Merge pull request #195 from jhu-dvrk/rc-2.2.1

2.2.1
jhu-dvrk · Dec 29, 2023 · 356bac3 · 356bac3
2 parents 7dd6827 + a9f39e4
commit 356bac3
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,30 @@
 Change log
 ==========
 
+2.2.1 (2023-12-29)
+==================
+
+* API changes:
+  * None
+* Deprecated features:
+  * None
+* New features:
+  * Shared files:
+    * Added `tool` mega suturecut needle drivers 400309 and 420309
+    * Added `console` for simulated PSM Si and ECM Si
+    * Added `io` for MTML on DQLA
+  * Console JSON: added configuration option "close-all-relays"
+  * Display explanation when powering fails on Si controllers
+  * Added CMake option to compile without Bluetooth for SUJ Si in simulated mode
+  * `dvrk-remove-logs.py`: added `-f` option to skip confirmation prompt
+* Bug fixes:
+  * Fixes for Windows compilation
+  * Fixed crash on exit
+  * Fixed crash on PSM GUI direct control
+  * `dvrk-configuration-generator.py`
+    * Fixed boards IDs for PSMs and ECMs using DQLA controllers
+    * Better default for gripper
+
 2.2.0 (2023-11-21)
 ==================
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,7 +10,7 @@
 # --- end cisst license ---
 
 cmake_minimum_required(VERSION 3.10)
-project (sawIntuitiveResearchKitAll VERSION 2.2.0)
+project (sawIntuitiveResearchKitAll VERSION 2.2.1)
 
 find_package (cisst REQUIRED)
 include (${CISST_USE_FILE})

diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
@@ -10,7 +10,7 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKitApplications VERSION 2.2.0)
+project (sawIntuitiveResearchKitApplications VERSION 2.2.1)
 
 set (CMAKE_CXX_STANDARD 14)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -41,7 +41,7 @@ set (REQUIRED_CISST_LIBRARIES cisstCommon
                               cisstQt)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.1 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 
@@ -55,9 +55,9 @@ if (cisst_FOUND_AS_REQUIRED)
   endif ()
 
   # saw components have been compiled within cisst, we should find them automatically
-  find_package (sawRobotIO1394          2.2.0 REQUIRED)
+  find_package (sawRobotIO1394          2.2.1 REQUIRED)
   find_package (sawControllers          2.1.0 REQUIRED)
-  find_package (sawIntuitiveResearchKit 2.2.0 REQUIRED)
+  find_package (sawIntuitiveResearchKit 2.2.1 REQUIRED)
   find_package (sawTextToSpeech         1.4.0 REQUIRED)
 
   if (sawRobotIO1394_FOUND AND sawControllers_FOUND

diff --git a/applications/config-generator/CMakeLists.txt b/applications/config-generator/CMakeLists.txt
@@ -10,10 +10,10 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKitConfigGenerator VERSION 2.2.0)
+project (sawIntuitiveResearchKitConfigGenerator VERSION 2.2.1)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.1 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 

diff --git a/applications/config-generator/dvrk-config-generator.py b/applications/config-generator/dvrk-config-generator.py
diff --git a/applications/gripper-calibration/CMakeLists.txt b/applications/gripper-calibration/CMakeLists.txt
@@ -9,7 +9,7 @@
 #
 # --- end cisst license ---
 
-cmake_minimum_required (VERSION 2.8)
+cmake_minimum_required (VERSION 3.10)
 
 # create a list of required cisst libraries
 set (REQUIRED_CISST_LIBRARIES cisstCommon

diff --git a/applications/package.xml b/applications/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>saw_intuitive_research_kit_applications</name>
-  <version>2.2.0</version>
+  <version>2.2.1</version>
   <description>
   sawIntuitiveResearchKit Application
   </description>

diff --git a/applications/remove-logs/CMakeLists.txt b/applications/remove-logs/CMakeLists.txt
@@ -10,10 +10,10 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKitRemoveLogs VERSION 2.2.0)
+project (sawIntuitiveResearchKitRemoveLogs VERSION 2.2.1)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.1 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 

diff --git a/applications/remove-logs/dvrk-remove-logs.py b/applications/remove-logs/dvrk-remove-logs.py
@@ -6,6 +6,7 @@
 # Anton Deguet
 #
 
+import argparse
 import glob
 import os
 
@@ -17,41 +18,58 @@ def readable_size(size, decimal_point = 2):
    return f'{size:.{decimal_point}f} {i}'
 
 
-def remove_files(files, what):
-    if not files:
-        print(f'No {what} files found')
-        return
-
-    print(f'Removing {what} files')
-
-    total_size = 0
-    for file in files:
-        stats = os.stat(file)
-        total_size += stats.st_size
-
-    while True:
-        print(f'Total size of {what} file found {readable_size(total_size)}')
-        answer = input('[s] to show the files, [d] to delete them, [q] to quit\n')
-        if answer == 's':
-            for file in files:
-                stats = os.stat(file)
-                print(f'{file}   {readable_size(stats.st_size)}')
-        elif answer == 'd':
-            for file in files:
-                print(f'Removing {file}')
-                os.remove(file)
-            return
-        elif answer == 'q':
-            return
-
-# logs
-files = glob.glob('./**/cisstLog.txt', recursive = True) \
-    + glob.glob('./**/cisstLog-20*-*.txt', recursive = True)
-remove_files(files, 'log')
-
-# backups and extra files from calibration steps
-files = glob.glob('./**/sawRobotIO*.xml-backup*', recursive = True) \
-   + glob.glob('./**/*.json-backup-20*', recursive = True) \
-   + glob.glob('./**/pot_calib_offsets_*.csv', recursive = True) \
-   + glob.glob('./**/pot_calib_scales_*.csv', recursive = True)
-remove_files(files, 'backup')
+def remove_files(files, what, skip_prompt = False):
+   if not files:
+      print(f'No {what} files found')
+      return
+
+   print(f'Removing {what} files')
+
+   total_size = 0
+   for file in files:
+      stats = os.stat(file)
+      total_size += stats.st_size
+
+   while True:
+      answer = 'd'
+      if not skip_prompt:
+         print(f'Total size of {what} file found {readable_size(total_size)}')
+         answer = input('[s] to show the files, [d] to delete them, [q] to quit\n')
+      if answer == 's':
+         for file in files:
+            stats = os.stat(file)
+            print(f'{file}   {readable_size(stats.st_size)}')
+      elif answer == 'd':
+         for file in files:
+            print(f'Removing {file}')
+            os.remove(file)
+         return
+      elif answer == 'q':
+         return
+
+def main():
+   parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+   parser.add_argument(
+      "-f",
+      "--force",
+      help = "force deletion without prompting user",
+      action = 'store_true'
+   )
+   args = parser.parse_args()
+   if not args.force:
+      print('You can use the command line argument -f, --force to avoid the prompts')
+
+   # logs
+   files = glob.glob('./**/cisstLog.txt', recursive = True) \
+      + glob.glob('./**/cisstLog-20*-*.txt', recursive = True)
+   remove_files(files, 'log', skip_prompt = args.force)
+
+   # backups and extra files from calibration steps
+   files = glob.glob('./**/sawRobotIO*.xml-backup*', recursive = True) \
+      + glob.glob('./**/*.json-backup-20*', recursive = True) \
+      + glob.glob('./**/pot_calib_offsets_*.csv', recursive = True) \
+      + glob.glob('./**/pot_calib_scales_*.csv', recursive = True)
+   remove_files(files, 'backup', skip_prompt = args.force)
+
+if __name__ == "__main__":
+   main()
diff --git a/applications/s-potentiometers-calibration/CMakeLists.txt b/applications/s-potentiometers-calibration/CMakeLists.txt
@@ -10,7 +10,7 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKitSPotentiometersCalibration VERSION 2.2.0)
+project (sawIntuitiveResearchKitSPotentiometersCalibration VERSION 2.2.1)
 
 # create a list of required cisst libraries
 set (REQUIRED_CISST_LIBRARIES cisstCommon
@@ -21,7 +21,7 @@ set (REQUIRED_CISST_LIBRARIES cisstCommon
                               cisstParameterTypes)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.1 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 
@@ -35,7 +35,7 @@ if (cisst_FOUND_AS_REQUIRED)
   endif ()
 
   # saw components have been compiled within cisst, we should find them automatically
-  find_package (sawRobotIO1394 2.2.0 REQUIRED)
+  find_package (sawRobotIO1394 2.2.1 REQUIRED)
 
   if (sawRobotIO1394_FOUND)
 

diff --git a/applications/sd-card-updater/CMakeLists.txt b/applications/sd-card-updater/CMakeLists.txt
@@ -10,10 +10,10 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKitSDCardUpdater VERSION 2.2.0)
+project (sawIntuitiveResearchKitSDCardUpdater VERSION 2.2.1)
 
 # find cisst and make sure the required libraries have been compiled
-find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.1 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 

diff --git a/components/CMakeLists.txt b/components/CMakeLists.txt
@@ -10,7 +10,7 @@
 # --- end cisst license ---
 
 cmake_minimum_required (VERSION 3.10)
-project (sawIntuitiveResearchKit VERSION 2.2.0)
+project (sawIntuitiveResearchKit VERSION 2.2.1)
 
 set (CMAKE_CXX_STANDARD 14)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -51,37 +51,47 @@ if (cisst_FOUND)
     # catkin/ROS paths
     cisst_set_output_path ()
 
+    # gattlib is not available on Windows
+    if (WIN32)
+      option (sawIntuitiveResearchKit_HAS_SUJ_Si "Compile code to support the SI SUJ over bluetooth (requires gattlib)" OFF)
+    else ()
+      option (sawIntuitiveResearchKit_HAS_SUJ_Si "Compile code to support the SI SUJ over bluetooth (requires gattlib)" ON)
+    endif ()
+
     # external project for gattlib
-    include (ExternalProject)
-
-    set (SAW_GATTLIB_GIT_REPOSITORY https://github.com/jhu-cisst-external/gattlib)
-    ExternalProject_Add (gattlibExternal
-                         PREFIX gattlib
-                         GIT_REPOSITORY    ${SAW_GATTLIB_GIT_REPOSITORY}
-                         CMAKE_CACHE_ARGS -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
-                                          -DGATTLIB_BUILD_EXAMPLES:BOOL=OFF
-                                          -DGATTLIB_BUILD_DOCS:BOOL=OFF
-                                          -DGATTLIB_PYTHON_INTERFACE:BOOL=OFF
-                                          -DGATTLIB_BUILD_EXAMPLES:BOOL=OFF
-                                          -DGATTLIB_SHARED_LIB:BOOL=ON
-                                          -DCMAKE_INSTALL_PREFIX:FILEPATH=${CMAKE_INSTALL_PREFIX}
-                         UPDATE_COMMAND ""
-                         INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
-                         )
-    set (gattlib_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
-    set (gattlib_LIBRARY_DIR "${CMAKE_INSTALL_PREFIX}/lib")
-    set (gattlib_LIBRARIES gattlib)
+    if (sawIntuitiveResearchKit_HAS_SUJ_Si)
+      include (ExternalProject)
+
+      set (SAW_GATTLIB_GIT_REPOSITORY https://github.com/jhu-cisst-external/gattlib)
+      ExternalProject_Add (gattlibExternal
+                           PREFIX gattlib
+                           GIT_REPOSITORY    ${SAW_GATTLIB_GIT_REPOSITORY}
+                           CMAKE_CACHE_ARGS -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
+                                            -DGATTLIB_BUILD_EXAMPLES:BOOL=OFF
+                                            -DGATTLIB_BUILD_DOCS:BOOL=OFF
+                                            -DGATTLIB_PYTHON_INTERFACE:BOOL=OFF
+                                            -DGATTLIB_BUILD_EXAMPLES:BOOL=OFF
+                                            -DGATTLIB_SHARED_LIB:BOOL=ON
+                                            -DCMAKE_INSTALL_PREFIX:FILEPATH=${CMAKE_INSTALL_PREFIX}
+                           UPDATE_COMMAND ""
+                           INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+                           )
+      set (gattlib_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
+      set (gattlib_LIBRARY_DIR "${CMAKE_INSTALL_PREFIX}/lib")
+      set (gattlib_LIBRARIES gattlib)
+
+      include_directories (${gattlib_INCLUDE_DIR})
+      link_directories (${gattlib_LIBRARY_DIR})
+    endif ()
 
     # saw components configuration
     include_directories (${sawTextToSpeech_INCLUDE_DIR}
                          ${sawRobotIO1394_INCLUDE_DIR}
-                         ${sawControllers_INCLUDE_DIR}
-                         ${gattlib_INCLUDE_DIR})
+                         ${sawControllers_INCLUDE_DIR})
 
     link_directories (${sawTextToSpeech_LIBRARY_DIR}
                       ${sawRobotIO1394_LIBRARY_DIR}
-                      ${sawControllers_LIBRARY_DIR}
-                      ${gattlib_LIBRARY_DIR})
+                      ${sawControllers_LIBRARY_DIR})
 
     # create/configure file for find_package (sawIntuitiveResearchKit)
     set (sawIntuitiveResearchKit_INCLUDE_DIR
@@ -90,8 +100,13 @@ if (cisst_FOUND)
     set (sawIntuitiveResearchKit_HEADER_DIR
          "${sawIntuitiveResearchKit_SOURCE_DIR}/include/sawIntuitiveResearchKit")
     set (sawIntuitiveResearchKit_LIBRARY_DIR
-         "${LIBRARY_OUTPUT_PATH}"
-         "${gattlib_LIBRARY_DIR}")
+      "${LIBRARY_OUTPUT_PATH}")
+
+    if (sawIntuitiveResearchKit_HAS_SUJ_Si)
+      set (sawIntuitiveResearchKit_LIBRARY_DIR
+        ${sawIntuitiveResearchKit_LIBRARY_DIR}
+        "${gattlib_LIBRARY_DIR}")
+    endif ()
 
     set (sawIntuitiveResearchKit_LIBRARIES sawIntuitiveResearchKit)
 
@@ -185,14 +200,22 @@ if (cisst_FOUND)
     set_target_properties (sawIntuitiveResearchKit PROPERTIES
                            VERSION ${sawIntuitiveResearchKit_VERSION}
                            FOLDER "sawIntuitiveResearchKit")
-    add_dependencies (sawIntuitiveResearchKit gattlibExternal)
+    if (sawIntuitiveResearchKit_HAS_SUJ_Si)
+      add_dependencies (sawIntuitiveResearchKit gattlibExternal)
+    endif ()
 
     # link against non cisst libraries and cisst components
-    target_link_libraries (sawIntuitiveResearchKit
-                           ${sawTextToSpeech_LIBRARIES}
-                           ${sawRobotIO1394_LIBRARIES}
-                           ${sawControllers_LIBRARIES}
-                           ${gattlib_LIBRARIES})
+    target_link_libraries (
+      sawIntuitiveResearchKit
+      ${sawTextToSpeech_LIBRARIES}
+      ${sawRobotIO1394_LIBRARIES}
+      ${sawControllers_LIBRARIES})
+
+    if (sawIntuitiveResearchKit_HAS_SUJ_Si)
+      target_link_libraries (
+        sawIntuitiveResearchKit
+        ${gattlib_LIBRARIES})
+    endif ()
 
     # Install targets for headers and library
     install (DIRECTORY

diff --git a/components/code/mtsIntuitiveResearchKit.cpp b/components/code/mtsIntuitiveResearchKit.cpp
@@ -47,6 +47,4 @@ mtsIntuitiveResearchKit::Logger::Logger(void)
 void mtsIntuitiveResearchKit::Logger::Stop(void)
 {
   cmnLogger::Kill();
-  cmnLogger::RemoveChannel(*m_log_file_stream);
-  delete m_log_file_stream;
 }