = VVRRPP */ -# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000) -# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100) -# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100) - -#elif defined(__DECC) -# define COMPILER_ID "Compaq" - /* __DECC_VER = VVRRTPPPP */ -# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000) -# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100) -# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000) - -#elif defined(__IBMC__) && defined(__COMPILER_VER__) -# define COMPILER_ID "zOS" - /* __IBMC__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) - -#elif defined(__open_xl__) && defined(__clang__) -# define COMPILER_ID "IBMClang" -# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) -# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) -# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) -# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) - - -#elif defined(__ibmxl__) && defined(__clang__) -# define COMPILER_ID "XLClang" -# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) -# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) -# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) -# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) - - -#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800 -# define COMPILER_ID "XL" - /* __IBMC__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) - -#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800 -# define COMPILER_ID "VisualAge" - /* __IBMC__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10) - -#elif defined(__NVCOMPILER) -# define COMPILER_ID "NVHPC" -# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) -# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) -# if defined(__NVCOMPILER_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) -# endif - -#elif defined(__PGI) -# define COMPILER_ID "PGI" -# define COMPILER_VERSION_MAJOR DEC(__PGIC__) -# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) -# if defined(__PGIC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) -# endif - -#elif defined(__clang__) && defined(__cray__) -# define COMPILER_ID "CrayClang" -# define COMPILER_VERSION_MAJOR DEC(__cray_major__) -# define COMPILER_VERSION_MINOR DEC(__cray_minor__) -# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) -# define COMPILER_VERSION_INTERNAL_STR __clang_version__ - - -#elif defined(_CRAYC) -# define COMPILER_ID "Cray" -# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) -# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) - -#elif defined(__TI_COMPILER_VERSION__) -# define COMPILER_ID "TI" - /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ -# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) -# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) -# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) - -#elif defined(__CLANG_FUJITSU) -# define COMPILER_ID "FujitsuClang" -# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) -# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) -# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) -# define COMPILER_VERSION_INTERNAL_STR __clang_version__ - - -#elif defined(__FUJITSU) -# define COMPILER_ID "Fujitsu" -# if defined(__FCC_version__) -# define COMPILER_VERSION __FCC_version__ -# elif defined(__FCC_major__) -# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) -# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) -# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) -# endif -# if defined(__fcc_version) -# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) -# elif defined(__FCC_VERSION) -# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) -# endif - - -#elif defined(__ghs__) -# define COMPILER_ID "GHS" -/* __GHS_VERSION_NUMBER = VVVVRP */ -# ifdef __GHS_VERSION_NUMBER -# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) -# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) -# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) -# endif - -#elif defined(__TASKING__) -# define COMPILER_ID "Tasking" - # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) - # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) -# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) - -#elif defined(__ORANGEC__) -# define COMPILER_ID "OrangeC" -# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) -# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) -# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) - -#elif defined(__TINYC__) -# define COMPILER_ID "TinyCC" - -#elif defined(__BCC__) -# define COMPILER_ID "Bruce" - -#elif defined(__SCO_VERSION__) -# define COMPILER_ID "SCO" - -#elif defined(__ARMCC_VERSION) && !defined(__clang__) -# define COMPILER_ID "ARMCC" -#if __ARMCC_VERSION >= 1000000 - /* __ARMCC_VERSION = VRRPPPP */ - # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) - # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) - # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) -#else - /* __ARMCC_VERSION = VRPPPP */ - # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) - # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) - # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) -#endif - - -#elif defined(__clang__) && defined(__apple_build_version__) -# define COMPILER_ID "AppleClang" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# define COMPILER_VERSION_MAJOR DEC(__clang_major__) -# define COMPILER_VERSION_MINOR DEC(__clang_minor__) -# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif -# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) - -#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) -# define COMPILER_ID "ARMClang" - # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) - # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) - # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) -# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) - -#elif defined(__clang__) -# define COMPILER_ID "Clang" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# define COMPILER_VERSION_MAJOR DEC(__clang_major__) -# define COMPILER_VERSION_MINOR DEC(__clang_minor__) -# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif - -#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) -# define COMPILER_ID "LCC" -# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) -# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) -# if defined(__LCC_MINOR__) -# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) -# endif -# if defined(__GNUC__) && defined(__GNUC_MINOR__) -# define SIMULATE_ID "GNU" -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -# if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif -# endif - -#elif defined(__GNUC__) -# define COMPILER_ID "GNU" -# define COMPILER_VERSION_MAJOR DEC(__GNUC__) -# if defined(__GNUC_MINOR__) -# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) -# endif -# if defined(__GNUC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif - -#elif defined(_MSC_VER) -# define COMPILER_ID "MSVC" - /* _MSC_VER = VVRR */ -# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) -# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) -# if defined(_MSC_FULL_VER) -# if _MSC_VER >= 1400 - /* _MSC_FULL_VER = VVRRPPPPP */ -# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) -# else - /* _MSC_FULL_VER = VVRRPPPP */ -# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) -# endif -# endif -# if defined(_MSC_BUILD) -# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) -# endif - -#elif defined(_ADI_COMPILER) -# define COMPILER_ID "ADSP" -#if defined(__VERSIONNUM__) - /* __VERSIONNUM__ = 0xVVRRPPTT */ -# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) -# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) -# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) -# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) -#endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# define COMPILER_ID "IAR" -# if defined(__VER__) && defined(__ICCARM__) -# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) -# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) -# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) -# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) -# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) -# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# endif - -#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) -# define COMPILER_ID "SDCC" -# if defined(__SDCC_VERSION_MAJOR) -# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) -# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) -# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) -# else - /* SDCC = VRP */ -# define COMPILER_VERSION_MAJOR DEC(SDCC/100) -# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) -# define COMPILER_VERSION_PATCH DEC(SDCC % 10) -# endif - - -/* These compilers are either not known or too old to define an - identification macro. Try to identify the platform and guess that - it is the native compiler. */ -#elif defined(__hpux) || defined(__hpua) -# define COMPILER_ID "HP" - -#else /* unknown compiler */ -# define COMPILER_ID "" -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; -#ifdef SIMULATE_ID -char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; -#endif - -#ifdef __QNXNTO__ -char const* qnxnto = "INFO" ":" "qnxnto[]"; -#endif - -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) -char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; -#endif - -#define STRINGIFY_HELPER(X) #X -#define STRINGIFY(X) STRINGIFY_HELPER(X) - -/* Identify known platforms by name. */ -#if defined(__linux) || defined(__linux__) || defined(linux) -# define PLATFORM_ID "Linux" - -#elif defined(__MSYS__) -# define PLATFORM_ID "MSYS" - -#elif defined(__CYGWIN__) -# define PLATFORM_ID "Cygwin" - -#elif defined(__MINGW32__) -# define PLATFORM_ID "MinGW" - -#elif defined(__APPLE__) -# define PLATFORM_ID "Darwin" - -#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) -# define PLATFORM_ID "Windows" - -#elif defined(__FreeBSD__) || defined(__FreeBSD) -# define PLATFORM_ID "FreeBSD" - -#elif defined(__NetBSD__) || defined(__NetBSD) -# define PLATFORM_ID "NetBSD" - -#elif defined(__OpenBSD__) || defined(__OPENBSD) -# define PLATFORM_ID "OpenBSD" - -#elif defined(__sun) || defined(sun) -# define PLATFORM_ID "SunOS" - -#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) -# define PLATFORM_ID "AIX" - -#elif defined(__hpux) || defined(__hpux__) -# define PLATFORM_ID "HP-UX" - -#elif defined(__HAIKU__) -# define PLATFORM_ID "Haiku" - -#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) -# define PLATFORM_ID "BeOS" - -#elif defined(__QNX__) || defined(__QNXNTO__) -# define PLATFORM_ID "QNX" - -#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) -# define PLATFORM_ID "Tru64" - -#elif defined(__riscos) || defined(__riscos__) -# define PLATFORM_ID "RISCos" - -#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) -# define PLATFORM_ID "SINIX" - -#elif defined(__UNIX_SV__) -# define PLATFORM_ID "UNIX_SV" - -#elif defined(__bsdos__) -# define PLATFORM_ID "BSDOS" - -#elif defined(_MPRAS) || defined(MPRAS) -# define PLATFORM_ID "MP-RAS" - -#elif defined(__osf) || defined(__osf__) -# define PLATFORM_ID "OSF1" - -#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) -# define PLATFORM_ID "SCO_SV" - -#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) -# define PLATFORM_ID "ULTRIX" - -#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) -# define PLATFORM_ID "Xenix" - -#elif defined(__WATCOMC__) -# if defined(__LINUX__) -# define PLATFORM_ID "Linux" - -# elif defined(__DOS__) -# define PLATFORM_ID "DOS" - -# elif defined(__OS2__) -# define PLATFORM_ID "OS2" - -# elif defined(__WINDOWS__) -# define PLATFORM_ID "Windows3x" - -# elif defined(__VXWORKS__) -# define PLATFORM_ID "VxWorks" - -# else /* unknown platform */ -# define PLATFORM_ID -# endif - -#elif defined(__INTEGRITY) -# if defined(INT_178B) -# define PLATFORM_ID "Integrity178" - -# else /* regular Integrity */ -# define PLATFORM_ID "Integrity" -# endif - -# elif defined(_ADI_COMPILER) -# define PLATFORM_ID "ADSP" - -#else /* unknown platform */ -# define PLATFORM_ID - -#endif - -/* For windows compilers MSVC and Intel we can determine - the architecture of the compiler being used. This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -# elif defined(__ADSPSHARC__) -# define ARCHITECTURE_ID "SHARC" - -# elif defined(__ADSPBLACKFIN__) -# define ARCHITECTURE_ID "Blackfin" - -#elif defined(__TASKING__) - -# if defined(__CTC__) || defined(__CPTC__) -# define ARCHITECTURE_ID "TriCore" - -# elif defined(__CMCS__) -# define ARCHITECTURE_ID "MCS" - -# elif defined(__CARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__CARC__) -# define ARCHITECTURE_ID "ARC" - -# elif defined(__C51__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__CPCP__) -# define ARCHITECTURE_ID "PCP" - -# else -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - -#if !defined(__STDC__) && !defined(__clang__) -# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) -# define C_VERSION "90" -# else -# define C_VERSION -# endif -#elif __STDC_VERSION__ > 201710L -# define C_VERSION "23" -#elif __STDC_VERSION__ >= 201710L -# define C_VERSION "17" -#elif __STDC_VERSION__ >= 201000L -# define C_VERSION "11" -#elif __STDC_VERSION__ >= 199901L -# define C_VERSION "99" -#else -# define C_VERSION "90" -#endif -const char* info_language_standard_default = - "INFO" ":" "standard_default[" C_VERSION "]"; - -const char* info_language_extensions_default = "INFO" ":" "extensions_default[" -#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ - defined(__TI_COMPILER_VERSION__)) && \ - !defined(__STRICT_ANSI__) - "ON" -#else - "OFF" -#endif -"]"; - -/*--------------------------------------------------------------------------*/ - -#ifdef ID_VOID_MAIN -void main() {} -#else -# if defined(__CLASSIC_C__) -int main(argc, argv) int argc; char *argv[]; -# else -int main(int argc, char* argv[]) -# endif -{ - int require = 0; - require += info_compiler[argc]; - require += info_platform[argc]; - require += info_arch[argc]; -#ifdef COMPILER_VERSION_MAJOR - require += info_version[argc]; -#endif -#ifdef COMPILER_VERSION_INTERNAL - require += info_version_internal[argc]; -#endif -#ifdef SIMULATE_ID - require += info_simulate[argc]; -#endif -#ifdef SIMULATE_VERSION_MAJOR - require += info_simulate_version[argc]; -#endif -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) - require += info_cray[argc]; -#endif - require += info_language_standard_default[argc]; - require += info_language_extensions_default[argc]; - (void)argv; - return require; -} -#endif diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/a.out b/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/a.out deleted file mode 100755 index ecc315e..0000000 Binary files a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/a.out and /dev/null differ diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp deleted file mode 100644 index 9c9c90e..0000000 --- a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/CMakeCXXCompilerId.cpp +++ /dev/null @@ -1,869 +0,0 @@ -/* This source file must have a .cpp extension so that all C++ compilers - recognize the extension without flags. Borland does not know .cxx for - example. */ -#ifndef __cplusplus -# error "A C compiler has been selected for C++." -#endif - -#if !defined(__has_include) -/* If the compiler does not have __has_include, pretend the answer is - always no. */ -# define __has_include(x) 0 -#endif - - -/* Version number components: V=Version, R=Revision, P=Patch - Version date components: YYYY=Year, MM=Month, DD=Day */ - -#if defined(__COMO__) -# define COMPILER_ID "Comeau" - /* __COMO_VERSION__ = VRR */ -# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) -# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) - -#elif defined(__INTEL_COMPILER) || defined(__ICC) -# define COMPILER_ID "Intel" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# if defined(__GNUC__) -# define SIMULATE_ID "GNU" -# endif - /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, - except that a few beta releases use the old format with V=2021. */ -# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 -# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) -# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) -# if defined(__INTEL_COMPILER_UPDATE) -# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) -# else -# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) -# endif -# else -# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) -# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) - /* The third version component from --version is an update index, - but no macro is provided for it. */ -# define COMPILER_VERSION_PATCH DEC(0) -# endif -# if defined(__INTEL_COMPILER_BUILD_DATE) - /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ -# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) -# endif -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif -# if defined(__GNUC__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -# elif defined(__GNUG__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) -# endif -# if defined(__GNUC_MINOR__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -# endif -# if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif - -#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) -# define COMPILER_ID "IntelLLVM" -#if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -#endif -#if defined(__GNUC__) -# define SIMULATE_ID "GNU" -#endif -/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and - * later. Look for 6 digit vs. 8 digit version number to decide encoding. - * VVVV is no smaller than the current year when a version is released. - */ -#if __INTEL_LLVM_COMPILER < 1000000L -# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) -# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) -#else -# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) -# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) -# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) -#endif -#if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -#endif -#if defined(__GNUC__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -#elif defined(__GNUG__) -# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) -#endif -#if defined(__GNUC_MINOR__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -#endif -#if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -#endif - -#elif defined(__PATHCC__) -# define COMPILER_ID "PathScale" -# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) -# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) -# if defined(__PATHCC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) -# endif - -#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) -# define COMPILER_ID "Embarcadero" -# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) -# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) -# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) - -#elif defined(__BORLANDC__) -# define COMPILER_ID "Borland" - /* __BORLANDC__ = 0xVRR */ -# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) -# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) - -#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 -# define COMPILER_ID "Watcom" - /* __WATCOMC__ = VVRR */ -# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) -# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) -# if (__WATCOMC__ % 10) > 0 -# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) -# endif - -#elif defined(__WATCOMC__) -# define COMPILER_ID "OpenWatcom" - /* __WATCOMC__ = VVRP + 1100 */ -# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) -# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) -# if (__WATCOMC__ % 10) > 0 -# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) -# endif - -#elif defined(__SUNPRO_CC) -# define COMPILER_ID "SunPro" -# if __SUNPRO_CC >= 0x5100 - /* __SUNPRO_CC = 0xVRRP */ -# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) -# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) -# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) -# else - /* __SUNPRO_CC = 0xVRP */ -# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) -# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) -# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) -# endif - -#elif defined(__HP_aCC) -# define COMPILER_ID "HP" - /* __HP_aCC = VVRRPP */ -# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) -# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) -# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) - -#elif defined(__DECCXX) -# define COMPILER_ID "Compaq" - /* __DECCXX_VER = VVRRTPPPP */ -# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) -# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) -# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) - -#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) -# define COMPILER_ID "zOS" - /* __IBMCPP__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) - -#elif defined(__open_xl__) && defined(__clang__) -# define COMPILER_ID "IBMClang" -# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__) -# define COMPILER_VERSION_MINOR DEC(__open_xl_release__) -# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__) -# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__) - - -#elif defined(__ibmxl__) && defined(__clang__) -# define COMPILER_ID "XLClang" -# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) -# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) -# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) -# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) - - -#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 -# define COMPILER_ID "XL" - /* __IBMCPP__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) - -#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 -# define COMPILER_ID "VisualAge" - /* __IBMCPP__ = VRP */ -# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) -# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) -# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) - -#elif defined(__NVCOMPILER) -# define COMPILER_ID "NVHPC" -# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) -# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) -# if defined(__NVCOMPILER_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) -# endif - -#elif defined(__PGI) -# define COMPILER_ID "PGI" -# define COMPILER_VERSION_MAJOR DEC(__PGIC__) -# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) -# if defined(__PGIC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) -# endif - -#elif defined(__clang__) && defined(__cray__) -# define COMPILER_ID "CrayClang" -# define COMPILER_VERSION_MAJOR DEC(__cray_major__) -# define COMPILER_VERSION_MINOR DEC(__cray_minor__) -# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__) -# define COMPILER_VERSION_INTERNAL_STR __clang_version__ - - -#elif defined(_CRAYC) -# define COMPILER_ID "Cray" -# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) -# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) - -#elif defined(__TI_COMPILER_VERSION__) -# define COMPILER_ID "TI" - /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ -# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) -# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) -# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) - -#elif defined(__CLANG_FUJITSU) -# define COMPILER_ID "FujitsuClang" -# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) -# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) -# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) -# define COMPILER_VERSION_INTERNAL_STR __clang_version__ - - -#elif defined(__FUJITSU) -# define COMPILER_ID "Fujitsu" -# if defined(__FCC_version__) -# define COMPILER_VERSION __FCC_version__ -# elif defined(__FCC_major__) -# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) -# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) -# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) -# endif -# if defined(__fcc_version) -# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) -# elif defined(__FCC_VERSION) -# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) -# endif - - -#elif defined(__ghs__) -# define COMPILER_ID "GHS" -/* __GHS_VERSION_NUMBER = VVVVRP */ -# ifdef __GHS_VERSION_NUMBER -# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) -# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) -# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) -# endif - -#elif defined(__TASKING__) -# define COMPILER_ID "Tasking" - # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000) - # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100) -# define COMPILER_VERSION_INTERNAL DEC(__VERSION__) - -#elif defined(__ORANGEC__) -# define COMPILER_ID "OrangeC" -# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__) -# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__) -# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__) - -#elif defined(__SCO_VERSION__) -# define COMPILER_ID "SCO" - -#elif defined(__ARMCC_VERSION) && !defined(__clang__) -# define COMPILER_ID "ARMCC" -#if __ARMCC_VERSION >= 1000000 - /* __ARMCC_VERSION = VRRPPPP */ - # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) - # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) - # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) -#else - /* __ARMCC_VERSION = VRPPPP */ - # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) - # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) - # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) -#endif - - -#elif defined(__clang__) && defined(__apple_build_version__) -# define COMPILER_ID "AppleClang" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# define COMPILER_VERSION_MAJOR DEC(__clang_major__) -# define COMPILER_VERSION_MINOR DEC(__clang_minor__) -# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif -# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) - -#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) -# define COMPILER_ID "ARMClang" - # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) - # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) - # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100 % 100) -# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) - -#elif defined(__clang__) -# define COMPILER_ID "Clang" -# if defined(_MSC_VER) -# define SIMULATE_ID "MSVC" -# endif -# define COMPILER_VERSION_MAJOR DEC(__clang_major__) -# define COMPILER_VERSION_MINOR DEC(__clang_minor__) -# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) -# if defined(_MSC_VER) - /* _MSC_VER = VVRR */ -# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) -# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) -# endif - -#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__)) -# define COMPILER_ID "LCC" -# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100) -# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100) -# if defined(__LCC_MINOR__) -# define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__) -# endif -# if defined(__GNUC__) && defined(__GNUC_MINOR__) -# define SIMULATE_ID "GNU" -# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) -# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) -# if defined(__GNUC_PATCHLEVEL__) -# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif -# endif - -#elif defined(__GNUC__) || defined(__GNUG__) -# define COMPILER_ID "GNU" -# if defined(__GNUC__) -# define COMPILER_VERSION_MAJOR DEC(__GNUC__) -# else -# define COMPILER_VERSION_MAJOR DEC(__GNUG__) -# endif -# if defined(__GNUC_MINOR__) -# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) -# endif -# if defined(__GNUC_PATCHLEVEL__) -# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) -# endif - -#elif defined(_MSC_VER) -# define COMPILER_ID "MSVC" - /* _MSC_VER = VVRR */ -# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) -# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) -# if defined(_MSC_FULL_VER) -# if _MSC_VER >= 1400 - /* _MSC_FULL_VER = VVRRPPPPP */ -# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) -# else - /* _MSC_FULL_VER = VVRRPPPP */ -# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) -# endif -# endif -# if defined(_MSC_BUILD) -# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) -# endif - -#elif defined(_ADI_COMPILER) -# define COMPILER_ID "ADSP" -#if defined(__VERSIONNUM__) - /* __VERSIONNUM__ = 0xVVRRPPTT */ -# define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF) -# define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF) -# define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF) -# define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF) -#endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# define COMPILER_ID "IAR" -# if defined(__VER__) && defined(__ICCARM__) -# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) -# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) -# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) -# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) -# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) -# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) -# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) -# endif - - -/* These compilers are either not known or too old to define an - identification macro. Try to identify the platform and guess that - it is the native compiler. */ -#elif defined(__hpux) || defined(__hpua) -# define COMPILER_ID "HP" - -#else /* unknown compiler */ -# define COMPILER_ID "" -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; -#ifdef SIMULATE_ID -char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; -#endif - -#ifdef __QNXNTO__ -char const* qnxnto = "INFO" ":" "qnxnto[]"; -#endif - -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) -char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; -#endif - -#define STRINGIFY_HELPER(X) #X -#define STRINGIFY(X) STRINGIFY_HELPER(X) - -/* Identify known platforms by name. */ -#if defined(__linux) || defined(__linux__) || defined(linux) -# define PLATFORM_ID "Linux" - -#elif defined(__MSYS__) -# define PLATFORM_ID "MSYS" - -#elif defined(__CYGWIN__) -# define PLATFORM_ID "Cygwin" - -#elif defined(__MINGW32__) -# define PLATFORM_ID "MinGW" - -#elif defined(__APPLE__) -# define PLATFORM_ID "Darwin" - -#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) -# define PLATFORM_ID "Windows" - -#elif defined(__FreeBSD__) || defined(__FreeBSD) -# define PLATFORM_ID "FreeBSD" - -#elif defined(__NetBSD__) || defined(__NetBSD) -# define PLATFORM_ID "NetBSD" - -#elif defined(__OpenBSD__) || defined(__OPENBSD) -# define PLATFORM_ID "OpenBSD" - -#elif defined(__sun) || defined(sun) -# define PLATFORM_ID "SunOS" - -#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) -# define PLATFORM_ID "AIX" - -#elif defined(__hpux) || defined(__hpux__) -# define PLATFORM_ID "HP-UX" - -#elif defined(__HAIKU__) -# define PLATFORM_ID "Haiku" - -#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) -# define PLATFORM_ID "BeOS" - -#elif defined(__QNX__) || defined(__QNXNTO__) -# define PLATFORM_ID "QNX" - -#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) -# define PLATFORM_ID "Tru64" - -#elif defined(__riscos) || defined(__riscos__) -# define PLATFORM_ID "RISCos" - -#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) -# define PLATFORM_ID "SINIX" - -#elif defined(__UNIX_SV__) -# define PLATFORM_ID "UNIX_SV" - -#elif defined(__bsdos__) -# define PLATFORM_ID "BSDOS" - -#elif defined(_MPRAS) || defined(MPRAS) -# define PLATFORM_ID "MP-RAS" - -#elif defined(__osf) || defined(__osf__) -# define PLATFORM_ID "OSF1" - -#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) -# define PLATFORM_ID "SCO_SV" - -#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) -# define PLATFORM_ID "ULTRIX" - -#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) -# define PLATFORM_ID "Xenix" - -#elif defined(__WATCOMC__) -# if defined(__LINUX__) -# define PLATFORM_ID "Linux" - -# elif defined(__DOS__) -# define PLATFORM_ID "DOS" - -# elif defined(__OS2__) -# define PLATFORM_ID "OS2" - -# elif defined(__WINDOWS__) -# define PLATFORM_ID "Windows3x" - -# elif defined(__VXWORKS__) -# define PLATFORM_ID "VxWorks" - -# else /* unknown platform */ -# define PLATFORM_ID -# endif - -#elif defined(__INTEGRITY) -# if defined(INT_178B) -# define PLATFORM_ID "Integrity178" - -# else /* regular Integrity */ -# define PLATFORM_ID "Integrity" -# endif - -# elif defined(_ADI_COMPILER) -# define PLATFORM_ID "ADSP" - -#else /* unknown platform */ -# define PLATFORM_ID - -#endif - -/* For windows compilers MSVC and Intel we can determine - the architecture of the compiler being used. This is because - the compilers do not have flags that can change the architecture, - but rather depend on which compiler is being used -*/ -#if defined(_WIN32) && defined(_MSC_VER) -# if defined(_M_IA64) -# define ARCHITECTURE_ID "IA64" - -# elif defined(_M_ARM64EC) -# define ARCHITECTURE_ID "ARM64EC" - -# elif defined(_M_X64) || defined(_M_AMD64) -# define ARCHITECTURE_ID "x64" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# elif defined(_M_ARM64) -# define ARCHITECTURE_ID "ARM64" - -# elif defined(_M_ARM) -# if _M_ARM == 4 -# define ARCHITECTURE_ID "ARMV4I" -# elif _M_ARM == 5 -# define ARCHITECTURE_ID "ARMV5I" -# else -# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) -# endif - -# elif defined(_M_MIPS) -# define ARCHITECTURE_ID "MIPS" - -# elif defined(_M_SH) -# define ARCHITECTURE_ID "SHx" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__WATCOMC__) -# if defined(_M_I86) -# define ARCHITECTURE_ID "I86" - -# elif defined(_M_IX86) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) -# if defined(__ICCARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__ICCRX__) -# define ARCHITECTURE_ID "RX" - -# elif defined(__ICCRH850__) -# define ARCHITECTURE_ID "RH850" - -# elif defined(__ICCRL78__) -# define ARCHITECTURE_ID "RL78" - -# elif defined(__ICCRISCV__) -# define ARCHITECTURE_ID "RISCV" - -# elif defined(__ICCAVR__) -# define ARCHITECTURE_ID "AVR" - -# elif defined(__ICC430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__ICCV850__) -# define ARCHITECTURE_ID "V850" - -# elif defined(__ICC8051__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__ICCSTM8__) -# define ARCHITECTURE_ID "STM8" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__ghs__) -# if defined(__PPC64__) -# define ARCHITECTURE_ID "PPC64" - -# elif defined(__ppc__) -# define ARCHITECTURE_ID "PPC" - -# elif defined(__ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__x86_64__) -# define ARCHITECTURE_ID "x64" - -# elif defined(__i386__) -# define ARCHITECTURE_ID "X86" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -#elif defined(__TI_COMPILER_VERSION__) -# if defined(__TI_ARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__MSP430__) -# define ARCHITECTURE_ID "MSP430" - -# elif defined(__TMS320C28XX__) -# define ARCHITECTURE_ID "TMS320C28x" - -# elif defined(__TMS320C6X__) || defined(_TMS320C6X) -# define ARCHITECTURE_ID "TMS320C6x" - -# else /* unknown architecture */ -# define ARCHITECTURE_ID "" -# endif - -# elif defined(__ADSPSHARC__) -# define ARCHITECTURE_ID "SHARC" - -# elif defined(__ADSPBLACKFIN__) -# define ARCHITECTURE_ID "Blackfin" - -#elif defined(__TASKING__) - -# if defined(__CTC__) || defined(__CPTC__) -# define ARCHITECTURE_ID "TriCore" - -# elif defined(__CMCS__) -# define ARCHITECTURE_ID "MCS" - -# elif defined(__CARM__) -# define ARCHITECTURE_ID "ARM" - -# elif defined(__CARC__) -# define ARCHITECTURE_ID "ARC" - -# elif defined(__C51__) -# define ARCHITECTURE_ID "8051" - -# elif defined(__CPCP__) -# define ARCHITECTURE_ID "PCP" - -# else -# define ARCHITECTURE_ID "" -# endif - -#else -# define ARCHITECTURE_ID -#endif - -/* Convert integer to decimal digit literals. */ -#define DEC(n) \ - ('0' + (((n) / 10000000)%10)), \ - ('0' + (((n) / 1000000)%10)), \ - ('0' + (((n) / 100000)%10)), \ - ('0' + (((n) / 10000)%10)), \ - ('0' + (((n) / 1000)%10)), \ - ('0' + (((n) / 100)%10)), \ - ('0' + (((n) / 10)%10)), \ - ('0' + ((n) % 10)) - -/* Convert integer to hex digit literals. */ -#define HEX(n) \ - ('0' + ((n)>>28 & 0xF)), \ - ('0' + ((n)>>24 & 0xF)), \ - ('0' + ((n)>>20 & 0xF)), \ - ('0' + ((n)>>16 & 0xF)), \ - ('0' + ((n)>>12 & 0xF)), \ - ('0' + ((n)>>8 & 0xF)), \ - ('0' + ((n)>>4 & 0xF)), \ - ('0' + ((n) & 0xF)) - -/* Construct a string literal encoding the version number. */ -#ifdef COMPILER_VERSION -char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; - -/* Construct a string literal encoding the version number components. */ -#elif defined(COMPILER_VERSION_MAJOR) -char const info_version[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', - COMPILER_VERSION_MAJOR, -# ifdef COMPILER_VERSION_MINOR - '.', COMPILER_VERSION_MINOR, -# ifdef COMPILER_VERSION_PATCH - '.', COMPILER_VERSION_PATCH, -# ifdef COMPILER_VERSION_TWEAK - '.', COMPILER_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct a string literal encoding the internal version number. */ -#ifdef COMPILER_VERSION_INTERNAL -char const info_version_internal[] = { - 'I', 'N', 'F', 'O', ':', - 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', - 'i','n','t','e','r','n','a','l','[', - COMPILER_VERSION_INTERNAL,']','\0'}; -#elif defined(COMPILER_VERSION_INTERNAL_STR) -char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; -#endif - -/* Construct a string literal encoding the version number components. */ -#ifdef SIMULATE_VERSION_MAJOR -char const info_simulate_version[] = { - 'I', 'N', 'F', 'O', ':', - 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', - SIMULATE_VERSION_MAJOR, -# ifdef SIMULATE_VERSION_MINOR - '.', SIMULATE_VERSION_MINOR, -# ifdef SIMULATE_VERSION_PATCH - '.', SIMULATE_VERSION_PATCH, -# ifdef SIMULATE_VERSION_TWEAK - '.', SIMULATE_VERSION_TWEAK, -# endif -# endif -# endif - ']','\0'}; -#endif - -/* Construct the string literal in pieces to prevent the source from - getting matched. Store it in a pointer rather than an array - because some compilers will just produce instructions to fill the - array rather than assigning a pointer to a static array. */ -char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; -char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; - - - -#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L -# if defined(__INTEL_CXX11_MODE__) -# if defined(__cpp_aggregate_nsdmi) -# define CXX_STD 201402L -# else -# define CXX_STD 201103L -# endif -# else -# define CXX_STD 199711L -# endif -#elif defined(_MSC_VER) && defined(_MSVC_LANG) -# define CXX_STD _MSVC_LANG -#else -# define CXX_STD __cplusplus -#endif - -const char* info_language_standard_default = "INFO" ":" "standard_default[" -#if CXX_STD > 202002L - "23" -#elif CXX_STD > 201703L - "20" -#elif CXX_STD >= 201703L - "17" -#elif CXX_STD >= 201402L - "14" -#elif CXX_STD >= 201103L - "11" -#else - "98" -#endif -"]"; - -const char* info_language_extensions_default = "INFO" ":" "extensions_default[" -#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) || \ - defined(__TI_COMPILER_VERSION__)) && \ - !defined(__STRICT_ANSI__) - "ON" -#else - "OFF" -#endif -"]"; - -/*--------------------------------------------------------------------------*/ - -int main(int argc, char* argv[]) -{ - int require = 0; - require += info_compiler[argc]; - require += info_platform[argc]; - require += info_arch[argc]; -#ifdef COMPILER_VERSION_MAJOR - require += info_version[argc]; -#endif -#ifdef COMPILER_VERSION_INTERNAL - require += info_version_internal[argc]; -#endif -#ifdef SIMULATE_ID - require += info_simulate[argc]; -#endif -#ifdef SIMULATE_VERSION_MAJOR - require += info_simulate_version[argc]; -#endif -#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) - require += info_cray[argc]; -#endif - require += info_language_standard_default[argc]; - require += info_language_extensions_default[argc]; - (void)argv; - return require; -} diff --git a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/a.out b/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/a.out deleted file mode 100755 index c8ced32..0000000 Binary files a/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/a.out and /dev/null differ diff --git a/build/pick_place_fsm/CMakeFiles/CMakeConfigureLog.yaml b/build/pick_place_fsm/CMakeFiles/CMakeConfigureLog.yaml deleted file mode 100644 index 6bdf84f..0000000 --- a/build/pick_place_fsm/CMakeFiles/CMakeConfigureLog.yaml +++ /dev/null @@ -1,531 +0,0 @@ - ---- -events: - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineSystem.cmake:233 (message)" - - "CMakeLists.txt:2 (project)" - message: | - The system is: Linux - 6.11.0-29-generic - x86_64 - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake:17 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)" - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)" - - "CMakeLists.txt:2 (project)" - message: | - Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded. - Compiler: /usr/bin/cc - Build flags: - Id flags: - - The output was: - 0 - - - Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out" - - The C compiler identification is GNU, found in: - /home/wasim/FSM/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdC/a.out - - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake:17 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)" - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)" - - "CMakeLists.txt:2 (project)" - message: | - Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded. - Compiler: /usr/bin/c++ - Build flags: - Id flags: - - The output was: - 0 - - - Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out" - - The CXX compiler identification is GNU, found in: - /home/wasim/FSM/build/pick_place_fsm/CMakeFiles/3.28.3/CompilerIdCXX/a.out - - - - kind: "try_compile-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:57 (try_compile)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - checks: - - "Detecting C compiler ABI info" - directories: - source: "/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg" - binary: "/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg" - cmakeVariables: - CMAKE_C_FLAGS: "" - CMAKE_C_FLAGS_DEBUG: "-g" - CMAKE_EXE_LINKER_FLAGS: "" - buildResult: - variable: "CMAKE_C_ABI_COMPILED" - cached: true - stdout: | - Change Dir: '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg' - - Run Build Command(s): /usr/bin/cmake -E env VERBOSE=1 /usr/bin/gmake -f Makefile cmTC_0ad23/fast - /usr/bin/gmake -f CMakeFiles/cmTC_0ad23.dir/build.make CMakeFiles/cmTC_0ad23.dir/build - gmake[1]: Entering directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg' - Building C object CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o - /usr/bin/cc -v -o CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.28/Modules/CMakeCCompilerABI.c - Using built-in specs. - COLLECT_GCC=/usr/bin/cc - OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa - OFFLOAD_TARGET_DEFAULT=1 - Target: x86_64-linux-gnu - Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr,amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2 - Thread model: posix - Supported LTO compression algorithms: zlib zstd - gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/' - /usr/libexec/gcc/x86_64-linux-gnu/13/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.28/Modules/CMakeCCompilerABI.c -quiet -dumpdir CMakeFiles/cmTC_0ad23.dir/ -dumpbase CMakeCCompilerABI.c.c -dumpbase-ext .c -mtune=generic -march=x86-64 -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccn63MRU.s - GNU C17 (Ubuntu 13.3.0-6ubuntu2~24.04) version 13.3.0 (x86_64-linux-gnu) - compiled by GNU C version 13.3.0, GMP version 6.3.0, MPFR version 4.2.1, MPC version 1.3.1, isl version isl-0.26-GMP - - GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 - ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed/x86_64-linux-gnu" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/../../../../x86_64-linux-gnu/include" - #include "..." search starts here: - #include <...> search starts here: - /usr/lib/gcc/x86_64-linux-gnu/13/include - /usr/local/include - /usr/include/x86_64-linux-gnu - /usr/include - End of search list. - Compiler executable checksum: 38987c28e967c64056a6454abdef726e - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/' - as -v --64 -o CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o /tmp/ccn63MRU.s - GNU assembler version 2.42 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.42 - COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/ - LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/ - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.' - Linking C executable cmTC_0ad23 - /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_0ad23.dir/link.txt --verbose=1 - /usr/bin/cc -v CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -o cmTC_0ad23 - Using built-in specs. - COLLECT_GCC=/usr/bin/cc - COLLECT_LTO_WRAPPER=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper - OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa - OFFLOAD_TARGET_DEFAULT=1 - Target: x86_64-linux-gnu - Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr,amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2 - Thread model: posix - Supported LTO compression algorithms: zlib zstd - gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) - COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/ - LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/ - COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_0ad23' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_0ad23.' - /usr/libexec/gcc/x86_64-linux-gnu/13/collect2 -plugin /usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so -plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper -plugin-opt=-fresolution=/tmp/cchUiEQZ.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_0ad23 /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/13 -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/13/../../.. CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o - COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_0ad23' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_0ad23.' - gmake[1]: Leaving directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg' - - exitCode: 0 - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:127 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - message: | - Parsed C implicit include dir info: rv=done - found start of include info - found start of implicit include info - add: [/usr/lib/gcc/x86_64-linux-gnu/13/include] - add: [/usr/local/include] - add: [/usr/include/x86_64-linux-gnu] - add: [/usr/include] - end of search list found - collapse include dir [/usr/lib/gcc/x86_64-linux-gnu/13/include] ==> [/usr/lib/gcc/x86_64-linux-gnu/13/include] - collapse include dir [/usr/local/include] ==> [/usr/local/include] - collapse include dir [/usr/include/x86_64-linux-gnu] ==> [/usr/include/x86_64-linux-gnu] - collapse include dir [/usr/include] ==> [/usr/include] - implicit include dirs: [/usr/lib/gcc/x86_64-linux-gnu/13/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include] - - - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:159 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - message: | - Parsed C implicit link information: - link line regex: [^( *|.*[/\\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\\]+-)?ld|collect2)[^/\\]*( |$)] - ignore line: [Change Dir: '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg'] - ignore line: [] - ignore line: [Run Build Command(s): /usr/bin/cmake -E env VERBOSE=1 /usr/bin/gmake -f Makefile cmTC_0ad23/fast] - ignore line: [/usr/bin/gmake -f CMakeFiles/cmTC_0ad23.dir/build.make CMakeFiles/cmTC_0ad23.dir/build] - ignore line: [gmake[1]: Entering directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-lOnJFg'] - ignore line: [Building C object CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o] - ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.28/Modules/CMakeCCompilerABI.c] - ignore line: [Using built-in specs.] - ignore line: [COLLECT_GCC=/usr/bin/cc] - ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa] - ignore line: [OFFLOAD_TARGET_DEFAULT=1] - ignore line: [Target: x86_64-linux-gnu] - ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2] - ignore line: [Thread model: posix] - ignore line: [Supported LTO compression algorithms: zlib zstd] - ignore line: [gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) ] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/'] - ignore line: [ /usr/libexec/gcc/x86_64-linux-gnu/13/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.28/Modules/CMakeCCompilerABI.c -quiet -dumpdir CMakeFiles/cmTC_0ad23.dir/ -dumpbase CMakeCCompilerABI.c.c -dumpbase-ext .c -mtune=generic -march=x86-64 -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccn63MRU.s] - ignore line: [GNU C17 (Ubuntu 13.3.0-6ubuntu2~24.04) version 13.3.0 (x86_64-linux-gnu)] - ignore line: [ compiled by GNU C version 13.3.0 GMP version 6.3.0 MPFR version 4.2.1 MPC version 1.3.1 isl version isl-0.26-GMP] - ignore line: [] - ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072] - ignore line: [ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed/x86_64-linux-gnu"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/../../../../x86_64-linux-gnu/include"] - ignore line: [#include "..." search starts here:] - ignore line: [#include <...> search starts here:] - ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/13/include] - ignore line: [ /usr/local/include] - ignore line: [ /usr/include/x86_64-linux-gnu] - ignore line: [ /usr/include] - ignore line: [End of search list.] - ignore line: [Compiler executable checksum: 38987c28e967c64056a6454abdef726e] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/'] - ignore line: [ as -v --64 -o CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o /tmp/ccn63MRU.s] - ignore line: [GNU assembler version 2.42 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.42] - ignore line: [COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/] - ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.'] - ignore line: [Linking C executable cmTC_0ad23] - ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_0ad23.dir/link.txt --verbose=1] - ignore line: [/usr/bin/cc -v CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -o cmTC_0ad23 ] - ignore line: [Using built-in specs.] - ignore line: [COLLECT_GCC=/usr/bin/cc] - ignore line: [COLLECT_LTO_WRAPPER=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper] - ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa] - ignore line: [OFFLOAD_TARGET_DEFAULT=1] - ignore line: [Target: x86_64-linux-gnu] - ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2] - ignore line: [Thread model: posix] - ignore line: [Supported LTO compression algorithms: zlib zstd] - ignore line: [gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) ] - ignore line: [COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/] - ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_0ad23' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_0ad23.'] - link line: [ /usr/libexec/gcc/x86_64-linux-gnu/13/collect2 -plugin /usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so -plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper -plugin-opt=-fresolution=/tmp/cchUiEQZ.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_0ad23 /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/13 -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/13/../../.. CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] - arg [/usr/libexec/gcc/x86_64-linux-gnu/13/collect2] ==> ignore - arg [-plugin] ==> ignore - arg [/usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so] ==> ignore - arg [-plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/cchUiEQZ.res] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore - arg [-plugin-opt=-pass-through=-lc] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore - arg [--build-id] ==> ignore - arg [--eh-frame-hdr] ==> ignore - arg [-m] ==> ignore - arg [elf_x86_64] ==> ignore - arg [--hash-style=gnu] ==> ignore - arg [--as-needed] ==> ignore - arg [-dynamic-linker] ==> ignore - arg [/lib64/ld-linux-x86-64.so.2] ==> ignore - arg [-pie] ==> ignore - arg [-znow] ==> ignore - arg [-zrelro] ==> ignore - arg [-o] ==> ignore - arg [cmTC_0ad23] ==> ignore - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] - arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu] - arg [-L/lib/../lib] ==> dir [/lib/../lib] - arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] - arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../..] - arg [CMakeFiles/cmTC_0ad23.dir/CMakeCCompilerABI.c.o] ==> ignore - arg [-lgcc] ==> lib [gcc] - arg [--push-state] ==> ignore - arg [--as-needed] ==> ignore - arg [-lgcc_s] ==> lib [gcc_s] - arg [--pop-state] ==> ignore - arg [-lc] ==> lib [c] - arg [-lgcc] ==> lib [gcc] - arg [--push-state] ==> ignore - arg [--as-needed] ==> ignore - arg [-lgcc_s] ==> lib [gcc_s] - arg [--pop-state] ==> ignore - arg [/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] ==> [/usr/lib/x86_64-linux-gnu/Scrt1.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] ==> [/usr/lib/x86_64-linux-gnu/crti.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] ==> [/usr/lib/x86_64-linux-gnu/crtn.o] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13] ==> [/usr/lib/gcc/x86_64-linux-gnu/13] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] ==> [/usr/lib] - collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu] - collapse library dir [/lib/../lib] ==> [/lib] - collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu] - collapse library dir [/usr/lib/../lib] ==> [/usr/lib] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../..] ==> [/usr/lib] - implicit libs: [gcc;gcc_s;c;gcc;gcc_s] - implicit objs: [/usr/lib/x86_64-linux-gnu/Scrt1.o;/usr/lib/x86_64-linux-gnu/crti.o;/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o;/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o;/usr/lib/x86_64-linux-gnu/crtn.o] - implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/13;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib] - implicit fwks: [] - - - - - kind: "try_compile-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:57 (try_compile)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCXXCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - checks: - - "Detecting CXX compiler ABI info" - directories: - source: "/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb" - binary: "/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb" - cmakeVariables: - CMAKE_CXX_FLAGS: "" - CMAKE_CXX_FLAGS_DEBUG: "-g" - CMAKE_EXE_LINKER_FLAGS: "" - buildResult: - variable: "CMAKE_CXX_ABI_COMPILED" - cached: true - stdout: | - Change Dir: '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb' - - Run Build Command(s): /usr/bin/cmake -E env VERBOSE=1 /usr/bin/gmake -f Makefile cmTC_f8089/fast - /usr/bin/gmake -f CMakeFiles/cmTC_f8089.dir/build.make CMakeFiles/cmTC_f8089.dir/build - gmake[1]: Entering directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb' - Building CXX object CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o - /usr/bin/c++ -v -o CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.28/Modules/CMakeCXXCompilerABI.cpp - Using built-in specs. - COLLECT_GCC=/usr/bin/c++ - OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa - OFFLOAD_TARGET_DEFAULT=1 - Target: x86_64-linux-gnu - Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr,amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2 - Thread model: posix - Supported LTO compression algorithms: zlib zstd - gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/' - /usr/libexec/gcc/x86_64-linux-gnu/13/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.28/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpdir CMakeFiles/cmTC_f8089.dir/ -dumpbase CMakeCXXCompilerABI.cpp.cpp -dumpbase-ext .cpp -mtune=generic -march=x86-64 -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccE7BfuH.s - GNU C++17 (Ubuntu 13.3.0-6ubuntu2~24.04) version 13.3.0 (x86_64-linux-gnu) - compiled by GNU C version 13.3.0, GMP version 6.3.0, MPFR version 4.2.1, MPC version 1.3.1, isl version isl-0.26-GMP - - GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 - ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/13" - ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed/x86_64-linux-gnu" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed" - ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/../../../../x86_64-linux-gnu/include" - #include "..." search starts here: - #include <...> search starts here: - /usr/include/c++/13 - /usr/include/x86_64-linux-gnu/c++/13 - /usr/include/c++/13/backward - /usr/lib/gcc/x86_64-linux-gnu/13/include - /usr/local/include - /usr/include/x86_64-linux-gnu - /usr/include - End of search list. - Compiler executable checksum: c81c05345ce537099dafd5580045814a - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/' - as -v --64 -o CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccE7BfuH.s - GNU assembler version 2.42 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.42 - COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/ - LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/ - COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.' - Linking CXX executable cmTC_f8089 - /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_f8089.dir/link.txt --verbose=1 - /usr/bin/c++ -v CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_f8089 - Using built-in specs. - COLLECT_GCC=/usr/bin/c++ - COLLECT_LTO_WRAPPER=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper - OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa - OFFLOAD_TARGET_DEFAULT=1 - Target: x86_64-linux-gnu - Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++,m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr,amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2 - Thread model: posix - Supported LTO compression algorithms: zlib zstd - gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) - COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/ - LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/ - COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_f8089' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_f8089.' - /usr/libexec/gcc/x86_64-linux-gnu/13/collect2 -plugin /usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so -plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper -plugin-opt=-fresolution=/tmp/ccG48a6A.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_f8089 /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/13 -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/13/../../.. CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o - COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_f8089' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_f8089.' - gmake[1]: Leaving directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb' - - exitCode: 0 - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:127 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCXXCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - message: | - Parsed CXX implicit include dir info: rv=done - found start of include info - found start of implicit include info - add: [/usr/include/c++/13] - add: [/usr/include/x86_64-linux-gnu/c++/13] - add: [/usr/include/c++/13/backward] - add: [/usr/lib/gcc/x86_64-linux-gnu/13/include] - add: [/usr/local/include] - add: [/usr/include/x86_64-linux-gnu] - add: [/usr/include] - end of search list found - collapse include dir [/usr/include/c++/13] ==> [/usr/include/c++/13] - collapse include dir [/usr/include/x86_64-linux-gnu/c++/13] ==> [/usr/include/x86_64-linux-gnu/c++/13] - collapse include dir [/usr/include/c++/13/backward] ==> [/usr/include/c++/13/backward] - collapse include dir [/usr/lib/gcc/x86_64-linux-gnu/13/include] ==> [/usr/lib/gcc/x86_64-linux-gnu/13/include] - collapse include dir [/usr/local/include] ==> [/usr/local/include] - collapse include dir [/usr/include/x86_64-linux-gnu] ==> [/usr/include/x86_64-linux-gnu] - collapse include dir [/usr/include] ==> [/usr/include] - implicit include dirs: [/usr/include/c++/13;/usr/include/x86_64-linux-gnu/c++/13;/usr/include/c++/13/backward;/usr/lib/gcc/x86_64-linux-gnu/13/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include] - - - - - kind: "message-v1" - backtrace: - - "/usr/share/cmake-3.28/Modules/CMakeDetermineCompilerABI.cmake:159 (message)" - - "/usr/share/cmake-3.28/Modules/CMakeTestCXXCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)" - - "CMakeLists.txt:2 (project)" - message: | - Parsed CXX implicit link information: - link line regex: [^( *|.*[/\\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\\]+-)?ld|collect2)[^/\\]*( |$)] - ignore line: [Change Dir: '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb'] - ignore line: [] - ignore line: [Run Build Command(s): /usr/bin/cmake -E env VERBOSE=1 /usr/bin/gmake -f Makefile cmTC_f8089/fast] - ignore line: [/usr/bin/gmake -f CMakeFiles/cmTC_f8089.dir/build.make CMakeFiles/cmTC_f8089.dir/build] - ignore line: [gmake[1]: Entering directory '/home/wasim/FSM/build/pick_place_fsm/CMakeFiles/CMakeScratch/TryCompile-xw25Hb'] - ignore line: [Building CXX object CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o] - ignore line: [/usr/bin/c++ -v -o CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.28/Modules/CMakeCXXCompilerABI.cpp] - ignore line: [Using built-in specs.] - ignore line: [COLLECT_GCC=/usr/bin/c++] - ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa] - ignore line: [OFFLOAD_TARGET_DEFAULT=1] - ignore line: [Target: x86_64-linux-gnu] - ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2] - ignore line: [Thread model: posix] - ignore line: [Supported LTO compression algorithms: zlib zstd] - ignore line: [gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) ] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/'] - ignore line: [ /usr/libexec/gcc/x86_64-linux-gnu/13/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.28/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpdir CMakeFiles/cmTC_f8089.dir/ -dumpbase CMakeCXXCompilerABI.cpp.cpp -dumpbase-ext .cpp -mtune=generic -march=x86-64 -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccE7BfuH.s] - ignore line: [GNU C++17 (Ubuntu 13.3.0-6ubuntu2~24.04) version 13.3.0 (x86_64-linux-gnu)] - ignore line: [ compiled by GNU C version 13.3.0 GMP version 6.3.0 MPFR version 4.2.1 MPC version 1.3.1 isl version isl-0.26-GMP] - ignore line: [] - ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072] - ignore line: [ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/13"] - ignore line: [ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed/x86_64-linux-gnu"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/include-fixed"] - ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/13/../../../../x86_64-linux-gnu/include"] - ignore line: [#include "..." search starts here:] - ignore line: [#include <...> search starts here:] - ignore line: [ /usr/include/c++/13] - ignore line: [ /usr/include/x86_64-linux-gnu/c++/13] - ignore line: [ /usr/include/c++/13/backward] - ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/13/include] - ignore line: [ /usr/local/include] - ignore line: [ /usr/include/x86_64-linux-gnu] - ignore line: [ /usr/include] - ignore line: [End of search list.] - ignore line: [Compiler executable checksum: c81c05345ce537099dafd5580045814a] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/'] - ignore line: [ as -v --64 -o CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccE7BfuH.s] - ignore line: [GNU assembler version 2.42 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.42] - ignore line: [COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/] - ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.'] - ignore line: [Linking CXX executable cmTC_f8089] - ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_f8089.dir/link.txt --verbose=1] - ignore line: [/usr/bin/c++ -v CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_f8089 ] - ignore line: [Using built-in specs.] - ignore line: [COLLECT_GCC=/usr/bin/c++] - ignore line: [COLLECT_LTO_WRAPPER=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper] - ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa] - ignore line: [OFFLOAD_TARGET_DEFAULT=1] - ignore line: [Target: x86_64-linux-gnu] - ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 13.3.0-6ubuntu2~24.04' --with-bugurl=file:///usr/share/doc/gcc-13/README.Bugs --enable-languages=c ada c++ go d fortran objc obj-c++ m2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-13 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/libexec --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-libstdcxx-backtrace --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --enable-libphobos-checking=release --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --enable-cet --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-nvptx/usr amdgcn-amdhsa=/build/gcc-13-fG75Ri/gcc-13-13.3.0/debian/tmp-gcn/usr --enable-offload-defaulted --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu --with-build-config=bootstrap-lto-lean --enable-link-serialization=2] - ignore line: [Thread model: posix] - ignore line: [Supported LTO compression algorithms: zlib zstd] - ignore line: [gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) ] - ignore line: [COMPILER_PATH=/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/13/:/usr/libexec/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/] - ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/13/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/13/../../../:/lib/:/usr/lib/] - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_f8089' '-shared-libgcc' '-mtune=generic' '-march=x86-64' '-dumpdir' 'cmTC_f8089.'] - link line: [ /usr/libexec/gcc/x86_64-linux-gnu/13/collect2 -plugin /usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so -plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper -plugin-opt=-fresolution=/tmp/ccG48a6A.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_f8089 /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/13 -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/13/../../.. CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] - arg [/usr/libexec/gcc/x86_64-linux-gnu/13/collect2] ==> ignore - arg [-plugin] ==> ignore - arg [/usr/libexec/gcc/x86_64-linux-gnu/13/liblto_plugin.so] ==> ignore - arg [-plugin-opt=/usr/libexec/gcc/x86_64-linux-gnu/13/lto-wrapper] ==> ignore - arg [-plugin-opt=-fresolution=/tmp/ccG48a6A.res] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc] ==> ignore - arg [-plugin-opt=-pass-through=-lc] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore - arg [-plugin-opt=-pass-through=-lgcc] ==> ignore - arg [--build-id] ==> ignore - arg [--eh-frame-hdr] ==> ignore - arg [-m] ==> ignore - arg [elf_x86_64] ==> ignore - arg [--hash-style=gnu] ==> ignore - arg [--as-needed] ==> ignore - arg [-dynamic-linker] ==> ignore - arg [/lib64/ld-linux-x86-64.so.2] ==> ignore - arg [-pie] ==> ignore - arg [-znow] ==> ignore - arg [-zrelro] ==> ignore - arg [-o] ==> ignore - arg [cmTC_f8089] ==> ignore - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] - arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu] - arg [-L/lib/../lib] ==> dir [/lib/../lib] - arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] - arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] - arg [-L/usr/lib/gcc/x86_64-linux-gnu/13/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../..] - arg [CMakeFiles/cmTC_f8089.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore - arg [-lstdc++] ==> lib [stdc++] - arg [-lm] ==> lib [m] - arg [-lgcc_s] ==> lib [gcc_s] - arg [-lgcc] ==> lib [gcc] - arg [-lc] ==> lib [c] - arg [-lgcc_s] ==> lib [gcc_s] - arg [-lgcc] ==> lib [gcc] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o] - arg [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/Scrt1.o] ==> [/usr/lib/x86_64-linux-gnu/Scrt1.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crti.o] ==> [/usr/lib/x86_64-linux-gnu/crti.o] - collapse obj [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu/crtn.o] ==> [/usr/lib/x86_64-linux-gnu/crtn.o] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13] ==> [/usr/lib/gcc/x86_64-linux-gnu/13] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../../../lib] ==> [/usr/lib] - collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu] - collapse library dir [/lib/../lib] ==> [/lib] - collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu] - collapse library dir [/usr/lib/../lib] ==> [/usr/lib] - collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/13/../../..] ==> [/usr/lib] - implicit libs: [stdc++;m;gcc_s;gcc;c;gcc_s;gcc] - implicit objs: [/usr/lib/x86_64-linux-gnu/Scrt1.o;/usr/lib/x86_64-linux-gnu/crti.o;/usr/lib/gcc/x86_64-linux-gnu/13/crtbeginS.o;/usr/lib/gcc/x86_64-linux-gnu/13/crtendS.o;/usr/lib/x86_64-linux-gnu/crtn.o] - implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/13;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib] - implicit fwks: [] - - -... diff --git a/build/pick_place_fsm/CMakeFiles/cmake.check_cache b/build/pick_place_fsm/CMakeFiles/cmake.check_cache deleted file mode 100644 index 3dccd73..0000000 --- a/build/pick_place_fsm/CMakeFiles/cmake.check_cache +++ /dev/null @@ -1 +0,0 @@ -# This file is generated by cmake for dependency checking of the CMakeCache.txt file diff --git a/build/pick_place_fsm/CTestConfiguration.ini b/build/pick_place_fsm/CTestConfiguration.ini deleted file mode 100644 index 1bfb354..0000000 --- a/build/pick_place_fsm/CTestConfiguration.ini +++ /dev/null @@ -1,106 +0,0 @@ -# This file is configured by CMake automatically as DartConfiguration.tcl -# If you choose not to use CMake, this file may be hand configured, by -# filling in the required variables. - - -# Configuration directories and files -SourceDirectory: /home/wasim/FSM -BuildDirectory: /home/wasim/FSM/build/pick_place_fsm - -# Where to place the cost data store -CostDataFile: - -# Site is something like machine.domain, i.e. pragmatic.crd -Site: wasim-IdeaPad-5-Pro-16ACH6 - -# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++ -BuildName: - -# Subprojects -LabelsForSubprojects: - -# Submission information -SubmitURL: -SubmitInactivityTimeout: - -# Dashboard start time -NightlyStartTime: - -# Commands for the build/test/submit cycle -ConfigureCommand: "/usr/bin/cmake" "/home/wasim/FSM" -MakeCommand: -DefaultCTestConfigurationType: - -# version control -UpdateVersionOnly: - -# CVS options -# Default is "-d -P -A" -CVSCommand: -CVSUpdateOptions: - -# Subversion options -SVNCommand: -SVNOptions: -SVNUpdateOptions: - -# Git options -GITCommand: -GITInitSubmodules: -GITUpdateOptions: -GITUpdateCustom: - -# Perforce options -P4Command: -P4Client: -P4Options: -P4UpdateOptions: -P4UpdateCustom: - -# Generic update command -UpdateCommand: -UpdateOptions: -UpdateType: - -# Compiler info -Compiler: /usr/bin/c++ -CompilerVersion: 13.3.0 - -# Dynamic analysis (MemCheck) -PurifyCommand: -ValgrindCommand: -ValgrindCommandOptions: -DrMemoryCommand: -DrMemoryCommandOptions: -CudaSanitizerCommand: -CudaSanitizerCommandOptions: -MemoryCheckType: -MemoryCheckSanitizerOptions: -MemoryCheckCommand: -MemoryCheckCommandOptions: -MemoryCheckSuppressionFile: - -# Coverage -CoverageCommand: -CoverageExtraFlags: - -# Testing options -# TimeOut is the amount of time in seconds to wait for processes -# to complete during testing. After TimeOut seconds, the -# process will be summarily terminated. -# Currently set to 25 minutes -TimeOut: - -# During parallel testing CTest will not start a new test if doing -# so would cause the system load to exceed this value. -TestLoad: - -UseLaunchers: -CurlOptions: -# warning, if you add new options here that have to do with submit, -# you have to update cmCTestSubmitCommand.cxx - -# For CTest submissions that timeout, these options -# specify behavior for retrying the submission -CTestSubmitRetryDelay: -CTestSubmitRetryCount: diff --git a/build/pick_place_fsm/CTestCustom.cmake b/build/pick_place_fsm/CTestCustom.cmake deleted file mode 100644 index 14956f3..0000000 --- a/build/pick_place_fsm/CTestCustom.cmake +++ /dev/null @@ -1,2 +0,0 @@ -set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0) -set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0) diff --git a/build/pick_place_fsm/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/pick_place_fsm/ament_cmake_core/stamps/templates_2_cmake.py.stamp deleted file mode 100644 index fb2fb47..0000000 --- a/build/pick_place_fsm/ament_cmake_core/stamps/templates_2_cmake.py.stamp +++ /dev/null @@ -1,112 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2014-2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import argparse -import os -import sys - -from ament_package.templates import get_environment_hook_template_path -from ament_package.templates import get_package_level_template_names -from ament_package.templates import get_package_level_template_path -from ament_package.templates import get_prefix_level_template_names -from ament_package.templates import get_prefix_level_template_path - -IS_WINDOWS = os.name == 'nt' - - -def main(argv=sys.argv[1:]): - """ - Extract the information about templates provided by ament_package. - - Call the API provided by ament_package and - print CMake code defining several variables containing information about - the available templates. - """ - parser = argparse.ArgumentParser( - description='Extract information about templates provided by ' - 'ament_package and print CMake code defining several ' - 'variables', - ) - parser.add_argument( - 'outfile', - nargs='?', - help='The filename where the output should be written to', - ) - args = parser.parse_args(argv) - - lines = generate_cmake_code() - if args.outfile: - basepath = os.path.dirname(args.outfile) - if not os.path.exists(basepath): - os.makedirs(basepath) - with open(args.outfile, 'w') as f: - for line in lines: - f.write('%s\n' % line) - else: - for line in lines: - print(line) - - -def generate_cmake_code(): - """ - Return a list of CMake set() commands containing the template information. - - :returns: list of str - """ - variables = [] - - if not IS_WINDOWS: - variables.append(( - 'ENVIRONMENT_HOOK_LIBRARY_PATH', - '"%s"' % get_environment_hook_template_path('library_path.sh'))) - else: - variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) - - ext = '.bat.in' if IS_WINDOWS else '.sh.in' - variables.append(( - 'ENVIRONMENT_HOOK_PYTHONPATH', - '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) - - templates = [] - for name in get_package_level_template_names(): - templates.append('"%s"' % get_package_level_template_path(name)) - variables.append(( - 'PACKAGE_LEVEL', - templates)) - - templates = [] - for name in get_prefix_level_template_names(): - templates.append('"%s"' % get_prefix_level_template_path(name)) - variables.append(( - 'PREFIX_LEVEL', - templates)) - - lines = [] - for (k, v) in variables: - if isinstance(v, list): - lines.append('set(ament_cmake_package_templates_%s "")' % k) - for vv in v: - lines.append('list(APPEND ament_cmake_package_templates_%s %s)' - % (k, vv)) - else: - lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) - # Ensure backslashes are replaced with forward slashes because CMake cannot - # parse files with backslashes in it. - return [line.replace('\\', '/') for line in lines] - - -if __name__ == '__main__': - main() diff --git a/build/pick_place_fsm/ament_cmake_package_templates/templates.cmake b/build/pick_place_fsm/ament_cmake_package_templates/templates.cmake deleted file mode 100644 index 93bb0b4..0000000 --- a/build/pick_place_fsm/ament_cmake_package_templates/templates.cmake +++ /dev/null @@ -1,14 +0,0 @@ -set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/environment_hook/library_path.sh") -set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") -set(ament_cmake_package_templates_PACKAGE_LEVEL "") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.bash.in") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.sh.in") -list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/package_level/local_setup.zsh.in") -set(ament_cmake_package_templates_PREFIX_LEVEL "") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.bash") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.sh.in") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/local_setup.zsh") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.bash") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.sh.in") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/setup.zsh") -list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/jazzy/lib/python3.12/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/pick_place_fsm/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/pick_place_fsm/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake deleted file mode 100644 index a56996e..0000000 --- a/build/pick_place_fsm/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake +++ /dev/null @@ -1,57 +0,0 @@ -# generated from -# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in - -function(ament_cmake_uninstall_target_remove_empty_directories path) - set(install_space "/home/wasim/FSM/install/pick_place_fsm") - if(install_space STREQUAL "") - message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") - endif() - - string(LENGTH "${install_space}" length) - string(SUBSTRING "${path}" 0 ${length} path_prefix) - if(NOT path_prefix STREQUAL install_space) - message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") - endif() - if(path STREQUAL install_space) - return() - endif() - - # check if directory is empty - file(GLOB files "${path}/*") - list(LENGTH files length) - if(length EQUAL 0) - message(STATUS "Uninstalling: ${path}/") - execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") - # recursively try to remove parent directories - get_filename_component(parent_path "${path}" PATH) - ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") - endif() -endfunction() - -# uninstall files installed using the standard install() function -set(install_manifest "/home/wasim/FSM/build/pick_place_fsm/install_manifest.txt") -if(NOT EXISTS "${install_manifest}") - message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") -endif() - -file(READ "${install_manifest}" installed_files) -string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") -foreach(installed_file ${installed_files}) - if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") - message(STATUS "Uninstalling: ${installed_file}") - file(REMOVE "${installed_file}") - if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") - message(FATAL_ERROR "Failed to remove '${installed_file}'") - endif() - - # remove empty parent folders - get_filename_component(parent_path "${installed_file}" PATH) - ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") - endif() -endforeach() - -# end of template - -message(STATUS "Execute custom uninstall script") - -# begin of custom uninstall code diff --git a/build/pick_place_fsm/cmake_args.last b/build/pick_place_fsm/cmake_args.last deleted file mode 100644 index 4af1832..0000000 --- a/build/pick_place_fsm/cmake_args.last +++ /dev/null @@ -1 +0,0 @@ -None \ No newline at end of file diff --git a/build/pick_place_fsm/colcon_build.rc b/build/pick_place_fsm/colcon_build.rc deleted file mode 100644 index d00491f..0000000 --- a/build/pick_place_fsm/colcon_build.rc +++ /dev/null @@ -1 +0,0 @@ -1 diff --git a/build/pick_place_fsm/colcon_command_prefix_build.sh b/build/pick_place_fsm/colcon_command_prefix_build.sh deleted file mode 100644 index f9867d5..0000000 --- a/build/pick_place_fsm/colcon_command_prefix_build.sh +++ /dev/null @@ -1 +0,0 @@ -# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/build/pick_place_fsm/colcon_command_prefix_build.sh.env b/build/pick_place_fsm/colcon_command_prefix_build.sh.env deleted file mode 100644 index c7915f4..0000000 --- a/build/pick_place_fsm/colcon_command_prefix_build.sh.env +++ /dev/null @@ -1,63 +0,0 @@ -AMENT_PREFIX_PATH=/opt/ros/jazzy -BYOBU_CONFIG_DIR=/home/wasim/.config/byobu -BYOBU_RUN_DIR=/dev/shm/byobu-wasim-5jmAJYEg -CMAKE_PREFIX_PATH=/opt/ros/jazzy/opt/gz_sim_vendor:/opt/ros/jazzy/opt/gz_sensors_vendor:/opt/ros/jazzy/opt/gz_physics_vendor:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_gui_vendor:/opt/ros/jazzy/opt/gz_transport_vendor:/opt/ros/jazzy/opt/gz_rendering_vendor:/opt/ros/jazzy/opt/gz_plugin_vendor:/opt/ros/jazzy/opt/gz_fuel_tools_vendor:/opt/ros/jazzy/opt/gz_msgs_vendor:/opt/ros/jazzy/opt/gz_common_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_ogre_next_vendor:/opt/ros/jazzy/opt/gz_dartsim_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor -COLCON=1 -COLORTERM=truecolor -DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus,guid=f598f3fc1c13da4c9801445a68e512f4 -DBUS_STARTER_ADDRESS=unix:path=/run/user/1000/bus,guid=f598f3fc1c13da4c9801445a68e512f4 -DBUS_STARTER_BUS_TYPE=session -DEBUGINFOD_URLS=https://debuginfod.ubuntu.com -DESKTOP_SESSION=ubuntu -DISPLAY=:1 -GDMSESSION=ubuntu -GNOME_DESKTOP_SESSION_ID=this-is-deprecated -GNOME_SHELL_SESSION_MODE=ubuntu -GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/6f68102e_c027_42dd_9fd3_32d259de1337 -GNOME_TERMINAL_SERVICE=:1.154 -GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1 -GSM_SKIP_SSH_AGENT_WORKAROUND=true -GTK_MODULES=gail:atk-bridge -GZ_CONFIG_PATH=/opt/ros/jazzy/opt/gz_sim_vendor/share/gz:/opt/ros/jazzy/opt/sdformat_vendor/share/gz:/opt/ros/jazzy/opt/gz_gui_vendor/share/gz:/opt/ros/jazzy/opt/gz_transport_vendor/share/gz:/opt/ros/jazzy/opt/gz_rendering_vendor/share/gz:/opt/ros/jazzy/opt/gz_plugin_vendor/share/gz:/opt/ros/jazzy/opt/gz_fuel_tools_vendor/share/gz:/opt/ros/jazzy/opt/gz_msgs_vendor/share/gz:/opt/ros/jazzy/opt/gz_common_vendor/share/gz -HOME=/home/wasim -IGN_GAZEBO_RESOURCE_PATH=/opt/ros/jazzy/share -LANG=en_US.UTF-8 -LC_ALL=en_US.UTF-8 -LD_LIBRARY_PATH=/opt/ros/jazzy/opt/gz_sim_vendor/lib:/opt/ros/jazzy/opt/gz_sensors_vendor/lib:/opt/ros/jazzy/opt/gz_physics_vendor/lib:/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/opt/gz_gui_vendor/lib:/opt/ros/jazzy/opt/gz_transport_vendor/lib:/opt/ros/jazzy/opt/gz_rendering_vendor/lib:/opt/ros/jazzy/opt/gz_plugin_vendor/lib:/opt/ros/jazzy/opt/gz_fuel_tools_vendor/lib:/opt/ros/jazzy/opt/gz_msgs_vendor/lib:/opt/ros/jazzy/opt/gz_common_vendor/lib:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib:/opt/ros/jazzy/opt/gz_dartsim_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib -LESSCLOSE=/usr/bin/lesspipe %s %s -LESSOPEN=| /usr/bin/lesspipe %s -LOGNAME=wasim -LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90: -MEMORY_PRESSURE_WATCH=/sys/fs/cgroup/user.slice/user-1000.slice/user@1000.service/app.slice/app-gnome\x2dsession\x2dmanager.slice/gnome-session-manager@ubuntu.service/memory.pressure -MEMORY_PRESSURE_WRITE=c29tZSAyMDAwMDAgMjAwMDAwMAA= -PATH=/opt/ros/jazzy/opt/gz_msgs_vendor/bin:/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/opt/gz_ogre_next_vendor/bin:/opt/ros/jazzy/bin:/home/wasim/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin -PS0=$(printf "%s" ${EPOCHREALTIME/./} >"$BYOBU_RUN_DIR/timer.$$") -PWD=/home/wasim/FSM/build/pick_place_fsm -PYTHONPATH=/opt/ros/jazzy/lib/python3.12/site-packages -QT_ACCESSIBILITY=1 -QT_IM_MODULE=ibus -ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET -ROS_DISTRO=jazzy -ROS_PYTHON_VERSION=3 -ROS_VERSION=2 -SESSION_MANAGER=local/wasim-IdeaPad-5-Pro-16ACH6:@/tmp/.ICE-unix/2795,unix/wasim-IdeaPad-5-Pro-16ACH6:/tmp/.ICE-unix/2795 -SHELL=/bin/bash -SHLVL=1 -SSH_AUTH_SOCK=/run/user/1000/keyring/ssh -SYSTEMD_EXEC_PID=2795 -TERM=xterm-256color -USER=wasim -USERNAME=wasim -VTE_VERSION=7600 -WINDOWPATH=2 -XAUTHORITY=/run/user/1000/gdm/Xauthority -XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg -XDG_CURRENT_DESKTOP=ubuntu:GNOME -XDG_DATA_DIRS=/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop -XDG_MENU_PREFIX=gnome- -XDG_RUNTIME_DIR=/run/user/1000 -XDG_SESSION_CLASS=user -XDG_SESSION_DESKTOP=ubuntu -XDG_SESSION_TYPE=x11 -XMODIFIERS=@im=ibus -_=/usr/bin/colcon diff --git a/how_to_run.md b/how_to_run.md new file mode 100644 index 0000000..ad7bb91 --- /dev/null +++ b/how_to_run.md @@ -0,0 +1,50 @@ +# How to Run + +This document provides instructions on how to run the Pick and Place FSM project. + +## Prerequisites + +- A working ROS2 Jazzy installation. +- The `eddie_ros` package must be in your workspace and built. +- You have built the `pick_place_fsm` package. + +## Running the FSM + +You will need three terminals. + +### 1. Source the Workspace + +In each terminal, source your ROS2 workspace: + +```bash +source install/setup.bash +``` + +### 2. Run the Eddie interface (Terminal 1) + #### 2.1 **Ensure Zenoh is running.** + #### 2.2 refer docs from [Eddie-Ros Docs](https://github.com/Robots4Sustainability/eddie-ros/tree/dev) + +### 3. Run the FSM (Terminal 2) + +This will start the FSM client, which will wait for a perception message. + +```bash +ros2 run pick_place_fsm pick_place +``` +Press Enter key once perception node is ready. + +### 4. Publish Perception Data (Terminal 3) + +This will trigger the FSM to start the pick and place sequence.. + + +Refer docs from [Perception docs](https://github.com/Robots4Sustainability/perception) + +**OR** + +```bash +ros2 topic pub --once /object_pose geometry_msgs/msg/PoseStamped "{header: {frame_id: 'eddie_right_arm_camera_link'}, pose: {position: {x: 0.0, y: 0.0, z: 0.4}, orientation: {}}}" + +``` + +#### You should then be able to see state transitions from FSM terminal diff --git a/images/FSM_pick_and_place.png b/images/FSM_pick_and_place.png deleted file mode 100644 index d025bab..0000000 Binary files a/images/FSM_pick_and_place.png and /dev/null differ diff --git a/images/fsm_diagram.png b/images/fsm_diagram.png new file mode 100644 index 0000000..b05d222 Binary files /dev/null and b/images/fsm_diagram.png differ diff --git a/images/readme.md b/images/readme.md deleted file mode 100644 index 8b13789..0000000 --- a/images/readme.md +++ /dev/null @@ -1 +0,0 @@ - diff --git a/include/__pycache__/fsm_pick_place.cpython-312.pyc b/include/__pycache__/fsm_pick_place.cpython-312.pyc new file mode 100644 index 0000000..20020ec Binary files /dev/null and b/include/__pycache__/fsm_pick_place.cpython-312.pyc differ diff --git a/include/fsm_pick_place.py b/include/fsm_pick_place.py new file mode 100644 index 0000000..dc7cd73 --- /dev/null +++ b/include/fsm_pick_place.py @@ -0,0 +1,202 @@ +""" +This is an auto-generated file. Do not edit it directly. + +FSM: pick_place +FSM Description: + +Examples: + +>>> from coord_dsl.fsm import fsm_step +>>> from coord_dsl.event_loop import reconfig_event_buffers +>>> from fsm_example import create_fsm +>>> fsm = create_fsm() +>>> while True: +... if fsm.current_state_index == StateID.S_EXIT: +... print("State machine completed successfully") +... break +... fsm_behavior(fsm, ud) # user-defined behaviour with user data +... fsm_step(fsm) +... reconfig_event_buffers(fsm.event_data) +""" +from enum import IntEnum, auto +from coord_dsl.event_loop import EventData +from coord_dsl.fsm import FSMData, Transition, EventReaction + + +# Event IDs +class EventID(IntEnum): + E_START = 0 + E_GO_HOME = auto() + E_PERCEPTION_POSE = auto() + E_PERCEPTION_FAIL = auto() + E_PICK_MOVE_DONE = auto() + E_PLACE_MOVE_DONE = auto() + E_ARM_MOVE_DONE_FAIL = auto() + E_GRIPPER_CLOSE_DONE_OK = auto() + E_GRIPPER_CLOSE_DONE_FAIL = auto() + E_OPEN_DONE_OK = auto() + E_OPEN_DONE_FAIL = auto() + E_HOME_DONE_OK = auto() + E_HOME_DONE_FAIL = auto() + + + +# State IDs +class StateID(IntEnum): + S_IDLE = 0 + S_POSE_DETECTION = auto() + S_MOVE_ARM = auto() + S_CLOSE_GRIPPER = auto() + S_OPEN_GRIPPER = auto() + S_FINISHED = auto() + S_MOVE_ARM_HOME = auto() + S_EXIT = auto() + + +# Transition IDs +class TransitionID(IntEnum): + T_IDLE_POSE_DETECTION = 0 + T_IDLE_HOME = auto() + T_POSE_DETECTION_MOVE_ARM = auto() + T_POSE_DETECTION_IDLE = auto() + T_MOVE_ARM_CLOSE_GRIPPER = auto() + T_MOVE_ARM_OPEN_GRIPPER = auto() + T_MOVE_ARM_EXIT = auto() + T_CLOSE_GRIPPER_MOVE_ARM = auto() + T_CLOSE_GRIPPER_EXIT = auto() + T_OPEN_FINISHED = auto() + T_OPEN_EXIT = auto() + T_FINISHED_HOME = auto() + T_FINISHED_IDLE = auto() + T_HOME_IDLE = auto() + T_HOME_EXIT = auto() + + +# Event reaction IDs +class ReactionID(IntEnum): + R_E_START = 0 + R_E_GO_HOME_IDLE = auto() + R_E_PERCEPTION_POSE = auto() + R_E_PERCEPTION_FAIL = auto() + R_E_PICK_MOVE_DONE = auto() + R_E_PLACE_MOVE_DONE = auto() + R_E_ARM_MOVE_DONE_FAIL = auto() + R_E_GRIPPER_CLOSE_DONE_OK = auto() + R_E_GRIPPER_CLOSE_DONE_FAIL = auto() + R_E_OPEN_DONE_OK = auto() + R_E_OPEN_DONE_FAIL = auto() + R_E_GO_HOME_FINISHED = auto() + R_E_HOME_DONE_OK = auto() + R_E_HOME_DONE_FAIL = auto() + + +def create_fsm() -> FSMData: + """Creates the FSM data structure.""" + # Transitions + trans_dict = { + TransitionID.T_IDLE_POSE_DETECTION: Transition(StateID.S_IDLE, StateID.S_POSE_DETECTION), + TransitionID.T_IDLE_HOME: Transition(StateID.S_IDLE, StateID.S_MOVE_ARM_HOME), + TransitionID.T_POSE_DETECTION_MOVE_ARM: Transition(StateID.S_POSE_DETECTION, StateID.S_MOVE_ARM), + TransitionID.T_POSE_DETECTION_IDLE: Transition(StateID.S_POSE_DETECTION, StateID.S_IDLE), + TransitionID.T_MOVE_ARM_CLOSE_GRIPPER: Transition(StateID.S_MOVE_ARM, StateID.S_CLOSE_GRIPPER), + TransitionID.T_MOVE_ARM_OPEN_GRIPPER: Transition(StateID.S_MOVE_ARM, StateID.S_OPEN_GRIPPER), + TransitionID.T_MOVE_ARM_EXIT: Transition(StateID.S_MOVE_ARM, StateID.S_EXIT), + TransitionID.T_CLOSE_GRIPPER_MOVE_ARM: Transition(StateID.S_CLOSE_GRIPPER, StateID.S_MOVE_ARM), + TransitionID.T_CLOSE_GRIPPER_EXIT: Transition(StateID.S_CLOSE_GRIPPER, StateID.S_EXIT), + TransitionID.T_OPEN_FINISHED: Transition(StateID.S_OPEN_GRIPPER, StateID.S_FINISHED), + TransitionID.T_OPEN_EXIT: Transition(StateID.S_OPEN_GRIPPER, StateID.S_EXIT), + TransitionID.T_FINISHED_HOME: Transition(StateID.S_FINISHED, StateID.S_MOVE_ARM_HOME), + TransitionID.T_FINISHED_IDLE: Transition(StateID.S_FINISHED, StateID.S_IDLE), + TransitionID.T_HOME_IDLE: Transition(StateID.S_MOVE_ARM_HOME, StateID.S_IDLE), + TransitionID.T_HOME_EXIT: Transition(StateID.S_MOVE_ARM_HOME, StateID.S_EXIT), + } + trans_list = [trans_dict[i] for i in TransitionID] + + # Event Reactions + evt_reaction_dict = { + ReactionID.R_E_START: EventReaction( + condition_event_index=EventID.E_START, + transition_index=TransitionID.T_IDLE_POSE_DETECTION, + fired_event_indices=[], + ), + ReactionID.R_E_GO_HOME_IDLE: EventReaction( + condition_event_index=EventID.E_GO_HOME, + transition_index=TransitionID.T_IDLE_HOME, + fired_event_indices=[], + ), + ReactionID.R_E_PERCEPTION_POSE: EventReaction( + condition_event_index=EventID.E_PERCEPTION_POSE, + transition_index=TransitionID.T_POSE_DETECTION_MOVE_ARM, + fired_event_indices=[], + ), + ReactionID.R_E_PERCEPTION_FAIL: EventReaction( + condition_event_index=EventID.E_PERCEPTION_FAIL, + transition_index=TransitionID.T_POSE_DETECTION_IDLE, + fired_event_indices=[], + ), + ReactionID.R_E_PICK_MOVE_DONE: EventReaction( + condition_event_index=EventID.E_PICK_MOVE_DONE, + transition_index=TransitionID.T_MOVE_ARM_CLOSE_GRIPPER, + fired_event_indices=[], + ), + ReactionID.R_E_PLACE_MOVE_DONE: EventReaction( + condition_event_index=EventID.E_PLACE_MOVE_DONE, + transition_index=TransitionID.T_MOVE_ARM_OPEN_GRIPPER, + fired_event_indices=[], + ), + ReactionID.R_E_ARM_MOVE_DONE_FAIL: EventReaction( + condition_event_index=EventID.E_ARM_MOVE_DONE_FAIL, + transition_index=TransitionID.T_MOVE_ARM_EXIT, + fired_event_indices=[], + ), + ReactionID.R_E_GRIPPER_CLOSE_DONE_OK: EventReaction( + condition_event_index=EventID.E_GRIPPER_CLOSE_DONE_OK, + transition_index=TransitionID.T_CLOSE_GRIPPER_MOVE_ARM, + fired_event_indices=[], + ), + ReactionID.R_E_GRIPPER_CLOSE_DONE_FAIL: EventReaction( + condition_event_index=EventID.E_GRIPPER_CLOSE_DONE_FAIL, + transition_index=TransitionID.T_CLOSE_GRIPPER_EXIT, + fired_event_indices=[], + ), + ReactionID.R_E_OPEN_DONE_OK: EventReaction( + condition_event_index=EventID.E_OPEN_DONE_OK, + transition_index=TransitionID.T_OPEN_FINISHED, + fired_event_indices=[], + ), + ReactionID.R_E_OPEN_DONE_FAIL: EventReaction( + condition_event_index=EventID.E_OPEN_DONE_FAIL, + transition_index=TransitionID.T_OPEN_EXIT, + fired_event_indices=[], + ), + ReactionID.R_E_GO_HOME_FINISHED: EventReaction( + condition_event_index=EventID.E_GO_HOME, + transition_index=TransitionID.T_FINISHED_HOME, + fired_event_indices=[], + ), + ReactionID.R_E_HOME_DONE_OK: EventReaction( + condition_event_index=EventID.E_HOME_DONE_OK, + transition_index=TransitionID.T_HOME_IDLE, + fired_event_indices=[], + ), + ReactionID.R_E_HOME_DONE_FAIL: EventReaction( + condition_event_index=EventID.E_HOME_DONE_FAIL, + transition_index=TransitionID.T_HOME_EXIT, + fired_event_indices=[], + ), + } + evt_reaction_list = [evt_reaction_dict[i] for i in ReactionID] + + # Events + events = EventData(len(EventID)) + + # Return FSM Data + return FSMData( + event_data=events, + num_states=len(StateID), + start_state_index=StateID.S_IDLE, + end_state_index=StateID.S_EXIT, + transitions=trans_list, + event_reactions=evt_reaction_list, + current_state_index=StateID.S_IDLE, + ) \ No newline at end of file diff --git a/include/pick_place_py.fsm b/include/pick_place_py.fsm new file mode 100644 index 0000000..c21e5c6 --- /dev/null +++ b/include/pick_place_py.fsm @@ -0,0 +1,133 @@ +NAME: pick_place + +STATES: + S_IDLE, + S_POSE_DETECTION, + S_MOVE_ARM, + S_CLOSE_GRIPPER, + S_OPEN_GRIPPER, + S_FINISHED, + S_MOVE_ARM_HOME, + S_EXIT + +START_STATE: @S_IDLE +CURRENT_STATE: @S_IDLE +END_STATE: @S_EXIT + +EVENTS: + E_START, + E_GO_HOME, + E_PERCEPTION_POSE, + E_PERCEPTION_FAIL, + E_PICK_MOVE_DONE, + E_PLACE_MOVE_DONE, + E_ARM_MOVE_DONE_FAIL, + E_GRIPPER_CLOSE_DONE_OK, + E_GRIPPER_CLOSE_DONE_FAIL, + E_OPEN_DONE_OK, + E_OPEN_DONE_FAIL, + E_HOME_DONE_OK, + E_HOME_DONE_FAIL + +TRANSITIONS: + T_IDLE_POSE_DETECTION: + FROM: @S_IDLE + TO: @S_POSE_DETECTION + T_IDLE_HOME: + FROM: @S_IDLE + TO: @S_MOVE_ARM_HOME + + T_POSE_DETECTION_MOVE_ARM: + FROM: @S_POSE_DETECTION + TO: @S_MOVE_ARM + T_POSE_DETECTION_IDLE: + FROM: @S_POSE_DETECTION + TO: @S_IDLE + + T_MOVE_ARM_CLOSE_GRIPPER: + FROM: @S_MOVE_ARM + TO: @S_CLOSE_GRIPPER + T_MOVE_ARM_OPEN_GRIPPER: + FROM: @S_MOVE_ARM + TO: @S_OPEN_GRIPPER + T_MOVE_ARM_EXIT: + FROM: @S_MOVE_ARM + TO: @S_EXIT + + T_CLOSE_GRIPPER_MOVE_ARM: + FROM: @S_CLOSE_GRIPPER + TO: @S_MOVE_ARM + T_CLOSE_GRIPPER_EXIT: + FROM: @S_CLOSE_GRIPPER + TO: @S_EXIT + + T_OPEN_FINISHED: + FROM: @S_OPEN_GRIPPER + TO: @S_FINISHED + T_OPEN_EXIT: + FROM: @S_OPEN_GRIPPER + TO: @S_EXIT + + T_FINISHED_HOME: + FROM: @S_FINISHED + TO: @S_MOVE_ARM_HOME + T_FINISHED_IDLE: + FROM: @S_FINISHED + TO: @S_IDLE + + T_HOME_IDLE: + FROM: @S_MOVE_ARM_HOME + TO: @S_IDLE + T_HOME_EXIT: + FROM: @S_MOVE_ARM_HOME + TO: @S_EXIT + +REACTIONS: + R_E_START: + WHEN: @E_START + DO: @T_IDLE_POSE_DETECTION + R_E_GO_HOME_IDLE: + WHEN: @E_GO_HOME + DO: @T_IDLE_HOME + + R_E_PERCEPTION_POSE: + WHEN: @E_PERCEPTION_POSE + DO: @T_POSE_DETECTION_MOVE_ARM + R_E_PERCEPTION_FAIL: + WHEN: @E_PERCEPTION_FAIL + DO: @T_POSE_DETECTION_IDLE + + R_E_PICK_MOVE_DONE: + WHEN: @E_PICK_MOVE_DONE + DO: @T_MOVE_ARM_CLOSE_GRIPPER + R_E_PLACE_MOVE_DONE: + WHEN: @E_PLACE_MOVE_DONE + DO: @T_MOVE_ARM_OPEN_GRIPPER + R_E_ARM_MOVE_DONE_FAIL: + WHEN: @E_ARM_MOVE_DONE_FAIL + DO: @T_MOVE_ARM_EXIT + + R_E_GRIPPER_CLOSE_DONE_OK: + WHEN: @E_GRIPPER_CLOSE_DONE_OK + DO: @T_CLOSE_GRIPPER_MOVE_ARM + R_E_GRIPPER_CLOSE_DONE_FAIL: + WHEN: @E_GRIPPER_CLOSE_DONE_FAIL + DO: @T_CLOSE_GRIPPER_EXIT + + R_E_OPEN_DONE_OK: + WHEN: @E_OPEN_DONE_OK + DO: @T_OPEN_FINISHED + R_E_OPEN_DONE_FAIL: + WHEN: @E_OPEN_DONE_FAIL + DO: @T_OPEN_EXIT + + R_E_GO_HOME_FINISHED: + WHEN: @E_GO_HOME + DO: @T_FINISHED_HOME + + R_E_HOME_DONE_OK: + WHEN: @E_HOME_DONE_OK + DO: @T_HOME_IDLE + R_E_HOME_DONE_FAIL: + WHEN: @E_HOME_DONE_FAIL + DO: @T_HOME_EXIT diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout deleted file mode 100644 index 3aad533..0000000 --- a/install/.colcon_install_layout +++ /dev/null @@ -1 +0,0 @@ -isolated diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py deleted file mode 100644 index 3c6d9e8..0000000 --- a/install/_local_setup_util_ps1.py +++ /dev/null @@ -1,407 +0,0 @@ -# Copyright 2016-2019 Dirk Thomas -# Licensed under the Apache License, Version 2.0 - -import argparse -from collections import OrderedDict -import os -from pathlib import Path -import sys - - -FORMAT_STR_COMMENT_LINE = '# {comment}' -FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"' -FORMAT_STR_USE_ENV_VAR = '$env:{name}' -FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' # noqa: E501 -FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' # noqa: E501 -FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' # noqa: E501 - -DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' -DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' -DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' -DSV_TYPE_SET = 'set' -DSV_TYPE_SET_IF_UNSET = 'set-if-unset' -DSV_TYPE_SOURCE = 'source' - - -def main(argv=sys.argv[1:]): # noqa: D103 - parser = argparse.ArgumentParser( - description='Output shell commands for the packages in topological ' - 'order') - parser.add_argument( - 'primary_extension', - help='The file extension of the primary shell') - parser.add_argument( - 'additional_extension', nargs='?', - help='The additional file extension to be considered') - parser.add_argument( - '--merged-install', action='store_true', - help='All install prefixes are merged into a single location') - args = parser.parse_args(argv) - - packages = get_packages(Path(__file__).parent, args.merged_install) - - ordered_packages = order_packages(packages) - for pkg_name in ordered_packages: - if _include_comments(): - print( - FORMAT_STR_COMMENT_LINE.format_map( - {'comment': 'Package: ' + pkg_name})) - prefix = os.path.abspath(os.path.dirname(__file__)) - if not args.merged_install: - prefix = os.path.join(prefix, pkg_name) - for line in get_commands( - pkg_name, prefix, args.primary_extension, - args.additional_extension - ): - print(line) - - for line in _remove_ending_separators(): - print(line) - - -def get_packages(prefix_path, merged_install): - """ - Find packages based on colcon-specific files created during installation. - - :param Path prefix_path: The install prefix path of all packages - :param bool merged_install: The flag if the packages are all installed - directly in the prefix or if each package is installed in a subdirectory - named after the package - :returns: A mapping from the package name to the set of runtime - dependencies - :rtype: dict - """ - packages = {} - # since importing colcon_core isn't feasible here the following constant - # must match colcon_core.location.get_relative_package_index_path() - subdirectory = 'share/colcon-core/packages' - if merged_install: - # return if workspace is empty - if not (prefix_path / subdirectory).is_dir(): - return packages - # find all files in the subdirectory - for p in (prefix_path / subdirectory).iterdir(): - if not p.is_file(): - continue - if p.name.startswith('.'): - continue - add_package_runtime_dependencies(p, packages) - else: - # for each subdirectory look for the package specific file - for p in prefix_path.iterdir(): - if not p.is_dir(): - continue - if p.name.startswith('.'): - continue - p = p / subdirectory / p.name - if p.is_file(): - add_package_runtime_dependencies(p, packages) - - # remove unknown dependencies - pkg_names = set(packages.keys()) - for k in packages.keys(): - packages[k] = {d for d in packages[k] if d in pkg_names} - - return packages - - -def add_package_runtime_dependencies(path, packages): - """ - Check the path and if it exists extract the packages runtime dependencies. - - :param Path path: The resource file containing the runtime dependencies - :param dict packages: A mapping from package names to the sets of runtime - dependencies to add to - """ - content = path.read_text() - dependencies = set(content.split(os.pathsep) if content else []) - packages[path.name] = dependencies - - -def order_packages(packages): - """ - Order packages topologically. - - :param dict packages: A mapping from package name to the set of runtime - dependencies - :returns: The package names - :rtype: list - """ - # select packages with no dependencies in alphabetical order - to_be_ordered = list(packages.keys()) - ordered = [] - while to_be_ordered: - pkg_names_without_deps = [ - name for name in to_be_ordered if not packages[name]] - if not pkg_names_without_deps: - reduce_cycle_set(packages) - raise RuntimeError( - 'Circular dependency between: ' + ', '.join(sorted(packages))) - pkg_names_without_deps.sort() - pkg_name = pkg_names_without_deps[0] - to_be_ordered.remove(pkg_name) - ordered.append(pkg_name) - # remove item from dependency lists - for k in list(packages.keys()): - if pkg_name in packages[k]: - packages[k].remove(pkg_name) - return ordered - - -def reduce_cycle_set(packages): - """ - Reduce the set of packages to the ones part of the circular dependency. - - :param dict packages: A mapping from package name to the set of runtime - dependencies which is modified in place - """ - last_depended = None - while len(packages) > 0: - # get all remaining dependencies - depended = set() - for pkg_name, dependencies in packages.items(): - depended = depended.union(dependencies) - # remove all packages which are not dependent on - for name in list(packages.keys()): - if name not in depended: - del packages[name] - if last_depended: - # if remaining packages haven't changed return them - if last_depended == depended: - return packages.keys() - # otherwise reduce again - last_depended = depended - - -def _include_comments(): - # skipping comment lines when COLCON_TRACE is not set speeds up the - # processing especially on Windows - return bool(os.environ.get('COLCON_TRACE')) - - -def get_commands(pkg_name, prefix, primary_extension, additional_extension): - commands = [] - package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') - if os.path.exists(package_dsv_path): - commands += process_dsv_file( - package_dsv_path, prefix, primary_extension, additional_extension) - return commands - - -def process_dsv_file( - dsv_path, prefix, primary_extension=None, additional_extension=None -): - commands = [] - if _include_comments(): - commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) - with open(dsv_path, 'r') as h: - content = h.read() - lines = content.splitlines() - - basenames = OrderedDict() - for i, line in enumerate(lines): - # skip over empty or whitespace-only lines - if not line.strip(): - continue - # skip over comments - if line.startswith('#'): - continue - try: - type_, remainder = line.split(';', 1) - except ValueError: - raise RuntimeError( - "Line %d in '%s' doesn't contain a semicolon separating the " - 'type from the arguments' % (i + 1, dsv_path)) - if type_ != DSV_TYPE_SOURCE: - # handle non-source lines - try: - commands += handle_dsv_types_except_source( - type_, remainder, prefix) - except RuntimeError as e: - raise RuntimeError( - "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e - else: - # group remaining source lines by basename - path_without_ext, ext = os.path.splitext(remainder) - if path_without_ext not in basenames: - basenames[path_without_ext] = set() - assert ext.startswith('.') - ext = ext[1:] - if ext in (primary_extension, additional_extension): - basenames[path_without_ext].add(ext) - - # add the dsv extension to each basename if the file exists - for basename, extensions in basenames.items(): - if not os.path.isabs(basename): - basename = os.path.join(prefix, basename) - if os.path.exists(basename + '.dsv'): - extensions.add('dsv') - - for basename, extensions in basenames.items(): - if not os.path.isabs(basename): - basename = os.path.join(prefix, basename) - if 'dsv' in extensions: - # process dsv files recursively - commands += process_dsv_file( - basename + '.dsv', prefix, primary_extension=primary_extension, - additional_extension=additional_extension) - elif primary_extension in extensions and len(extensions) == 1: - # source primary-only files - commands += [ - FORMAT_STR_INVOKE_SCRIPT.format_map({ - 'prefix': prefix, - 'script_path': basename + '.' + primary_extension})] - elif additional_extension in extensions: - # source non-primary files - commands += [ - FORMAT_STR_INVOKE_SCRIPT.format_map({ - 'prefix': prefix, - 'script_path': basename + '.' + additional_extension})] - - return commands - - -def handle_dsv_types_except_source(type_, remainder, prefix): - commands = [] - if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): - try: - env_name, value = remainder.split(';', 1) - except ValueError: - raise RuntimeError( - "doesn't contain a semicolon separating the environment name " - 'from the value') - try_prefixed_value = os.path.join(prefix, value) if value else prefix - if os.path.exists(try_prefixed_value): - value = try_prefixed_value - if type_ == DSV_TYPE_SET: - commands += _set(env_name, value) - elif type_ == DSV_TYPE_SET_IF_UNSET: - commands += _set_if_unset(env_name, value) - else: - assert False - elif type_ in ( - DSV_TYPE_APPEND_NON_DUPLICATE, - DSV_TYPE_PREPEND_NON_DUPLICATE, - DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS - ): - try: - env_name_and_values = remainder.split(';') - except ValueError: - raise RuntimeError( - "doesn't contain a semicolon separating the environment name " - 'from the values') - env_name = env_name_and_values[0] - values = env_name_and_values[1:] - for value in values: - if not value: - value = prefix - elif not os.path.isabs(value): - value = os.path.join(prefix, value) - if ( - type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and - not os.path.exists(value) - ): - comment = f'skip extending {env_name} with not existing ' \ - f'path: {value}' - if _include_comments(): - commands.append( - FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) - elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: - commands += _append_unique_value(env_name, value) - else: - commands += _prepend_unique_value(env_name, value) - else: - raise RuntimeError( - 'contains an unknown environment hook type: ' + type_) - return commands - - -env_state = {} - - -def _append_unique_value(name, value): - global env_state - if name not in env_state: - if os.environ.get(name): - env_state[name] = set(os.environ[name].split(os.pathsep)) - else: - env_state[name] = set() - # append even if the variable has not been set yet, in case a shell script sets the - # same variable without the knowledge of this Python script. - # later _remove_ending_separators() will cleanup any unintentional leading separator - extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': extend + value}) - if value not in env_state[name]: - env_state[name].add(value) - else: - if not _include_comments(): - return [] - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -def _prepend_unique_value(name, value): - global env_state - if name not in env_state: - if os.environ.get(name): - env_state[name] = set(os.environ[name].split(os.pathsep)) - else: - env_state[name] = set() - # prepend even if the variable has not been set yet, in case a shell script sets the - # same variable without the knowledge of this Python script. - # later _remove_ending_separators() will cleanup any unintentional trailing separator - extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value + extend}) - if value not in env_state[name]: - env_state[name].add(value) - else: - if not _include_comments(): - return [] - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -# generate commands for removing prepended underscores -def _remove_ending_separators(): - # do nothing if the shell extension does not implement the logic - if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: - return [] - - global env_state - commands = [] - for name in env_state: - # skip variables that already had values before this script started prepending - if name in os.environ: - continue - commands += [ - FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), - FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] - return commands - - -def _set(name, value): - global env_state - env_state[name] = value - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value}) - return [line] - - -def _set_if_unset(name, value): - global env_state - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value}) - if env_state.get(name, os.environ.get(name)): - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -if __name__ == '__main__': # pragma: no cover - try: - rc = main() - except RuntimeError as e: - print(str(e), file=sys.stderr) - rc = 1 - sys.exit(rc) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py deleted file mode 100644 index f67eaa9..0000000 --- a/install/_local_setup_util_sh.py +++ /dev/null @@ -1,407 +0,0 @@ -# Copyright 2016-2019 Dirk Thomas -# Licensed under the Apache License, Version 2.0 - -import argparse -from collections import OrderedDict -import os -from pathlib import Path -import sys - - -FORMAT_STR_COMMENT_LINE = '# {comment}' -FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"' -FORMAT_STR_USE_ENV_VAR = '${name}' -FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501 -FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501 -FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501 - -DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' -DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' -DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' -DSV_TYPE_SET = 'set' -DSV_TYPE_SET_IF_UNSET = 'set-if-unset' -DSV_TYPE_SOURCE = 'source' - - -def main(argv=sys.argv[1:]): # noqa: D103 - parser = argparse.ArgumentParser( - description='Output shell commands for the packages in topological ' - 'order') - parser.add_argument( - 'primary_extension', - help='The file extension of the primary shell') - parser.add_argument( - 'additional_extension', nargs='?', - help='The additional file extension to be considered') - parser.add_argument( - '--merged-install', action='store_true', - help='All install prefixes are merged into a single location') - args = parser.parse_args(argv) - - packages = get_packages(Path(__file__).parent, args.merged_install) - - ordered_packages = order_packages(packages) - for pkg_name in ordered_packages: - if _include_comments(): - print( - FORMAT_STR_COMMENT_LINE.format_map( - {'comment': 'Package: ' + pkg_name})) - prefix = os.path.abspath(os.path.dirname(__file__)) - if not args.merged_install: - prefix = os.path.join(prefix, pkg_name) - for line in get_commands( - pkg_name, prefix, args.primary_extension, - args.additional_extension - ): - print(line) - - for line in _remove_ending_separators(): - print(line) - - -def get_packages(prefix_path, merged_install): - """ - Find packages based on colcon-specific files created during installation. - - :param Path prefix_path: The install prefix path of all packages - :param bool merged_install: The flag if the packages are all installed - directly in the prefix or if each package is installed in a subdirectory - named after the package - :returns: A mapping from the package name to the set of runtime - dependencies - :rtype: dict - """ - packages = {} - # since importing colcon_core isn't feasible here the following constant - # must match colcon_core.location.get_relative_package_index_path() - subdirectory = 'share/colcon-core/packages' - if merged_install: - # return if workspace is empty - if not (prefix_path / subdirectory).is_dir(): - return packages - # find all files in the subdirectory - for p in (prefix_path / subdirectory).iterdir(): - if not p.is_file(): - continue - if p.name.startswith('.'): - continue - add_package_runtime_dependencies(p, packages) - else: - # for each subdirectory look for the package specific file - for p in prefix_path.iterdir(): - if not p.is_dir(): - continue - if p.name.startswith('.'): - continue - p = p / subdirectory / p.name - if p.is_file(): - add_package_runtime_dependencies(p, packages) - - # remove unknown dependencies - pkg_names = set(packages.keys()) - for k in packages.keys(): - packages[k] = {d for d in packages[k] if d in pkg_names} - - return packages - - -def add_package_runtime_dependencies(path, packages): - """ - Check the path and if it exists extract the packages runtime dependencies. - - :param Path path: The resource file containing the runtime dependencies - :param dict packages: A mapping from package names to the sets of runtime - dependencies to add to - """ - content = path.read_text() - dependencies = set(content.split(os.pathsep) if content else []) - packages[path.name] = dependencies - - -def order_packages(packages): - """ - Order packages topologically. - - :param dict packages: A mapping from package name to the set of runtime - dependencies - :returns: The package names - :rtype: list - """ - # select packages with no dependencies in alphabetical order - to_be_ordered = list(packages.keys()) - ordered = [] - while to_be_ordered: - pkg_names_without_deps = [ - name for name in to_be_ordered if not packages[name]] - if not pkg_names_without_deps: - reduce_cycle_set(packages) - raise RuntimeError( - 'Circular dependency between: ' + ', '.join(sorted(packages))) - pkg_names_without_deps.sort() - pkg_name = pkg_names_without_deps[0] - to_be_ordered.remove(pkg_name) - ordered.append(pkg_name) - # remove item from dependency lists - for k in list(packages.keys()): - if pkg_name in packages[k]: - packages[k].remove(pkg_name) - return ordered - - -def reduce_cycle_set(packages): - """ - Reduce the set of packages to the ones part of the circular dependency. - - :param dict packages: A mapping from package name to the set of runtime - dependencies which is modified in place - """ - last_depended = None - while len(packages) > 0: - # get all remaining dependencies - depended = set() - for pkg_name, dependencies in packages.items(): - depended = depended.union(dependencies) - # remove all packages which are not dependent on - for name in list(packages.keys()): - if name not in depended: - del packages[name] - if last_depended: - # if remaining packages haven't changed return them - if last_depended == depended: - return packages.keys() - # otherwise reduce again - last_depended = depended - - -def _include_comments(): - # skipping comment lines when COLCON_TRACE is not set speeds up the - # processing especially on Windows - return bool(os.environ.get('COLCON_TRACE')) - - -def get_commands(pkg_name, prefix, primary_extension, additional_extension): - commands = [] - package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') - if os.path.exists(package_dsv_path): - commands += process_dsv_file( - package_dsv_path, prefix, primary_extension, additional_extension) - return commands - - -def process_dsv_file( - dsv_path, prefix, primary_extension=None, additional_extension=None -): - commands = [] - if _include_comments(): - commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) - with open(dsv_path, 'r') as h: - content = h.read() - lines = content.splitlines() - - basenames = OrderedDict() - for i, line in enumerate(lines): - # skip over empty or whitespace-only lines - if not line.strip(): - continue - # skip over comments - if line.startswith('#'): - continue - try: - type_, remainder = line.split(';', 1) - except ValueError: - raise RuntimeError( - "Line %d in '%s' doesn't contain a semicolon separating the " - 'type from the arguments' % (i + 1, dsv_path)) - if type_ != DSV_TYPE_SOURCE: - # handle non-source lines - try: - commands += handle_dsv_types_except_source( - type_, remainder, prefix) - except RuntimeError as e: - raise RuntimeError( - "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e - else: - # group remaining source lines by basename - path_without_ext, ext = os.path.splitext(remainder) - if path_without_ext not in basenames: - basenames[path_without_ext] = set() - assert ext.startswith('.') - ext = ext[1:] - if ext in (primary_extension, additional_extension): - basenames[path_without_ext].add(ext) - - # add the dsv extension to each basename if the file exists - for basename, extensions in basenames.items(): - if not os.path.isabs(basename): - basename = os.path.join(prefix, basename) - if os.path.exists(basename + '.dsv'): - extensions.add('dsv') - - for basename, extensions in basenames.items(): - if not os.path.isabs(basename): - basename = os.path.join(prefix, basename) - if 'dsv' in extensions: - # process dsv files recursively - commands += process_dsv_file( - basename + '.dsv', prefix, primary_extension=primary_extension, - additional_extension=additional_extension) - elif primary_extension in extensions and len(extensions) == 1: - # source primary-only files - commands += [ - FORMAT_STR_INVOKE_SCRIPT.format_map({ - 'prefix': prefix, - 'script_path': basename + '.' + primary_extension})] - elif additional_extension in extensions: - # source non-primary files - commands += [ - FORMAT_STR_INVOKE_SCRIPT.format_map({ - 'prefix': prefix, - 'script_path': basename + '.' + additional_extension})] - - return commands - - -def handle_dsv_types_except_source(type_, remainder, prefix): - commands = [] - if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): - try: - env_name, value = remainder.split(';', 1) - except ValueError: - raise RuntimeError( - "doesn't contain a semicolon separating the environment name " - 'from the value') - try_prefixed_value = os.path.join(prefix, value) if value else prefix - if os.path.exists(try_prefixed_value): - value = try_prefixed_value - if type_ == DSV_TYPE_SET: - commands += _set(env_name, value) - elif type_ == DSV_TYPE_SET_IF_UNSET: - commands += _set_if_unset(env_name, value) - else: - assert False - elif type_ in ( - DSV_TYPE_APPEND_NON_DUPLICATE, - DSV_TYPE_PREPEND_NON_DUPLICATE, - DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS - ): - try: - env_name_and_values = remainder.split(';') - except ValueError: - raise RuntimeError( - "doesn't contain a semicolon separating the environment name " - 'from the values') - env_name = env_name_and_values[0] - values = env_name_and_values[1:] - for value in values: - if not value: - value = prefix - elif not os.path.isabs(value): - value = os.path.join(prefix, value) - if ( - type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and - not os.path.exists(value) - ): - comment = f'skip extending {env_name} with not existing ' \ - f'path: {value}' - if _include_comments(): - commands.append( - FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) - elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: - commands += _append_unique_value(env_name, value) - else: - commands += _prepend_unique_value(env_name, value) - else: - raise RuntimeError( - 'contains an unknown environment hook type: ' + type_) - return commands - - -env_state = {} - - -def _append_unique_value(name, value): - global env_state - if name not in env_state: - if os.environ.get(name): - env_state[name] = set(os.environ[name].split(os.pathsep)) - else: - env_state[name] = set() - # append even if the variable has not been set yet, in case a shell script sets the - # same variable without the knowledge of this Python script. - # later _remove_ending_separators() will cleanup any unintentional leading separator - extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': extend + value}) - if value not in env_state[name]: - env_state[name].add(value) - else: - if not _include_comments(): - return [] - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -def _prepend_unique_value(name, value): - global env_state - if name not in env_state: - if os.environ.get(name): - env_state[name] = set(os.environ[name].split(os.pathsep)) - else: - env_state[name] = set() - # prepend even if the variable has not been set yet, in case a shell script sets the - # same variable without the knowledge of this Python script. - # later _remove_ending_separators() will cleanup any unintentional trailing separator - extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value + extend}) - if value not in env_state[name]: - env_state[name].add(value) - else: - if not _include_comments(): - return [] - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -# generate commands for removing prepended underscores -def _remove_ending_separators(): - # do nothing if the shell extension does not implement the logic - if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: - return [] - - global env_state - commands = [] - for name in env_state: - # skip variables that already had values before this script started prepending - if name in os.environ: - continue - commands += [ - FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), - FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] - return commands - - -def _set(name, value): - global env_state - env_state[name] = value - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value}) - return [line] - - -def _set_if_unset(name, value): - global env_state - line = FORMAT_STR_SET_ENV_VAR.format_map( - {'name': name, 'value': value}) - if env_state.get(name, os.environ.get(name)): - line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) - return [line] - - -if __name__ == '__main__': # pragma: no cover - try: - rc = main() - except RuntimeError as e: - print(str(e), file=sys.stderr) - rc = 1 - sys.exit(rc) diff --git a/install/local_setup.bash b/install/local_setup.bash deleted file mode 100644 index 03f0025..0000000 --- a/install/local_setup.bash +++ /dev/null @@ -1,121 +0,0 @@ -# generated from colcon_bash/shell/template/prefix.bash.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# a bash script is able to determine its own path if necessary -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" -else - _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -fi - -# function to prepend a value to a variable -# which uses colons as separators -# duplicates as well as trailing separators are avoided -# first argument: the name of the result variable -# second argument: the value to be prepended -_colcon_prefix_bash_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - - # get values from variable - eval _values=\"\$$_listname\" - # backup the field separator - _colcon_prefix_bash_prepend_unique_value_IFS="$IFS" - IFS=":" - # start with the new value - _all_values="$_value" - _contained_value="" - # iterate over existing values in the variable - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - # ignore duplicates of _value - if [ "$_item" = "$_value" ]; then - _contained_value=1 - continue - fi - # keep non-duplicate values - _all_values="$_all_values:$_item" - done - unset _item - if [ -z "$_contained_value" ]; then - if [ -n "$COLCON_TRACE" ]; then - if [ "$_all_values" = "$_value" ]; then - echo "export $_listname=$_value" - else - echo "export $_listname=$_value:\$$_listname" - fi - fi - fi - unset _contained_value - # restore the field separator - IFS="$_colcon_prefix_bash_prepend_unique_value_IFS" - unset _colcon_prefix_bash_prepend_unique_value_IFS - # export the updated variable - eval export $_listname=\"$_all_values\" - unset _all_values - unset _values - - unset _value - unset _listname -} - -# add this prefix to the COLCON_PREFIX_PATH -_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX" -unset _colcon_prefix_bash_prepend_unique_value - -# check environment variable for custom Python executable -if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then - if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then - echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" - return 1 - fi - _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" -else - # try the Python executable known at configure time - _colcon_python_executable="/usr/bin/python3" - # if it doesn't exist try a fall back - if [ ! -f "$_colcon_python_executable" ]; then - if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then - echo "error: unable to find python3 executable" - return 1 - fi - _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` - fi -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_sh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# get all commands in topological order -_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)" -unset _colcon_python_executable -if [ -n "$COLCON_TRACE" ]; then - echo "$(declare -f _colcon_prefix_sh_source_script)" - echo "# Execute generated script:" - echo "# <<<" - echo "${_colcon_ordered_commands}" - echo "# >>>" - echo "unset _colcon_prefix_sh_source_script" -fi -eval "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 deleted file mode 100644 index 6f68c8d..0000000 --- a/install/local_setup.ps1 +++ /dev/null @@ -1,55 +0,0 @@ -# generated from colcon_powershell/shell/template/prefix.ps1.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# check environment variable for custom Python executable -if ($env:COLCON_PYTHON_EXECUTABLE) { - if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) { - echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist" - exit 1 - } - $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE" -} else { - # use the Python executable known at configure time - $_colcon_python_executable="/usr/bin/python3" - # if it doesn't exist try a fall back - if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) { - if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) { - echo "error: unable to find python3 executable" - exit 1 - } - $_colcon_python_executable="python3" - } -} - -# function to source another script with conditional trace output -# first argument: the path of the script -function _colcon_prefix_powershell_source_script { - param ( - $_colcon_prefix_powershell_source_script_param - ) - # source script with conditional trace output - if (Test-Path $_colcon_prefix_powershell_source_script_param) { - if ($env:COLCON_TRACE) { - echo ". '$_colcon_prefix_powershell_source_script_param'" - } - . "$_colcon_prefix_powershell_source_script_param" - } else { - Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'" - } -} - -# get all commands in topological order -$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1 - -# execute all commands in topological order -if ($env:COLCON_TRACE) { - echo "Execute generated script:" - echo "<<<" - $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output - echo ">>>" -} -if ($_colcon_ordered_commands) { - $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression -} diff --git a/install/local_setup.sh b/install/local_setup.sh deleted file mode 100644 index b78ff76..0000000 --- a/install/local_setup.sh +++ /dev/null @@ -1,137 +0,0 @@ -# generated from colcon_core/shell/template/prefix.sh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# since a plain shell script can't determine its own path when being sourced -# either use the provided COLCON_CURRENT_PREFIX -# or fall back to the build time prefix (if it exists) -_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/wasim/FSM/install" -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then - echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 - unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX - return 1 - fi -else - _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -fi - -# function to prepend a value to a variable -# which uses colons as separators -# duplicates as well as trailing separators are avoided -# first argument: the name of the result variable -# second argument: the value to be prepended -_colcon_prefix_sh_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - - # get values from variable - eval _values=\"\$$_listname\" - # backup the field separator - _colcon_prefix_sh_prepend_unique_value_IFS="$IFS" - IFS=":" - # start with the new value - _all_values="$_value" - _contained_value="" - # iterate over existing values in the variable - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - # ignore duplicates of _value - if [ "$_item" = "$_value" ]; then - _contained_value=1 - continue - fi - # keep non-duplicate values - _all_values="$_all_values:$_item" - done - unset _item - if [ -z "$_contained_value" ]; then - if [ -n "$COLCON_TRACE" ]; then - if [ "$_all_values" = "$_value" ]; then - echo "export $_listname=$_value" - else - echo "export $_listname=$_value:\$$_listname" - fi - fi - fi - unset _contained_value - # restore the field separator - IFS="$_colcon_prefix_sh_prepend_unique_value_IFS" - unset _colcon_prefix_sh_prepend_unique_value_IFS - # export the updated variable - eval export $_listname=\"$_all_values\" - unset _all_values - unset _values - - unset _value - unset _listname -} - -# add this prefix to the COLCON_PREFIX_PATH -_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" -unset _colcon_prefix_sh_prepend_unique_value - -# check environment variable for custom Python executable -if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then - if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then - echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" - return 1 - fi - _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" -else - # try the Python executable known at configure time - _colcon_python_executable="/usr/bin/python3" - # if it doesn't exist try a fall back - if [ ! -f "$_colcon_python_executable" ]; then - if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then - echo "error: unable to find python3 executable" - return 1 - fi - _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` - fi -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_sh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# get all commands in topological order -_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)" -unset _colcon_python_executable -if [ -n "$COLCON_TRACE" ]; then - echo "_colcon_prefix_sh_source_script() { - if [ -f \"\$1\" ]; then - if [ -n \"\$COLCON_TRACE\" ]; then - echo \"# . \\\"\$1\\\"\" - fi - . \"\$1\" - else - echo \"not found: \\\"\$1\\\"\" 1>&2 - fi - }" - echo "# Execute generated script:" - echo "# <<<" - echo "${_colcon_ordered_commands}" - echo "# >>>" - echo "unset _colcon_prefix_sh_source_script" -fi -eval "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh deleted file mode 100644 index b648710..0000000 --- a/install/local_setup.zsh +++ /dev/null @@ -1,134 +0,0 @@ -# generated from colcon_zsh/shell/template/prefix.zsh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# a zsh script is able to determine its own path if necessary -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" -else - _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -fi - -# function to convert array-like strings into arrays -# to workaround SH_WORD_SPLIT not being set -_colcon_prefix_zsh_convert_to_array() { - local _listname=$1 - local _dollar="$" - local _split="{=" - local _to_array="(\"$_dollar$_split$_listname}\")" - eval $_listname=$_to_array -} - -# function to prepend a value to a variable -# which uses colons as separators -# duplicates as well as trailing separators are avoided -# first argument: the name of the result variable -# second argument: the value to be prepended -_colcon_prefix_zsh_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - - # get values from variable - eval _values=\"\$$_listname\" - # backup the field separator - _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS" - IFS=":" - # start with the new value - _all_values="$_value" - _contained_value="" - # workaround SH_WORD_SPLIT not being set - _colcon_prefix_zsh_convert_to_array _values - # iterate over existing values in the variable - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - # ignore duplicates of _value - if [ "$_item" = "$_value" ]; then - _contained_value=1 - continue - fi - # keep non-duplicate values - _all_values="$_all_values:$_item" - done - unset _item - if [ -z "$_contained_value" ]; then - if [ -n "$COLCON_TRACE" ]; then - if [ "$_all_values" = "$_value" ]; then - echo "export $_listname=$_value" - else - echo "export $_listname=$_value:\$$_listname" - fi - fi - fi - unset _contained_value - # restore the field separator - IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS" - unset _colcon_prefix_zsh_prepend_unique_value_IFS - # export the updated variable - eval export $_listname=\"$_all_values\" - unset _all_values - unset _values - - unset _value - unset _listname -} - -# add this prefix to the COLCON_PREFIX_PATH -_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX" -unset _colcon_prefix_zsh_prepend_unique_value -unset _colcon_prefix_zsh_convert_to_array - -# check environment variable for custom Python executable -if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then - if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then - echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" - return 1 - fi - _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" -else - # try the Python executable known at configure time - _colcon_python_executable="/usr/bin/python3" - # if it doesn't exist try a fall back - if [ ! -f "$_colcon_python_executable" ]; then - if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then - echo "error: unable to find python3 executable" - return 1 - fi - _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` - fi -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_sh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# get all commands in topological order -_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)" -unset _colcon_python_executable -if [ -n "$COLCON_TRACE" ]; then - echo "$(declare -f _colcon_prefix_sh_source_script)" - echo "# Execute generated script:" - echo "# <<<" - echo "${_colcon_ordered_commands}" - echo "# >>>" - echo "unset _colcon_prefix_sh_source_script" -fi -eval "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX diff --git a/install/setup.bash b/install/setup.bash deleted file mode 100644 index bb38dd2..0000000 --- a/install/setup.bash +++ /dev/null @@ -1,31 +0,0 @@ -# generated from colcon_bash/shell/template/prefix_chain.bash.em - -# This script extends the environment with the environment of other prefix -# paths which were sourced when this file was generated as well as all packages -# contained in this prefix path. - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_chain_bash_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# source chained prefixes -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="/opt/ros/jazzy" -_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" - -# source this prefix -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" -_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" - -unset COLCON_CURRENT_PREFIX -unset _colcon_prefix_chain_bash_source_script diff --git a/install/setup.ps1 b/install/setup.ps1 deleted file mode 100644 index 0b38e3e..0000000 --- a/install/setup.ps1 +++ /dev/null @@ -1,29 +0,0 @@ -# generated from colcon_powershell/shell/template/prefix_chain.ps1.em - -# This script extends the environment with the environment of other prefix -# paths which were sourced when this file was generated as well as all packages -# contained in this prefix path. - -# function to source another script with conditional trace output -# first argument: the path of the script -function _colcon_prefix_chain_powershell_source_script { - param ( - $_colcon_prefix_chain_powershell_source_script_param - ) - # source script with conditional trace output - if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) { - if ($env:COLCON_TRACE) { - echo ". '$_colcon_prefix_chain_powershell_source_script_param'" - } - . "$_colcon_prefix_chain_powershell_source_script_param" - } else { - Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'" - } -} - -# source chained prefixes -_colcon_prefix_chain_powershell_source_script "/opt/ros/jazzy\local_setup.ps1" - -# source this prefix -$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) -_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1" diff --git a/install/setup.sh b/install/setup.sh deleted file mode 100644 index c1c9a09..0000000 --- a/install/setup.sh +++ /dev/null @@ -1,45 +0,0 @@ -# generated from colcon_core/shell/template/prefix_chain.sh.em - -# This script extends the environment with the environment of other prefix -# paths which were sourced when this file was generated as well as all packages -# contained in this prefix path. - -# since a plain shell script can't determine its own path when being sourced -# either use the provided COLCON_CURRENT_PREFIX -# or fall back to the build time prefix (if it exists) -_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/wasim/FSM/install -if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then - _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then - echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 - unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX - return 1 -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_chain_sh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# source chained prefixes -# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script -COLCON_CURRENT_PREFIX="/opt/ros/jazzy" -_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" - - -# source this prefix -# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script -COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" -_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" - -unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX -unset _colcon_prefix_chain_sh_source_script -unset COLCON_CURRENT_PREFIX diff --git a/install/setup.zsh b/install/setup.zsh deleted file mode 100644 index 6e4a496..0000000 --- a/install/setup.zsh +++ /dev/null @@ -1,31 +0,0 @@ -# generated from colcon_zsh/shell/template/prefix_chain.zsh.em - -# This script extends the environment with the environment of other prefix -# paths which were sourced when this file was generated as well as all packages -# contained in this prefix path. - -# function to source another script with conditional trace output -# first argument: the path of the script -_colcon_prefix_chain_zsh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$1" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# source chained prefixes -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="/opt/ros/jazzy" -_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" - -# source this prefix -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" -_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" - -unset COLCON_CURRENT_PREFIX -unset _colcon_prefix_chain_zsh_source_script diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE deleted file mode 100644 index e69de29..0000000 diff --git a/log/build_2025-10-07_16-24-53/events.log b/log/build_2025-10-07_16-24-53/events.log deleted file mode 100644 index 6e2eb02..0000000 --- a/log/build_2025-10-07_16-24-53/events.log +++ /dev/null @@ -1,90 +0,0 @@ -[0.000000] (-) TimerEvent: {} -[0.000508] (pick_place_fsm) JobQueued: {'identifier': 'pick_place_fsm', 'dependencies': OrderedDict()} -[0.000637] (pick_place_fsm) JobStarted: {'identifier': 'pick_place_fsm'} -[0.022038] (pick_place_fsm) JobProgress: {'identifier': 'pick_place_fsm', 'progress': 'cmake'} -[0.023676] (pick_place_fsm) Command: {'cmd': ['/usr/bin/cmake', '/home/wasim/FSM', '-DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm'], 'cwd': '/home/wasim/FSM/build/pick_place_fsm', 'env': OrderedDict({'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'wasim', 'GZ_CONFIG_PATH': '/opt/ros/jazzy/opt/gz_sim_vendor/share/gz:/opt/ros/jazzy/opt/sdformat_vendor/share/gz:/opt/ros/jazzy/opt/gz_gui_vendor/share/gz:/opt/ros/jazzy/opt/gz_transport_vendor/share/gz:/opt/ros/jazzy/opt/gz_rendering_vendor/share/gz:/opt/ros/jazzy/opt/gz_plugin_vendor/share/gz:/opt/ros/jazzy/opt/gz_fuel_tools_vendor/share/gz:/opt/ros/jazzy/opt/gz_msgs_vendor/share/gz:/opt/ros/jazzy/opt/gz_common_vendor/share/gz', 'XDG_SESSION_TYPE': 'x11', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/jazzy/opt/gz_sim_vendor/lib:/opt/ros/jazzy/opt/gz_sensors_vendor/lib:/opt/ros/jazzy/opt/gz_physics_vendor/lib:/opt/ros/jazzy/opt/sdformat_vendor/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/opt/gz_gui_vendor/lib:/opt/ros/jazzy/opt/gz_transport_vendor/lib:/opt/ros/jazzy/opt/gz_rendering_vendor/lib:/opt/ros/jazzy/opt/gz_plugin_vendor/lib:/opt/ros/jazzy/opt/gz_fuel_tools_vendor/lib:/opt/ros/jazzy/opt/gz_msgs_vendor/lib:/opt/ros/jazzy/opt/gz_common_vendor/lib:/opt/ros/jazzy/opt/gz_math_vendor/lib:/opt/ros/jazzy/opt/gz_utils_vendor/lib:/opt/ros/jazzy/opt/gz_tools_vendor/lib:/opt/ros/jazzy/opt/gz_ogre_next_vendor/lib:/opt/ros/jazzy/opt/gz_dartsim_vendor/lib:/opt/ros/jazzy/opt/gz_cmake_vendor/lib:/opt/ros/jazzy/lib', 'HOME': '/home/wasim', 'DESKTOP_SESSION': 'ubuntu', 'ROS_PYTHON_VERSION': '3', 'GNOME_SHELL_SESSION_MODE': 'ubuntu', 'GTK_MODULES': 'gail:atk-bridge', 'PS0': '$(printf "%s" ${EPOCHREALTIME/./} >"$BYOBU_RUN_DIR/timer.$$")', 'DBUS_STARTER_BUS_TYPE': 'session', 'SYSTEMD_EXEC_PID': '2795', 'GSM_SKIP_SSH_AGENT_WORKAROUND': 'true', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus,guid=f598f3fc1c13da4c9801445a68e512f4', 'COLORTERM': 'truecolor', 'DEBUGINFOD_URLS': 'https://debuginfod.ubuntu.com', 'ROS_DISTRO': 'jazzy', 'LOGNAME': 'wasim', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'MEMORY_PRESSURE_WATCH': '/sys/fs/cgroup/user.slice/user-1000.slice/user@1000.service/app.slice/app-gnome\\x2dsession\\x2dmanager.slice/gnome-session-manager@ubuntu.service/memory.pressure', 'XDG_SESSION_CLASS': 'user', 'USERNAME': 'wasim', 'TERM': 'xterm-256color', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'WINDOWPATH': '2', 'PATH': '/opt/ros/jazzy/opt/gz_msgs_vendor/bin:/opt/ros/jazzy/opt/gz_tools_vendor/bin:/opt/ros/jazzy/opt/gz_ogre_next_vendor/bin:/opt/ros/jazzy/bin:/home/wasim/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin', 'SESSION_MANAGER': 'local/wasim-IdeaPad-5-Pro-16ACH6:@/tmp/.ICE-unix/2795,unix/wasim-IdeaPad-5-Pro-16ACH6:/tmp/.ICE-unix/2795', 'XDG_MENU_PREFIX': 'gnome-', 'GNOME_TERMINAL_SCREEN': '/org/gnome/Terminal/screen/6f68102e_c027_42dd_9fd3_32d259de1337', 'XDG_RUNTIME_DIR': '/run/user/1000', 'DISPLAY': ':1', 'LANG': 'en_US.UTF-8', 'XDG_CURRENT_DESKTOP': 'ubuntu:GNOME', 'XMODIFIERS': '@im=ibus', 'XDG_SESSION_DESKTOP': 'ubuntu', 'XAUTHORITY': '/run/user/1000/gdm/Xauthority', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'GNOME_TERMINAL_SERVICE': ':1.154', 'SSH_AUTH_SOCK': '/run/user/1000/keyring/ssh', 'AMENT_PREFIX_PATH': '/opt/ros/jazzy', 'SHELL': '/bin/bash', 'QT_ACCESSIBILITY': '1', 'GDMSESSION': 'ubuntu', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'IGN_GAZEBO_RESOURCE_PATH': '/opt/ros/jazzy/share', 'BYOBU_CONFIG_DIR': '/home/wasim/.config/byobu', 'GPG_AGENT_INFO': '/run/user/1000/gnupg/S.gpg-agent:0:1', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'QT_IM_MODULE': 'ibus', 'BYOBU_RUN_DIR': '/dev/shm/byobu-wasim-5jmAJYEg', 'PWD': '/home/wasim/FSM/build/pick_place_fsm', 'LC_ALL': 'en_US.UTF-8', 'XDG_CONFIG_DIRS': '/etc/xdg/xdg-ubuntu:/etc/xdg', 'DBUS_STARTER_ADDRESS': 'unix:path=/run/user/1000/bus,guid=f598f3fc1c13da4c9801445a68e512f4', 'XDG_DATA_DIRS': '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop', 'PYTHONPATH': '/opt/ros/jazzy/lib/python3.12/site-packages', 'COLCON': '1', 'MEMORY_PRESSURE_WRITE': 'c29tZSAyMDAwMDAgMjAwMDAwMAA=', 'VTE_VERSION': '7600', 'CMAKE_PREFIX_PATH': '/opt/ros/jazzy/opt/gz_sim_vendor:/opt/ros/jazzy/opt/gz_sensors_vendor:/opt/ros/jazzy/opt/gz_physics_vendor:/opt/ros/jazzy/opt/sdformat_vendor:/opt/ros/jazzy/opt/gz_gui_vendor:/opt/ros/jazzy/opt/gz_transport_vendor:/opt/ros/jazzy/opt/gz_rendering_vendor:/opt/ros/jazzy/opt/gz_plugin_vendor:/opt/ros/jazzy/opt/gz_fuel_tools_vendor:/opt/ros/jazzy/opt/gz_msgs_vendor:/opt/ros/jazzy/opt/gz_common_vendor:/opt/ros/jazzy/opt/gz_math_vendor:/opt/ros/jazzy/opt/gz_utils_vendor:/opt/ros/jazzy/opt/gz_tools_vendor:/opt/ros/jazzy/opt/gz_ogre_next_vendor:/opt/ros/jazzy/opt/gz_dartsim_vendor:/opt/ros/jazzy/opt/gz_cmake_vendor'}), 'shell': False} -[0.098008] (-) TimerEvent: {} -[0.198547] (-) TimerEvent: {} -[0.275525] (pick_place_fsm) StdoutLine: {'line': b'-- The C compiler identification is GNU 13.3.0\n'} -[0.298745] (-) TimerEvent: {} -[0.399396] (-) TimerEvent: {} -[0.498405] (pick_place_fsm) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 13.3.0\n'} -[0.499469] (-) TimerEvent: {} -[0.555050] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'} -[0.599695] (-) TimerEvent: {} -[0.700237] (-) TimerEvent: {} -[0.800976] (-) TimerEvent: {} -[0.832513] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'} -[0.860379] (pick_place_fsm) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'} -[0.868948] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting C compile features\n'} -[0.870140] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting C compile features - done\n'} -[0.899794] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'} -[0.901122] (-) TimerEvent: {} -[1.001694] (-) TimerEvent: {} -[1.102174] (-) TimerEvent: {} -[1.202701] (-) TimerEvent: {} -[1.210271] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'} -[1.234319] (pick_place_fsm) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'} -[1.235172] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting CXX compile features\n'} -[1.236366] (pick_place_fsm) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'} -[1.265357] (pick_place_fsm) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.4 (/opt/ros/jazzy/share/ament_cmake/cmake)\n'} -[1.302841] (-) TimerEvent: {} -[1.403252] (-) TimerEvent: {} -[1.503719] (-) TimerEvent: {} -[1.604084] (-) TimerEvent: {} -[1.704489] (-) TimerEvent: {} -[1.713500] (pick_place_fsm) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter \n'} -[1.804636] (-) TimerEvent: {} -[1.905018] (-) TimerEvent: {} -[2.005548] (-) TimerEvent: {} -[2.105977] (-) TimerEvent: {} -[2.108489] (pick_place_fsm) StdoutLine: {'line': b'-- Found rclcpp: 28.1.9 (/opt/ros/jazzy/share/rclcpp/cmake)\n'} -[2.206132] (-) TimerEvent: {} -[2.296540] (pick_place_fsm) StdoutLine: {'line': b'-- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake)\n'} -[2.306253] (-) TimerEvent: {} -[2.355557] (pick_place_fsm) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake)\n'} -[2.406432] (-) TimerEvent: {} -[2.425995] (pick_place_fsm) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'} -[2.501613] (pick_place_fsm) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'} -[2.506581] (-) TimerEvent: {} -[2.606976] (-) TimerEvent: {} -[2.707425] (-) TimerEvent: {} -[2.803358] (pick_place_fsm) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake)\n'} -[2.807588] (-) TimerEvent: {} -[2.819493] (pick_place_fsm) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake)\n'} -[2.907827] (-) TimerEvent: {} -[3.008359] (-) TimerEvent: {} -[3.108900] (-) TimerEvent: {} -[3.130546] (pick_place_fsm) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.13") \n'} -[3.191875] (pick_place_fsm) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13") \n'} -[3.209071] (-) TimerEvent: {} -[3.256747] (pick_place_fsm) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"} -[3.309241] (-) TimerEvent: {} -[3.409658] (-) TimerEvent: {} -[3.510137] (-) TimerEvent: {} -[3.532098] (pick_place_fsm) StdoutLine: {'line': b'-- Found rclcpp_action: 28.1.9 (/opt/ros/jazzy/share/rclcpp_action/cmake)\n'} -[3.610282] (-) TimerEvent: {} -[3.694659] (pick_place_fsm) StdoutLine: {'line': b'-- Found geometry_msgs: 5.3.6 (/opt/ros/jazzy/share/geometry_msgs/cmake)\n'} -[3.710438] (-) TimerEvent: {} -[3.810811] (-) TimerEvent: {} -[3.833699] (pick_place_fsm) StderrLine: {'line': b'\x1b[31mCMake Error at CMakeLists.txt:11 (find_package):\n'} -[3.834157] (pick_place_fsm) StderrLine: {'line': b' By not providing "Findeddie_ros.cmake" in CMAKE_MODULE_PATH this project\n'} -[3.834363] (pick_place_fsm) StderrLine: {'line': b' has asked CMake to find a package configuration file provided by\n'} -[3.834540] (pick_place_fsm) StderrLine: {'line': b' "eddie_ros", but CMake did not find one.\n'} -[3.834682] (pick_place_fsm) StderrLine: {'line': b'\n'} -[3.834824] (pick_place_fsm) StderrLine: {'line': b' Could not find a package configuration file provided by "eddie_ros" with\n'} -[3.834959] (pick_place_fsm) StderrLine: {'line': b' any of the following names:\n'} -[3.835089] (pick_place_fsm) StderrLine: {'line': b'\n'} -[3.835258] (pick_place_fsm) StderrLine: {'line': b' eddie_rosConfig.cmake\n'} -[3.835469] (pick_place_fsm) StderrLine: {'line': b' eddie_ros-config.cmake\n'} -[3.835608] (pick_place_fsm) StderrLine: {'line': b'\n'} -[3.835771] (pick_place_fsm) StderrLine: {'line': b' Add the installation prefix of "eddie_ros" to CMAKE_PREFIX_PATH or set\n'} -[3.835922] (pick_place_fsm) StderrLine: {'line': b' "eddie_ros_DIR" to a directory containing one of the above files. If\n'} -[3.836054] (pick_place_fsm) StderrLine: {'line': b' "eddie_ros" provides a separate development package or SDK, be sure it has\n'} -[3.836185] (pick_place_fsm) StderrLine: {'line': b' been installed.\n'} -[3.836333] (pick_place_fsm) StderrLine: {'line': b'\n'} -[3.836693] (pick_place_fsm) StderrLine: {'line': b'\x1b[0m\n'} -[3.836872] (pick_place_fsm) StdoutLine: {'line': b'-- Configuring incomplete, errors occurred!\n'} -[3.854003] (pick_place_fsm) CommandEnded: {'returncode': 1} -[3.855473] (pick_place_fsm) JobEnded: {'identifier': 'pick_place_fsm', 'rc': 1} -[3.866164] (-) EventReactorShutdown: {} diff --git a/log/build_2025-10-07_16-24-53/logger_all.log b/log/build_2025-10-07_16-24-53/logger_all.log deleted file mode 100644 index 9b70169..0000000 --- a/log/build_2025-10-07_16-24-53/logger_all.log +++ /dev/null @@ -1,70 +0,0 @@ -[0.278s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] -[0.278s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=16, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) -[0.377s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters -[0.378s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters -[0.378s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters -[0.378s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters -[0.378s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover -[0.378s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover -[0.379s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/wasim/FSM' -[0.379s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] -[0.379s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' -[0.379s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] -[0.380s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' -[0.459s] DEBUG:colcon.colcon_core.package_identification:Failed to parse potential ROS package manifest in'.': Error(s) in package './package.xml': -Invalid email "" for person "Your Name" -Maintainers must have an email address -[0.459s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python'] -[0.459s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake' -[0.463s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python' -[0.463s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'cmake' and name 'pick_place_fsm' -[0.463s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults -[0.463s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover -[0.463s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults -[0.464s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover -[0.464s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults -[0.509s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters -[0.509s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover -[0.519s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 443 installed packages in /opt/ros/jazzy -[0.526s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults -[0.690s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_args' from command line to 'None' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_target' from command line to 'None' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_target_skip_unavailable' from command line to 'False' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_clean_cache' from command line to 'False' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_clean_first' from command line to 'False' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'cmake_force_configure' from command line to 'False' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'ament_cmake_args' from command line to 'None' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'catkin_cmake_args' from command line to 'None' -[0.691s] Level 5:colcon.colcon_core.verb:set package 'pick_place_fsm' build argument 'catkin_skip_building_tests' from command line to 'False' -[0.691s] DEBUG:colcon.colcon_core.verb:Building package 'pick_place_fsm' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/wasim/FSM/build/pick_place_fsm', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/wasim/FSM/install/pick_place_fsm', 'merge_install': False, 'path': '/home/wasim/FSM', 'symlink_install': False, 'test_result_base': None} -[0.691s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor -[0.693s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete -[0.694s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/wasim/FSM' -[0.700s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems -[0.700s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell -[0.700s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment -[0.724s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/wasim/FSM/build/pick_place_fsm': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm -[4.549s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/wasim/FSM/build/pick_place_fsm' returned '1': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm -[4.560s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop -[4.560s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed -[4.560s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1' -[4.561s] DEBUG:colcon.colcon_core.event_reactor:joining thread -[4.573s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems -[4.573s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems -[4.573s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' -[4.631s] DEBUG:colcon.colcon_core.event_reactor:joined thread -[4.632s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/wasim/FSM/install/local_setup.ps1' -[4.633s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/wasim/FSM/install/_local_setup_util_ps1.py' -[4.636s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/wasim/FSM/install/setup.ps1' -[4.639s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/wasim/FSM/install/local_setup.sh' -[4.640s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/wasim/FSM/install/_local_setup_util_sh.py' -[4.641s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/wasim/FSM/install/setup.sh' -[4.644s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/wasim/FSM/install/local_setup.bash' -[4.645s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/wasim/FSM/install/setup.bash' -[4.648s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/wasim/FSM/install/local_setup.zsh' -[4.649s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/wasim/FSM/install/setup.zsh' diff --git a/log/build_2025-10-07_16-24-53/pick_place_fsm/command.log b/log/build_2025-10-07_16-24-53/pick_place_fsm/command.log deleted file mode 100644 index 597802e..0000000 --- a/log/build_2025-10-07_16-24-53/pick_place_fsm/command.log +++ /dev/null @@ -1,2 +0,0 @@ -Invoking command in '/home/wasim/FSM/build/pick_place_fsm': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm -Invoked command in '/home/wasim/FSM/build/pick_place_fsm' returned '1': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm diff --git a/log/build_2025-10-07_16-24-53/pick_place_fsm/stderr.log b/log/build_2025-10-07_16-24-53/pick_place_fsm/stderr.log deleted file mode 100644 index 8a7db29..0000000 --- a/log/build_2025-10-07_16-24-53/pick_place_fsm/stderr.log +++ /dev/null @@ -1,17 +0,0 @@ -CMake Error at CMakeLists.txt:11 (find_package): - By not providing "Findeddie_ros.cmake" in CMAKE_MODULE_PATH this project - has asked CMake to find a package configuration file provided by - "eddie_ros", but CMake did not find one. - - Could not find a package configuration file provided by "eddie_ros" with - any of the following names: - - eddie_rosConfig.cmake - eddie_ros-config.cmake - - Add the installation prefix of "eddie_ros" to CMAKE_PREFIX_PATH or set - "eddie_ros_DIR" to a directory containing one of the above files. If - "eddie_ros" provides a separate development package or SDK, be sure it has - been installed. - - diff --git a/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout.log b/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout.log deleted file mode 100644 index 6683ada..0000000 --- a/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout.log +++ /dev/null @@ -1,27 +0,0 @@ --- The C compiler identification is GNU 13.3.0 --- The CXX compiler identification is GNU 13.3.0 --- Detecting C compiler ABI info --- Detecting C compiler ABI info - done --- Check for working C compiler: /usr/bin/cc - skipped --- Detecting C compile features --- Detecting C compile features - done --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 2.5.4 (/opt/ros/jazzy/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter --- Found rclcpp: 28.1.9 (/opt/ros/jazzy/share/rclcpp/cmake) --- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake) --- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake) --- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c --- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp --- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake) --- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake) --- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.13") --- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13") --- Using RMW implementation 'rmw_fastrtps_cpp' as default --- Found rclcpp_action: 28.1.9 (/opt/ros/jazzy/share/rclcpp_action/cmake) --- Found geometry_msgs: 5.3.6 (/opt/ros/jazzy/share/geometry_msgs/cmake) --- Configuring incomplete, errors occurred! diff --git a/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout_stderr.log b/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout_stderr.log deleted file mode 100644 index b917306..0000000 --- a/log/build_2025-10-07_16-24-53/pick_place_fsm/stdout_stderr.log +++ /dev/null @@ -1,44 +0,0 @@ --- The C compiler identification is GNU 13.3.0 --- The CXX compiler identification is GNU 13.3.0 --- Detecting C compiler ABI info --- Detecting C compiler ABI info - done --- Check for working C compiler: /usr/bin/cc - skipped --- Detecting C compile features --- Detecting C compile features - done --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 2.5.4 (/opt/ros/jazzy/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter --- Found rclcpp: 28.1.9 (/opt/ros/jazzy/share/rclcpp/cmake) --- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake) --- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake) --- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c --- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp --- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake) --- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake) --- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.13") --- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13") --- Using RMW implementation 'rmw_fastrtps_cpp' as default --- Found rclcpp_action: 28.1.9 (/opt/ros/jazzy/share/rclcpp_action/cmake) --- Found geometry_msgs: 5.3.6 (/opt/ros/jazzy/share/geometry_msgs/cmake) -CMake Error at CMakeLists.txt:11 (find_package): - By not providing "Findeddie_ros.cmake" in CMAKE_MODULE_PATH this project - has asked CMake to find a package configuration file provided by - "eddie_ros", but CMake did not find one. - - Could not find a package configuration file provided by "eddie_ros" with - any of the following names: - - eddie_rosConfig.cmake - eddie_ros-config.cmake - - Add the installation prefix of "eddie_ros" to CMAKE_PREFIX_PATH or set - "eddie_ros_DIR" to a directory containing one of the above files. If - "eddie_ros" provides a separate development package or SDK, be sure it has - been installed. - - --- Configuring incomplete, errors occurred! diff --git a/log/build_2025-10-07_16-24-53/pick_place_fsm/streams.log b/log/build_2025-10-07_16-24-53/pick_place_fsm/streams.log deleted file mode 100644 index 5a4d14c..0000000 --- a/log/build_2025-10-07_16-24-53/pick_place_fsm/streams.log +++ /dev/null @@ -1,46 +0,0 @@ -[0.029s] Invoking command in '/home/wasim/FSM/build/pick_place_fsm': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm -[0.275s] -- The C compiler identification is GNU 13.3.0 -[0.498s] -- The CXX compiler identification is GNU 13.3.0 -[0.555s] -- Detecting C compiler ABI info -[0.832s] -- Detecting C compiler ABI info - done -[0.860s] -- Check for working C compiler: /usr/bin/cc - skipped -[0.869s] -- Detecting C compile features -[0.870s] -- Detecting C compile features - done -[0.900s] -- Detecting CXX compiler ABI info -[1.210s] -- Detecting CXX compiler ABI info - done -[1.234s] -- Check for working CXX compiler: /usr/bin/c++ - skipped -[1.235s] -- Detecting CXX compile features -[1.236s] -- Detecting CXX compile features - done -[1.265s] -- Found ament_cmake: 2.5.4 (/opt/ros/jazzy/share/ament_cmake/cmake) -[1.713s] -- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter -[2.108s] -- Found rclcpp: 28.1.9 (/opt/ros/jazzy/share/rclcpp/cmake) -[2.296s] -- Found rosidl_generator_c: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_c/cmake) -[2.355s] -- Found rosidl_generator_cpp: 4.6.5 (/opt/ros/jazzy/share/rosidl_generator_cpp/cmake) -[2.426s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c -[2.501s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp -[2.803s] -- Found rmw_implementation_cmake: 7.3.2 (/opt/ros/jazzy/share/rmw_implementation_cmake/cmake) -[2.819s] -- Found rmw_fastrtps_cpp: 8.4.2 (/opt/ros/jazzy/share/rmw_fastrtps_cpp/cmake) -[3.130s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.13") -[3.192s] -- Found FastRTPS: /opt/ros/jazzy/include (Required is at least version "2.13") -[3.256s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default -[3.532s] -- Found rclcpp_action: 28.1.9 (/opt/ros/jazzy/share/rclcpp_action/cmake) -[3.694s] -- Found geometry_msgs: 5.3.6 (/opt/ros/jazzy/share/geometry_msgs/cmake) -[3.833s] CMake Error at CMakeLists.txt:11 (find_package): -[3.834s] By not providing "Findeddie_ros.cmake" in CMAKE_MODULE_PATH this project -[3.834s] has asked CMake to find a package configuration file provided by -[3.834s] "eddie_ros", but CMake did not find one. -[3.834s] -[3.834s] Could not find a package configuration file provided by "eddie_ros" with -[3.834s] any of the following names: -[3.835s] -[3.835s] eddie_rosConfig.cmake -[3.835s] eddie_ros-config.cmake -[3.835s] -[3.835s] Add the installation prefix of "eddie_ros" to CMAKE_PREFIX_PATH or set -[3.835s] "eddie_ros_DIR" to a directory containing one of the above files. If -[3.836s] "eddie_ros" provides a separate development package or SDK, be sure it has -[3.836s] been installed. -[3.836s] -[3.836s]  -[3.836s] -- Configuring incomplete, errors occurred! -[3.854s] Invoked command in '/home/wasim/FSM/build/pick_place_fsm' returned '1': DEBUGINFOD_URLS=https://debuginfod.ubuntu.com /usr/bin/cmake /home/wasim/FSM -DCMAKE_INSTALL_PREFIX=/home/wasim/FSM/install/pick_place_fsm diff --git a/log/latest b/log/latest deleted file mode 120000 index b57d247..0000000 --- a/log/latest +++ /dev/null @@ -1 +0,0 @@ -latest_build \ No newline at end of file diff --git a/log/latest_build b/log/latest_build deleted file mode 120000 index 3f90620..0000000 --- a/log/latest_build +++ /dev/null @@ -1 +0,0 @@ -build_2025-10-07_16-24-53 \ No newline at end of file diff --git a/package.xml b/package.xml index ddda779..61e48ce 100644 --- a/package.xml +++ b/package.xml @@ -8,13 +8,18 @@ Apache-2.0 ament_cmake + rosidl_default_generators - rclcpp - rclcpp_action - geometry_msgs - eddie_ros + rclpy + geometry_msgs + eddie_ros + coord_dsl + rosidl_runtime_py + rosidl_default_runtime + + rosidl_interface_packages ament_cmake - \ No newline at end of file + diff --git a/src/error_handling.py b/src/error_handling.py new file mode 100644 index 0000000..f42c306 --- /dev/null +++ b/src/error_handling.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python3 +""" +Listens to /joint_states and waits for a service call that tells it +the gripper-action is finished; only then is the encoder value latched. +""" +import rclpy +from rclpy.node import Node +from sensor_msgs.msg import JointState +from std_msgs.msg import Bool, Float32 +from pick_place_fsm.srv import CaptureReference + +class GripperSlipDetector(Node): + def __init__(self): + super().__init__('gripper_slip_detector') + + # ---------------- parameters ---------------- + self.declare_parameter('drift_thresh_percent', 5.0) # % + self.declare_parameter('min_cmd_for_check', 10.0) # % + self.declare_parameter('joint_name', + 'eddie_right_arm_robotiq_85_left_knuckle_joint') + # self.declare_parameter('cmd_topic', '/right_arm/gripper_pos_cmd') + self.declare_parameter('slip_topic', '/gripper_slip') + + self.thresh = self.get_parameter('drift_thresh_percent').value / 100.0 + self.min_cmd = self.get_parameter('min_cmd_for_check').value + self.joint_name = self.get_parameter('joint_name').value + + # ---------------- state ---------------- + self.msr_percent = None + self.ref_percent = None # will be set only after service call + self.cmd_percent = None + # ---------------- publishers ---------------- + self.slip_pub = self.create_publisher(Bool, + self.get_parameter('slip_topic').value, + 10) + + # ---- subscribers ---- + self.create_subscription(JointState, '/joint_states', + self.on_joint_states, 10) + self.create_subscription(Float32, '/right_arm/gripper_pos_cmd', + self.on_cmd, 10) + + # ---- NEW service ---- + self.srv = self.create_service(CaptureReference, + '/gripper_slip/capture_reference', + self.capture_reference_callback) + + self.get_logger().info('Slip detector ready (reference captured on service call).') + + # ---------------- callbacks ---------------- + def on_joint_states(self, msg: JointState): + try: + idx = msg.name.index(self.joint_name) + rad = msg.position[idx] + self.msr_percent = rad * 100.0 / 0.8 # 0-100 % + except ValueError: + # joint not in message – ignore + pass + + def on_cmd(self, msg: Float32): + self.cmd_percent = msg.data # 0-100 % + + # ------------ NEW service ------------ + def capture_reference_callback(self, request, response): + if self.msr_percent is None: + self.get_logger().warn('No joint data yet, cannot capture reference.') + response.success = False + return response + + self.ref_percent = self.msr_percent + self.get_logger().info(f'Reference captured: {self.ref_percent:.1f} %') + response.success = True + return response + + + # ------------ main loop ------------ + def publish_slip(self): + if self.ref_percent is None or self.msr_percent is None: + return # no reference yet → silent + + ref = self.ref_percent + msr = self.msr_percent + + # ignore tiny commands (optional) + if self.cmd_percent is not None and self.cmd_percent < self.min_cmd: + slip = False + else: + drift = abs(msr - ref) / max(ref, 1e-3) + slip = drift > self.thresh + + self.slip_pub.publish(Bool(data=slip)) + + +def main(): + rclpy.init() + node = GripperSlipDetector() + # run at 20 Hz + import threading + def spin(): + while rclpy.ok(): + node.publish_slip() + rclpy.spin_once(node, timeout_sec=0.05) + threading.Thread(target=spin, daemon=True).start() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/mock_servers_only.cpp b/src/mock_servers_only.cpp deleted file mode 100644 index f1e3456..0000000 --- a/src/mock_servers_only.cpp +++ /dev/null @@ -1,98 +0,0 @@ -#include -#include -#include - -#include "rclcpp/rclcpp.hpp" -#include "rclcpp_action/rclcpp_action.hpp" -#include "eddie_ros/action/arm_control.hpp" -#include "eddie_ros/action/gripper_control.hpp" - -using ArmControl = eddie_ros::action::ArmControl; -using GripperControl = eddie_ros::action::GripperControl; -using ArmGH = rclcpp_action::ServerGoalHandle; -using GripperGH = rclcpp_action::ServerGoalHandle; - -class MockServers : public rclcpp::Node -{ -public: - explicit MockServers(const rclcpp::NodeOptions & opt = rclcpp::NodeOptions{}) - : Node("mock_servers", opt) - { - arm_server_ = rclcpp_action::create_server( - this, "right_arm/arm_control", - [](const rclcpp_action::GoalUUID &, std::shared_ptr) - { return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; }, - [](const std::shared_ptr) { return rclcpp_action::CancelResponse::ACCEPT; }, - [this](const std::shared_ptr gh) - { std::thread(&MockServers::execute_arm, this, gh).detach(); }); - - gripper_server_ = rclcpp_action::create_server( - this, "right_arm/gripper_control", - [](const rclcpp_action::GoalUUID &, std::shared_ptr) - { return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE; }, - [](const std::shared_ptr) { return rclcpp_action::CancelResponse::ACCEPT; }, - [this](const std::shared_ptr gh) - { std::thread(&MockServers::execute_gripper, this, gh).detach(); }); - - RCLCPP_INFO(get_logger(), "Mock action servers ready"); - } - -private: - void execute_arm(const std::shared_ptr gh) - { - const auto goal = gh->get_goal(); - auto feedback = std::make_shared(); - auto result = std::make_shared(); - - RCLCPP_INFO(get_logger(), "Arm goal received – moving"); - for (int i = 0; i < 10; ++i) { - if (gh->is_canceling()) { - result->success = false; - result->message = "Cancelled"; - gh->canceled(result); return; - } - feedback->current_pose = goal->target_pose; - feedback->status_message = "Moving ..."; - gh->publish_feedback(feedback); - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - } - result->success = true; - result->message = "arm success"; - result->final_pose = goal->target_pose; - gh->succeed(result); - RCLCPP_INFO(get_logger(), "Arm goal succeeded"); - } - - void execute_gripper(const std::shared_ptr gh) - { - auto feedback = std::make_shared(); - auto result = std::make_shared(); - RCLCPP_INFO(get_logger(), "Gripper goal received"); - for (int i = 0; i < 5; ++i) { - if (gh->is_canceling()) { - result->success = false; result->message = "Cancelled"; - gh->canceled(result); return; - } - feedback->current_position = 100.0; - feedback->status_message = "Closing ..."; - gh->publish_feedback(feedback); - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - } - result->success = true; - result->message = "gripper success"; - result->final_position = 100.0; - gh->succeed(result); - RCLCPP_INFO(get_logger(), "Gripper goal succeeded"); - } - - rclcpp_action::Server::SharedPtr arm_server_; - rclcpp_action::Server::SharedPtr gripper_server_; -}; - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - return 0; -} \ No newline at end of file diff --git a/src/pick_place.py b/src/pick_place.py new file mode 100755 index 0000000..be5a004 --- /dev/null +++ b/src/pick_place.py @@ -0,0 +1,466 @@ +#!/usr/bin/env python3 +import os +import sys +import threading +import time + +import rclpy +from rclpy.action import ActionClient +from rclpy.callback_groups import ReentrantCallbackGroup +from rclpy.duration import Duration +from rclpy.node import Node +from rclpy.time import Time + +from geometry_msgs.msg import Pose, PoseStamped +from eddie_ros.action import ArmControl, GripperControl +from tf2_geometry_msgs import do_transform_pose +import tf2_geometry_msgs +from tf2_ros import Buffer, TransformListener + +from cartesian_planner.action import PlanSpline +from visualization_msgs.msg import Marker +from coord_dsl.fsm import fsm_step +from coord_dsl.event_loop import reconfig_event_buffers, produce_event, consume_event +from fsm_pick_place import create_fsm, StateID, EventID +from std_msgs.msg import Bool, Float32 +from pick_place_fsm.srv import CaptureReference + + + + +class PickPlaceNode(Node): + def __init__(self): + super().__init__('pick_place_fsm_py') + + # FSM Setup + self.fsm = create_fsm() + self.user_data = { + 'target_pose': None, + 'action_dispatched': False, + 'last_state': StateID.S_IDLE, + 'place_pose': self.get_default_place_pose(), + 'home_pose': self.get_home_pose(), + 'detection_start_time': 0.0, + 'phase': 'PICK' # 'PICK' or 'PLACE' + } + + # Parameters , change ee to grasp link when gripper is available + self.declare_parameter("ee_frame", "eddie_right_arm_end_effector_link") + self.declare_parameter("base_frame", "eddie_base_link") + self.declare_parameter("spline_step", 0.05) + + self.ee_frame = self.get_parameter("ee_frame").get_parameter_value().string_value + self.base_frame = self.get_parameter("base_frame").get_parameter_value().string_value + self.spline_step = self.get_parameter("spline_step").get_parameter_value().double_value + self.object_pose_topic = "/object_pose" + # ROS Interfaces + self.cb_group = ReentrantCallbackGroup() + + # TF Buffer + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + + # Action Clients + self.arm_client = ActionClient(self, ArmControl, 'right_arm/arm_control', callback_group=self.cb_group) + self.gripper_client = ActionClient(self, GripperControl, 'right_arm/gripper_control', callback_group=self.cb_group) + self.spline_client = ActionClient(self, PlanSpline, 'spline_plan', callback_group=self.cb_group) + + # Subscribers + self.perception_sub = self.create_subscription( + PoseStamped, + self.object_pose_topic, + self.perception_callback, + 10, + callback_group=self.cb_group + ) + + # Publishers + self.marker_pub = self.create_publisher(Marker, '/picking_object', 10) + + # Timers + self.fsm_timer = self.create_timer(0.1, self.fsm_loop, callback_group=self.cb_group) # 10Hz + + # User Input Thread + self.input_thread = threading.Thread(target=self.input_loop, daemon=True) + self.input_thread.start() + + self.get_logger().info("Pick & Place Python Node Ready. Waiting for 'Enter' to start...") + + # NEW – expose commanded position --------------------------------- + + self.gripper_cmd_pub = self.create_publisher( + Float32, '/right_arm/gripper_pos_cmd', 10) + # ------------------------------------------------------------------- + + # NEW – listen to slip detector ------------------------------------- + self.create_subscription( + Bool, '/gripper_slip', self.on_slip, 10, + callback_group=self.cb_group) + # ------------------------------------------------------------------ + + + def get_default_place_pose(self): + # RELATIVE move for place + p = Pose() + p.position.x = 0.0 + p.position.y = 0.0 + p.position.z = -0.2 + # p.orientation.w = 1.0 + return p + + def get_home_pose(self): + p = Pose() + p.position.x = -0.4 + p.position.y = 0.0 + p.position.z = 0.0 + return p + + def publish_marker(self, pose_stamped): + marker = Marker() + marker.header = pose_stamped.header + marker.type = Marker.SPHERE + marker.action = Marker.ADD + marker.scale.x = 0.05 + marker.scale.y = 0.05 + marker.scale.z = 0.05 + marker.color.a = 1.0 + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 1.0 + marker.pose = pose_stamped.pose + self.marker_pub.publish(marker) + + def perception_callback(self, msg: PoseStamped): + # Only process pose if we are in the DETECTION state + if self.fsm.current_state_index != StateID.S_POSE_DETECTION: + return + try: + # Visualize the raw detection + self.get_logger().info(f"Got the pose from perception (camera frame): {msg}") + + transform = self.tf_buffer.lookup_transform( + "eddie_right_arm_robotiq_85_grasp_link", + f"eddie_right_arm_{msg.header.frame_id}", + rclpy.time.Time() + ) + transformed_pose = do_transform_pose(msg.pose, transform) + self.get_logger().info(f"Transformed pose to end-effector frame: {transformed_pose}") + + new_pose = Pose() + new_pose.position.x = transformed_pose.position.x + new_pose.position.y = transformed_pose.position.y + new_pose.position.z = transformed_pose.position.z + + new_pose.orientation.x = 0.0 + new_pose.orientation.y = 0.0 + new_pose.orientation.z = 0.0 + new_pose.orientation.w = 1.0 + + self.get_logger().info( + f"Using modified target pose (with offsets): " + f"x={new_pose.position.x:.3f}, " + f"y={new_pose.position.y:.3f}, " + f"z={new_pose.position.z:.3f}" + ) + + # Store the pose for the FSM and trigger event + self.user_data['target_pose'] = new_pose + produce_event(self.fsm.event_data, EventID.E_PERCEPTION_POSE) + except Exception as e: + self.get_logger().warn(f"TF Transform failed: {e}") + # Wait for next message + + def input_loop(self): + while rclpy.ok(): + if self.fsm.current_state_index == StateID.S_IDLE: + try: + input(">> Press Enter to START task...\n") + produce_event(self.fsm.event_data, EventID.E_START) + time.sleep(0.5) # Debounce + except EOFError: + break + else: + time.sleep(0.5) + + def fsm_loop(self): + # Check for exit + if self.fsm.current_state_index == StateID.S_EXIT: + self.get_logger().info("FSM Reached EXIT state. Shutting down.") + # This raise will be caught by the loop or main to exit cleanly + raise SystemExit + + # Log state changes + if self.fsm.current_state_index != self.user_data['last_state']: + state_name = StateID(self.fsm.current_state_index).name + self.get_logger().info(f"State Changed to: {state_name}") + + self.user_data['last_state'] = self.fsm.current_state_index + self.user_data['action_dispatched'] = False + + # State Entry Logic + if self.fsm.current_state_index == StateID.S_POSE_DETECTION: + self.user_data['detection_start_time'] = self.get_clock().now().nanoseconds / 1e9 + self.user_data['phase'] = 'PICK' # Reset phase + self.get_logger().info(f"Listening for {self.object_pose_topic} for 6 seconds...") + + self.fsm_behavior() + fsm_step(self.fsm) + reconfig_event_buffers(self.fsm.event_data) + + def fsm_behavior(self): + current_state = self.fsm.current_state_index + ud = self.user_data + + # --- S_IDLE --- + if current_state == StateID.S_IDLE: + pass + + # --- S_POSE_DETECTION --- + elif current_state == StateID.S_POSE_DETECTION: + current_time = self.get_clock().now().nanoseconds / 1e9 + # this is will wait for 6 seconds until pose is recvd from /object_pose topic + if (current_time - ud['detection_start_time']) > 6.0: + self.get_logger().warn("Perception Timeout (6s exceeded). Aborting...") + produce_event(self.fsm.event_data, EventID.E_PERCEPTION_FAIL) + + # --- S_MOVE_ARM --- + elif current_state == StateID.S_MOVE_ARM: + if not ud['action_dispatched']: + target = None + success_event = None + + if ud['phase'] == 'PICK': + target = ud['target_pose'] + success_event = EventID.E_PICK_MOVE_DONE + self.get_logger().info("Moving to PICK pose...") + elif ud['phase'] == 'PLACE': + target = ud['place_pose'] + success_event = EventID.E_PLACE_MOVE_DONE + self.get_logger().info("Moving to PLACE pose...") + + if target is None: + self.get_logger().error("Target pose is None!") + produce_event(self.fsm.event_data, EventID.E_ARM_MOVE_DONE_FAIL) + else: + self.send_arm_goal(target, success_event, EventID.E_ARM_MOVE_DONE_FAIL) + + ud['action_dispatched'] = True + + # --- S_CLOSE_GRIPPER --- + elif current_state == StateID.S_CLOSE_GRIPPER: + if not ud['action_dispatched']: + # Prepare for next phase + ud['phase'] = 'PLACE' + self.send_gripper_command(100.0, EventID.E_GRIPPER_CLOSE_DONE_OK, EventID.E_GRIPPER_CLOSE_DONE_FAIL) + ud['action_dispatched'] = True + + # --- S_OPEN_GRIPPER --- + elif current_state == StateID.S_OPEN_GRIPPER: + if not ud['action_dispatched']: + self.send_gripper_command(0.0, EventID.E_OPEN_DONE_OK, EventID.E_OPEN_DONE_FAIL) + ud['action_dispatched'] = True + + # --- S_FINISHED --- + elif current_state == StateID.S_FINISHED: + if not ud['action_dispatched']: + self.get_logger().info("Task Finished. Returning Home...") + produce_event(self.fsm.event_data, EventID.E_GO_HOME) + ud['action_dispatched'] = True + + # --- S_MOVE_ARM_HOME --- + elif current_state == StateID.S_MOVE_ARM_HOME: + if not ud['action_dispatched']: + self.get_logger().info("Moving Home...") + self.send_arm_goal(ud['home_pose'], EventID.E_HOME_DONE_OK, EventID.E_HOME_DONE_FAIL) + ud['action_dispatched'] = True + + # --- Action Helpers --- + + def send_arm_goal(self, pose, success_evt, fail_evt): + # Default: go through spline planner action server + #self._send_via_spline_planner(pose, success_evt, fail_evt) + # If you need to bypass the planner and send directly to ArmControl, + # uncomment the next line: + self._send_direct_arm_goal(pose, success_evt, fail_evt) + + def _send_via_spline_planner(self, pose, success_evt, fail_evt): + if not self.spline_client.wait_for_server(timeout_sec=1.0): + self.get_logger().error("Spline planner action server not available!") + produce_event(self.fsm.event_data, fail_evt) + return + + goal = PlanSpline.Goal() + goal.target_pose = pose + future = self.spline_client.send_goal_async(goal) + future.add_done_callback(lambda fut: self._planner_goal_response(fut, success_evt, fail_evt)) + + def _planner_goal_response(self, future, success_evt, fail_evt): + try: + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Spline planner goal rejected") + produce_event(self.fsm.event_data, fail_evt) + return + + res_future = goal_handle.get_result_async() + res_future.add_done_callback(lambda fut: self._planner_result(fut, success_evt, fail_evt)) + except Exception as e: + self.get_logger().error(f"Spline planner Goal Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def _planner_result(self, future, success_evt, fail_evt): + try: + result = future.result().result + if result.success: + self.get_logger().info("Spline planner execution succeeded") + produce_event(self.fsm.event_data, success_evt) + else: + self.get_logger().error(f"Spline planner failed: {result.message}") + produce_event(self.fsm.event_data, fail_evt) + except Exception as e: + self.get_logger().error(f"Spline planner Result Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + # Direct ArmControl path (bypasses planner) — keep commented unless needed. + def _send_direct_arm_goal(self, pose, success_evt, fail_evt): + if not self.arm_client.wait_for_server(timeout_sec=1.0): + self.get_logger().error("Arm action server not available!") + produce_event(self.fsm.event_data, fail_evt) + return + goal = ArmControl.Goal() + goal.target_pose = pose + future = self.arm_client.send_goal_async(goal) + future.add_done_callback(lambda fut: self._arm_goal_response(fut, success_evt, fail_evt)) + + def _arm_goal_response(self, future, success_evt, fail_evt): + try: + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Arm goal rejected") + produce_event(self.fsm.event_data, fail_evt) + return + res_future = goal_handle.get_result_async() + res_future.add_done_callback(lambda fut: self._arm_result(fut, success_evt, fail_evt)) + except Exception as e: + self.get_logger().error(f"Arm Goal Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def _arm_result(self, future, success_evt, fail_evt): + try: + result = future.result().result + if result.result_code == ArmControl.Result.SUCCESS: + self.get_logger().info("Arm Action Succeeded") + produce_event(self.fsm.event_data, success_evt) + else: + msg = result.result_message if hasattr(result, "result_message") else result.message + self.get_logger().error(f"Arm Action Failed: {msg}") + produce_event(self.fsm.event_data, fail_evt) + except Exception as e: + self.get_logger().error(f"Arm Result Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def arm_goal_response(self, future, success_evt, fail_evt): + try: + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Arm goal rejected") + produce_event(self.fsm.event_data, fail_evt) + return + + res_future = goal_handle.get_result_async() + res_future.add_done_callback(lambda fut: self.arm_result(fut, success_evt, fail_evt)) + except Exception as e: + self.get_logger().error(f"Arm Goal Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def arm_result(self, future, success_evt, fail_evt): + try: + result = future.result().result + if result.result_code == ArmControl.Result.SUCCESS: + self.get_logger().info("Arm Action Succeeded") + produce_event(self.fsm.event_data, success_evt) + else: + msg = result.result_message if hasattr(result, "result_message") else result.message + self.get_logger().error(f"Arm Action Failed: {msg}") + produce_event(self.fsm.event_data, fail_evt) + except Exception as e: + self.get_logger().error(f"Arm Result Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def send_gripper_command(self, position, success_evt, fail_evt): + if not self.gripper_client.wait_for_server(timeout_sec=1.0): + self.get_logger().error("Gripper action server not available!") + produce_event(self.fsm.event_data, fail_evt) + return + + goal = GripperControl.Goal() + goal.target_position = position + goal.velocity = 20.0 + goal.force = 10.0 + # NEW – broadcast commanded value for slip detector ----------------- + cmd_msg = Float32() + cmd_msg.data = float(position) + self.gripper_cmd_pub.publish(cmd_msg) + # ------------------------------------------------------------------- + + future = self.gripper_client.send_goal_async(goal) + future.add_done_callback(lambda fut: self.gripper_goal_response(fut, success_evt, fail_evt)) + + def gripper_goal_response(self, future, success_evt, fail_evt): + try: + goal_handle = future.result() + if not goal_handle.accepted: + self.get_logger().error("Gripper goal rejected") + produce_event(self.fsm.event_data, fail_evt) + return + + res_future = goal_handle.get_result_async() + res_future.add_done_callback(lambda fut: self.gripper_result(fut, success_evt, fail_evt)) + except Exception as e: + self.get_logger().error(f"Gripper Goal Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + def gripper_result(self, future, success_evt, fail_evt): + try: + result = future.result().result + if result.result_code == GripperControl.Result.SUCCESS: + self.get_logger().info("Gripper Action Succeeded") + # tells slip-node to capture final encoder value ---- + capture_cli = self.create_client(CaptureReference, '/gripper_slip/capture_reference') + if capture_cli.wait_for_service(timeout_sec=1.0): + capture_cli.call_async(CaptureReference.Request()) + produce_event(self.fsm.event_data, success_evt) + else: + msg = result.result_message if hasattr(result, "result_message") else result.message + self.get_logger().error(f"Gripper Action Failed: {msg}") + produce_event(self.fsm.event_data, fail_evt) + except Exception as e: + self.get_logger().error(f"Gripper Result Exception: {e}") + produce_event(self.fsm.event_data, fail_evt) + + # ================== NEW ================== + def on_slip(self, msg: Bool): + if msg.data: # True = object lost + self.get_logger().warn('Gripper slip detected – treating as CLOSE_FAIL') + produce_event(self.fsm.event_data, EventID.E_GRIPPER_CLOSE_DONE_FAIL) + + +def main(args=None): + rclpy.init(args=args) + node = PickPlaceNode() + try: + rclpy.spin(node) + except SystemExit: + node.get_logger().info("Node stopped via SystemExit") + except KeyboardInterrupt: + node.get_logger().info("Node stopped via KeyboardInterrupt") + finally: + node.destroy_node() + try: + if rclpy.ok(): + rclpy.shutdown() + except Exception: + pass + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/pick_place_fsm_mock.cpp b/src/pick_place_fsm_mock.cpp index ad5cc43..f182fb9 100644 --- a/src/pick_place_fsm_mock.cpp +++ b/src/pick_place_fsm_mock.cpp @@ -1,6 +1,8 @@ + #include #include #include +#include #include "rclcpp/rclcpp.hpp" #include "rclcpp_action/rclcpp_action.hpp" @@ -9,261 +11,279 @@ #include "eddie_ros/action/gripper_control.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -// STATE ENUM -enum class State -{ - IDLE, - MOVE_TO_APPROACH, - WAIT_APPROACH_RESULT, - MOVE_TO_GRASP, - WAIT_GRASP_RESULT, - CLOSE_GRIPPER, - WAIT_GRIPPER_RESULT, - MOVE_TO_PLACE, - WAIT_PLACE_RESULT, - OPEN_GRIPPER, - WAIT_OPEN_RESULT, - FINISHED, - ABORT -}; +#include "pick_place_fsm.hpp" -// MOCK CLIENT NODE -class PickPlaceFSM : public rclcpp::Node +// Forward declaration +void fsm_behavior(struct events *eventData, struct PickPlaceNode_user_data *ud); + +// ============================================================================ +// PickPlaceNode definition +// ============================================================================ +class PickPlaceNode : public rclcpp::Node { public: using ArmControl = eddie_ros::action::ArmControl; using GripperControl = eddie_ros::action::GripperControl; - explicit PickPlaceFSM(const rclcpp::NodeOptions & opt = rclcpp::NodeOptions{}) - : Node("pick_place_fsm", opt), state_(State::IDLE) + explicit PickPlaceNode(const rclcpp::NodeOptions & opt = rclcpp::NodeOptions{}) + : Node("pick_place_fsm_node", opt) { - // clients + // ------------------------------------------------------------------------ + // Action clients + // ------------------------------------------------------------------------ arm_client_ = rclcpp_action::create_client(this, "right_arm/arm_control"); gripper_client_ = rclcpp_action::create_client(this, "right_arm/gripper_control"); - // perception sub + // ------------------------------------------------------------------------ + // Perception subscriber + // ------------------------------------------------------------------------ perception_sub_ = create_subscription( - "/perception/target_pose", 10, - std::bind(&PickPlaceFSM::on_perception, this, std::placeholders::_1)); + "/perception/target_pose", 10, + std::bind(&PickPlaceNode::on_perception, this, std::placeholders::_1)); - // internal timer + // ------------------------------------------------------------------------ + // FSM timer + // ------------------------------------------------------------------------ timer_ = create_wall_timer(std::chrono::milliseconds(100), - std::bind(&PickPlaceFSM::tick, this)); - // hard-coded place pose (10 cm sideways same height) - place_pose_.position.x = 0.00; - place_pose_.position.y = 0.0; - place_pose_.position.z = 0.20; - place_pose_.orientation.x = 0.0; - place_pose_.orientation.y = 0.0; - place_pose_.orientation.z = 0.0; - place_pose_.orientation.w = 1.0; - - RCLCPP_INFO(get_logger(), "Mock FSM ready – waiting for /perception/target_pose"); + std::bind(&PickPlaceNode::fsm_loop, this)); + + // ------------------------------------------------------------------------ + // User data initialization + // ------------------------------------------------------------------------ + user_data_.node = this; + user_data_.arm_client = arm_client_; + user_data_.gripper_client = gripper_client_; + + // Hard-coded place pose + user_data_.place_pose.position.x = 0.60; + user_data_.place_pose.position.y = 0.0; + user_data_.place_pose.position.z = 0.20; + user_data_.place_pose.orientation.x = 0.0; + user_data_.place_pose.orientation.y = 0.0; + user_data_.place_pose.orientation.z = 0.0; + user_data_.place_pose.orientation.w = 1.0; + + RCLCPP_INFO(get_logger(), "PickPlace FSM node ready – waiting for /perception/target_pose"); } private: - // STATE MACHINE DRIVER - void tick() + // -------------------------------------------------------------------------- + // FSM data + // -------------------------------------------------------------------------- + struct user_data + { + PickPlaceNode * node; + geometry_msgs::msg::Pose target_pose; + geometry_msgs::msg::Pose place_pose; + rclcpp_action::Client::SharedPtr arm_client; + rclcpp_action::Client::SharedPtr gripper_client; + int last_state_index = S_IDLE; + bool action_dispatched = false; + } user_data_; + + // -------------------------------------------------------------------------- + // ROS interfaces + // -------------------------------------------------------------------------- + rclcpp_action::Client::SharedPtr arm_client_; + rclcpp_action::Client::SharedPtr gripper_client_; + rclcpp::Subscription::SharedPtr perception_sub_; + rclcpp::TimerBase::SharedPtr timer_; + + // -------------------------------------------------------------------------- + // FSM main loop + // -------------------------------------------------------------------------- + void fsm_loop() { - switch (state_) - { - case State::IDLE: - /* nothing to do – perception callback will promote us */ - break; - - case State::MOVE_TO_APPROACH: - send_approach_goal(); - break; - - case State::MOVE_TO_GRASP: - send_grasp_goal(); - break; - - case State::CLOSE_GRIPPER: - send_gripper_close(); - break; - - case State::MOVE_TO_PLACE: - send_place_goal(); - break; - - case State::OPEN_GRIPPER: - send_open_gripper_goal(); - break; - - case State::FINISHED: - RCLCPP_INFO(get_logger(), "PICK & PLACE SEQUENCE COMPLETE – back to IDLE"); - state_ = State::IDLE; - break; - - case State::ABORT: - RCLCPP_WARN(get_logger(), "SEQUENCE ABORTED – back to IDLE"); - state_ = State::IDLE; - break; - - default: /* waiting states – result callbacks will promote us */ - break; + if (fsm.currentStateIndex != user_data_.last_state_index) { + user_data_.last_state_index = fsm.currentStateIndex; + user_data_.action_dispatched = false; } + + fsm_behavior(fsm.eventData, &user_data_); + fsm_step_nbx(&fsm); + reconfig_event_buffers(fsm.eventData); } - // 1. PERCEPTION TRIGGER + // -------------------------------------------------------------------------- + // Perception callback + // -------------------------------------------------------------------------- void on_perception(const geometry_msgs::msg::PoseStamped::SharedPtr msg) { - if (state_ != State::IDLE) return; // ignore if busy - RCLCPP_INFO(get_logger(), "Perception pose received – starting sequence"); - target_pose_ = msg->pose; - state_ = State::MOVE_TO_APPROACH; + RCLCPP_INFO(get_logger(), "Perception pose received – starting pick & place"); + user_data_.target_pose = msg->pose; + produce_event(fsm.eventData, E_PERCEPTION_POSE); } - // 2. APPROACH - void send_approach_goal() + // -------------------------------------------------------------------------- + // FSM helpers (actions) + // -------------------------------------------------------------------------- + static void send_approach_goal(user_data *ud, struct events *ev) { - if (!arm_client_->wait_for_action_server(std::chrono::seconds(2))) - { - RCLCPP_ERROR(get_logger(), "Arm server not up – abort"); - state_ = State::ABORT; + auto node = ud->node; + if (!ud->arm_client->wait_for_action_server(std::chrono::seconds(2))) { + RCLCPP_ERROR(node->get_logger(), "Arm server not up – abort"); + produce_event(ev, E_APPROACH_DONE_FAIL); return; } - auto goal = ArmControl::Goal(); - goal.target_pose = target_pose_; - goal.target_pose.position.z -= 0.10; // 10 cm away + ArmControl::Goal goal; + goal.target_pose = ud->target_pose; + goal.target_pose.position.z -= 0.10; // approach offset - auto send_opt = rclcpp_action::Client::SendGoalOptions(); - send_opt.result_callback = - [this](const rclcpp_action::ClientGoalHandle::WrappedResult & r) - { on_arm_result(r, /*is_approach=*/true); }; + auto opt = rclcpp_action::Client::SendGoalOptions(); + opt.result_callback = [node, ev](const auto &r) { + if (r.code == rclcpp_action::ResultCode::SUCCEEDED) + produce_event(ev, E_APPROACH_DONE_OK); + else + produce_event(ev, E_APPROACH_DONE_FAIL); + }; - arm_client_->async_send_goal(goal, send_opt); - RCLCPP_INFO(get_logger(), "[FSM] Approach goal sent"); - state_ = State::WAIT_APPROACH_RESULT; + ud->arm_client->async_send_goal(goal, opt); + RCLCPP_INFO(node->get_logger(), "[FSM] Approach goal sent"); } - // 3. GRASP - void send_grasp_goal() + static void send_grasp_goal(user_data *ud, struct events *ev) { - auto goal = ArmControl::Goal(); - goal.target_pose = target_pose_; // back to object - - auto send_opt = rclcpp_action::Client::SendGoalOptions(); - send_opt.result_callback = - [this](const rclcpp_action::ClientGoalHandle::WrappedResult & r) - { on_arm_result(r, /*is_approach=*/false); }; - - arm_client_->async_send_goal(goal, send_opt); - RCLCPP_INFO(get_logger(), "[FSM] Grasp goal sent"); - state_ = State::WAIT_GRASP_RESULT; + auto node = ud->node; + ArmControl::Goal goal; + goal.target_pose = ud->target_pose; + + auto opt = rclcpp_action::Client::SendGoalOptions(); + opt.result_callback = [node, ev](const auto &r) { + if (r.code == rclcpp_action::ResultCode::SUCCEEDED) + produce_event(ev, E_GRASP_DONE_OK); + else + produce_event(ev, E_GRASP_DONE_FAIL); + }; + + ud->arm_client->async_send_goal(goal, opt); + RCLCPP_INFO(node->get_logger(), "[FSM] Grasp goal sent"); } - // 4. GRIPPER CLOSE - void send_gripper_close() + static void send_gripper_close(user_data *ud, struct events *ev) { - if (!gripper_client_->wait_for_action_server(std::chrono::seconds(2))) - { - RCLCPP_ERROR(get_logger(), "Gripper server not up – abort"); - state_ = State::ABORT; + auto node = ud->node; + if (!ud->gripper_client->wait_for_action_server(std::chrono::seconds(2))) { + RCLCPP_ERROR(node->get_logger(), "Gripper server not up – abort"); + produce_event(ev, E_GRIPPER_CLOSE_DONE_FAIL); return; } - auto goal = GripperControl::Goal(); + GripperControl::Goal goal; goal.target_position = 100.0; - goal.velocity = 20.0; - goal.force = 10.0; - - auto send_opt = rclcpp_action::Client::SendGoalOptions(); - send_opt.result_callback = - [this](const rclcpp_action::ClientGoalHandle::WrappedResult & r) - { on_gripper_result(r); }; - - gripper_client_->async_send_goal(goal, send_opt); - RCLCPP_INFO(get_logger(), "[FSM] Gripper close goal sent"); - state_ = State::WAIT_GRIPPER_RESULT; + goal.velocity = 20.0; + goal.force = 10.0; + + auto opt = rclcpp_action::Client::SendGoalOptions(); + opt.result_callback = [node, ev](const auto &r) { + if (r.code == rclcpp_action::ResultCode::SUCCEEDED) + produce_event(ev, E_GRIPPER_CLOSE_DONE_OK); + else + produce_event(ev, E_GRIPPER_CLOSE_DONE_FAIL); + }; + + ud->gripper_client->async_send_goal(goal, opt); + RCLCPP_INFO(node->get_logger(), "[FSM] Gripper close goal sent"); } - // RESULT CALLBACKS - void on_arm_result(const rclcpp_action::ClientGoalHandle::WrappedResult & r, - bool is_approach) + static void send_place_goal(user_data *ud, struct events *ev) { - if (r.code != rclcpp_action::ResultCode::SUCCEEDED) - { - RCLCPP_ERROR(get_logger(), "Arm motion failed – abort"); - state_ = State::ABORT; - return; - } - RCLCPP_INFO(get_logger(), "Arm motion succeeded"); - state_ = is_approach ? State::MOVE_TO_GRASP : State::CLOSE_GRIPPER; + auto node = ud->node; + ArmControl::Goal goal; + goal.target_pose = ud->place_pose; + goal.target_pose.position.z += 0.10; // above place + + auto opt = rclcpp_action::Client::SendGoalOptions(); + opt.result_callback = [node, ev](const auto &r) { + if (r.code == rclcpp_action::ResultCode::SUCCEEDED) + produce_event(ev, E_PLACE_DONE_OK); + else + produce_event(ev, E_PLACE_DONE_FAIL); + }; + + ud->arm_client->async_send_goal(goal, opt); + RCLCPP_INFO(node->get_logger(), "[FSM] Place goal sent"); } - void on_gripper_result(const rclcpp_action::ClientGoalHandle::WrappedResult & r) + static void send_open_gripper_goal(user_data *ud, struct events *ev) { - if (r.code != rclcpp_action::ResultCode::SUCCEEDED) - { - RCLCPP_ERROR(get_logger(), "Gripper motion failed – abort"); - state_ = State::ABORT; - return; - } - RCLCPP_INFO(get_logger(), "Gripper motion succeeded"); - state_ = State::MOVE_TO_PLACE; + auto node = ud->node; + GripperControl::Goal goal; + goal.target_position = 0.0; + goal.velocity = 20.0; + goal.force = 10.0; + + auto opt = rclcpp_action::Client::SendGoalOptions(); + opt.result_callback = [node, ev](const auto &r) { + if (r.code == rclcpp_action::ResultCode::SUCCEEDED) + produce_event(ev, E_OPEN_DONE_OK); + else + produce_event(ev, E_OPEN_DONE_FAIL); + }; + + ud->gripper_client->async_send_goal(goal, opt); + RCLCPP_INFO(node->get_logger(), "[FSM] Open-gripper goal sent"); } - - - void send_place_goal() - { - auto goal = ArmControl::Goal(); - // goal.target_pose = place_pose_; - goal.target_pose.position.z -= 0.10; // approach 10 cm down - auto opt = rclcpp_action::Client::SendGoalOptions(); - opt.result_callback = [this](const auto & r){ on_place_result(r); }; - arm_client_->async_send_goal(goal, opt); - RCLCPP_INFO(get_logger(), "[FSM] Place (approach) goal sent"); - state_ = State::WAIT_PLACE_RESULT; + // -------------------------------------------------------------------------- + // FSM friend declaration + // -------------------------------------------------------------------------- + friend void fsm_behavior(struct events *eventData, struct user_data *ud); +}; + +// ============================================================================ +// FSM behavior implementation +// ============================================================================ +void fsm_behavior(struct events *eventData, struct PickPlaceNode::user_data *ud) +{ + if (consume_event(eventData, E_PERCEPTION_POSE)) { + // Transition handled by FSM reaction } - void send_open_gripper_goal() - { - auto goal = GripperControl::Goal(); - goal.target_position = 0.0; // fully open - goal.velocity = 20.0; - goal.force = 10.0; - auto opt = rclcpp_action::Client::SendGoalOptions(); - opt.result_callback = [this](const auto & r){ on_open_result(r); }; - gripper_client_->async_send_goal(goal, opt); - RCLCPP_INFO(get_logger(), "[FSM] Open-gripper goal sent"); - state_ = State::WAIT_OPEN_RESULT; + if (fsm.currentStateIndex == S_MOVE_TO_APPROACH && !ud->action_dispatched) { + PickPlaceNode::send_approach_goal(ud, eventData); + ud->action_dispatched = true; } - void on_place_result(const rclcpp_action::ClientGoalHandle::WrappedResult & r) - { - if (r.code != rclcpp_action::ResultCode::SUCCEEDED){ state_ = State::ABORT; return; } - RCLCPP_INFO(get_logger(), "Place motion succeeded"); - state_ = State::OPEN_GRIPPER; + if (fsm.currentStateIndex == S_MOVE_TO_GRASP && !ud->action_dispatched) { + PickPlaceNode::send_grasp_goal(ud, eventData); + ud->action_dispatched = true; } - void on_open_result(const rclcpp_action::ClientGoalHandle::WrappedResult & r) - { - if (r.code != rclcpp_action::ResultCode::SUCCEEDED){ state_ = State::ABORT; return; } - RCLCPP_INFO(get_logger(), "Gripper open succeeded"); - state_ = State::FINISHED; + if (fsm.currentStateIndex == S_CLOSE_GRIPPER && !ud->action_dispatched) { + PickPlaceNode::send_gripper_close(ud, eventData); + ud->action_dispatched = true; } - // MEMBERS - rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Subscription::SharedPtr perception_sub_; - rclcpp_action::Client::SharedPtr arm_client_; - rclcpp_action::Client::SharedPtr gripper_client_; + if (fsm.currentStateIndex == S_MOVE_TO_PLACE && !ud->action_dispatched) { + PickPlaceNode::send_place_goal(ud, eventData); + ud->action_dispatched = true; + } - State state_; - geometry_msgs::msg::Pose target_pose_; // last perceived pose - geometry_msgs::msg::Pose place_pose_; + if (fsm.currentStateIndex == S_OPEN_GRIPPER && !ud->action_dispatched) { + PickPlaceNode::send_open_gripper_goal(ud, eventData); + ud->action_dispatched = true; + } + + if (fsm.currentStateIndex == S_FINISHED) { + RCLCPP_INFO(ud->node->get_logger(), "Pick & Place sequence complete – back to IDLE"); + produce_event(eventData, E_RESET); + } -}; + if (fsm.currentStateIndex == S_ABORT) { + RCLCPP_WARN(ud->node->get_logger(), "Sequence aborted – resetting FSM"); + produce_event(eventData, E_RESET); + } +} -// MAIN +// ============================================================================ +// MAIN +// ============================================================================ int main(int argc, char ** argv) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + auto node = std::make_shared(); + rclcpp::spin(node); rclcpp::shutdown(); return 0; -} \ No newline at end of file +} diff --git a/srv/CaptureReference.srv b/srv/CaptureReference.srv new file mode 100644 index 0000000..44c57e1 --- /dev/null +++ b/srv/CaptureReference.srv @@ -0,0 +1,3 @@ +bool placeholder # request field (can be empty, but something is required) +--- +bool success # response field (required) \ No newline at end of file