build(panda): fr3 copy over

Author: juelg

extensions/rcs_panda/CMakeLists.txt

@@ -44,6 +44,16 @@ find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
 find_package(pinocchio REQUIRED)
 find_package(rcs REQUIRED)
 
+set(RCS_PANDA_MATERIALIZED_SRC_DIR "${CMAKE_CURRENT_BINARY_DIR}/materialized_src_fr3")
+execute_process(
+    COMMAND
+        ${Python3_EXECUTABLE}
+        "${CMAKE_CURRENT_SOURCE_DIR}/scripts/materialize_fr3_sources.py"
+        --project-root "${CMAKE_CURRENT_SOURCE_DIR}"
+        --output-dir "${RCS_PANDA_MATERIALIZED_SRC_DIR}"
+    COMMAND_ERROR_IS_FATAL ANY
+)
+
 FetchContent_Declare(
     libfranka
     GIT_REPOSITORY https://github.com/frankaemika/libfranka.git
@@ -101,4 +111,4 @@ endif()
 FetchContent_MakeAvailable(libfranka)
 set_target_properties(franka PROPERTIES CXX_STANDARD 17)
 
-add_subdirectory(src_fr3)
+add_subdirectory("${RCS_PANDA_MATERIALIZED_SRC_DIR}" src_fr3)

extensions/rcs_panda/scripts/materialize_fr3_sources.py

@@ -0,0 +1,86 @@
+from __future__ import annotations
+
+import argparse
+import os
+import shutil
+import subprocess
+import tempfile
+from pathlib import Path
+
+try:
+    import tomllib
+except ModuleNotFoundError:  # pragma: no cover
+    import tomli as tomllib  # type: ignore
+
+
+REPO_URL = "https://github.com/RobotControlStack/robot-control-stack.git"
+
+
+def load_version(project_root: Path) -> str:
+    data = tomllib.loads((project_root / "pyproject.toml").read_text())
+    return data["project"]["version"]
+
+
+def find_shared_source(project_root: Path) -> Path:
+    env_override = os.environ.get("RCS_FR3_SOURCE_DIR")
+    if env_override:
+        candidate = Path(env_override).resolve()
+        if (candidate / "CMakeLists.txt").is_file():
+            return candidate
+        msg = f"RCS_FR3_SOURCE_DIR does not point to a valid FR3 source tree: {candidate}"
+        raise FileNotFoundError(msg)
+
+    sibling = (project_root.parent / "rcs_fr3" / "src").resolve()
+    if (sibling / "CMakeLists.txt").is_file():
+        return sibling
+
+    version = load_version(project_root)
+    tmpdir = Path(tempfile.mkdtemp(prefix="rcs_panda_fr3_"))
+    try:
+        subprocess.run(
+            ["git", "clone", "--depth", "1", "--branch", f"v{version}", REPO_URL, str(tmpdir)],
+            check=True,
+        )
+    except subprocess.CalledProcessError:
+        shutil.rmtree(tmpdir, ignore_errors=True)
+        tmpdir = Path(tempfile.mkdtemp(prefix="rcs_panda_fr3_"))
+        subprocess.run(
+            ["git", "clone", "--depth", "1", REPO_URL, str(tmpdir)],
+            check=True,
+        )
+    cloned = tmpdir / "extensions" / "rcs_fr3" / "src"
+    if not (cloned / "CMakeLists.txt").is_file():
+        msg = f"Could not locate FR3 shared sources in cloned repo at {cloned}"
+        raise FileNotFoundError(msg)
+    return cloned
+
+
+def copy_file(src: Path, dest: Path) -> None:
+    dest.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copy2(src, dest)
+
+
+def materialize(project_root: Path, output_dir: Path) -> None:
+    shared_src = find_shared_source(project_root)
+    panda_src = project_root / "src_fr3"
+
+    if output_dir.exists():
+        shutil.rmtree(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    copy_file(shared_src / "CMakeLists.txt", output_dir / "CMakeLists.txt")
+    shutil.copytree(shared_src / "hw", output_dir / "hw")
+    copy_file(panda_src / "pybind" / "CMakeLists.txt", output_dir / "pybind" / "CMakeLists.txt")
+    copy_file(shared_src / "pybind" / "rcs.cpp", output_dir / "pybind" / "rcs.cpp")
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--project-root", type=Path, required=True)
+    parser.add_argument("--output-dir", type=Path, required=True)
+    args = parser.parse_args()
+    materialize(args.project_root.resolve(), args.output_dir.resolve())
+
+
+if __name__ == "__main__":
+    main()