Gh cpython -> LTS-main-1.x

.github/workflows/build.yml

@@ -4,9 +4,11 @@ on:
   push:
     branches:
       - main
+      - LTS-main-1.x
   pull_request:
     branches:
       - main
+      - LTS-main-1.x
 
 jobs:
   build:
@@ -15,7 +17,7 @@ jobs:
     strategy:
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python: ['3.8', '3.9', '3.10']
+        python: ['3.9', '3.10', '3.11', '3.12', '3.13']
 
     steps:
       - uses: compas-dev/compas-actions.build@v3

.github/workflows/docs.yml

@@ -4,6 +4,7 @@ on:
   push:
     branches:
       - main
+      - LTS-main-1.x
     tags:
       - 'v*'
   pull_request_review:

.github/workflows/integration.yml

@@ -4,23 +4,25 @@ on:
   push:
     branches:
       - main
+      - LTS-main-1.x
   pull_request:
     branches:
       - main
+      - LTS-main-1.x
 
 jobs:
   build:
-    name: ubuntu-py38-integration
+    name: ubuntu-py311-integration
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - name: Set up Python 3.8
+      - name: Set up Python 3.11
         uses: actions/setup-python@v2
         with:
-          python-version: 3.8
+          python-version: '3.11'
       - name: Set up docker containers
         run: |
-          docker-compose -f "tests/integration_setup/docker-compose.yml" up -d --build
+          docker compose -f "tests/integration_setup/docker-compose.yml" up -d --build
           docker ps -a
       - name: Install dependencies
         run: |

.github/workflows/ironpython.yml

@@ -4,9 +4,11 @@ on:
   push:
     branches:
       - main
+      - LTS-main-1.x
   pull_request:
     branches:
       - main
+      - LTS-main-1.x
 
 jobs:
   build:
@@ -26,6 +28,11 @@ jobs:
           ipy -X:Frames -m pip install --no-deps compas.tar.gz
           ipy -X:Frames -m pip install --no-deps roslibpy.tar.gz
           ipy -X:Frames -m pip install --no-deps compas_robots.tar.gz
+
+          # untar and rename, these cannot be installed using ironpip because they not longer have a setup.py
+          tar -xf compas.tar.gz && for /d %i in (compas-*) do ren "%i" compas
+          tar -xf compas_robots.tar.gz && for /d %i in (compas_robots-*) do ren "%i" compas_robots
+
       - uses: NuGet/setup-nuget@v1.0.5
       - uses: compas-dev/compas-actions.ghpython_components@v5
         with:
@@ -35,9 +42,9 @@ jobs:
         run: |
           ipy -m compas_fab
         env:
-          IRONPYTHONPATH: ./src
+          IRONPYTHONPATH: ./src;./compas/src;./compas_robots/src
       - name: Run tests
         run: |
           ipy tests/ipy_test_runner.py
         env:
-          IRONPYTHONPATH: ./src
+          IRONPYTHONPATH: ./src;./compas/src;./compas_robots/src

.github/workflows/pr-checks.yml

@@ -4,6 +4,7 @@ on:
     types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
     branches:
       - main
+      - LTS-main-1.x
 
 jobs:
   build:

.github/workflows/publish_yak.yml

@@ -0,0 +1,83 @@
+name: publish_yak
+
+on:
+  workflow_dispatch:
+    inputs:
+      environment:
+        description: "Choose deployment environment"
+        required: true
+        type: choice
+        options:
+          - test
+          - prod
+
+jobs:
+
+  publish_test_yak:
+    runs-on: windows-latest
+
+    steps:
+
+    - name: Set test flag based on input
+      shell: pwsh
+      run: |
+        if ("${{ github.event.inputs.environment }}" -eq "test") {
+          echo "TEST_FLAG=--test-server" | Out-File -FilePath $env:GITHUB_ENV -Append
+        }
+        else {
+          echo "TEST_FLAG=" | Out-File -FilePath $env:GITHUB_ENV -Append
+        }
+
+    - name: Checkout repo
+      uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requiremnets-dev.txt
+
+    - name: Create CPython Grasshopper user objects
+      run: |
+        invoke build-cpython-ghuser-components
+
+    - name: Create IronPython Grasshopper user objects
+      run: |
+        choco install ironpython --version=2.7.8.1
+        invoke clean
+        invoke build-ghuser-components
+
+    - name: Create Rhino7 Yak package
+      shell: pwsh
+      run: |
+        invoke yakerize -m $Env:YAK_TEMPLATE\manifest.yml -l $Env:YAK_TEMPLATE\icon.png -g $Env:USER_OBJECTS -t rh7
+      env:
+        USER_OBJECTS: src\compas_fab\ghpython\components\ghuser
+        YAK_TEMPLATE: src\compas_fab\ghpython\yak_template
+
+    - name: Publish to Yak server (Rhino 7)
+      shell: pwsh
+      run: |
+        $test_flag = if ($Env:TEST_FLAG) { $Env:TEST_FLAG } else { "" }
+        $file = Get-ChildItem -Path dist\yak_package\*rh7*.yak -File | Select-Object -ExpandProperty Name
+        $command = "invoke publish-yak -y dist\yak_package\$file $test_flag".Trim()
+        Invoke-Expression $command
+      env:
+        YAK_TOKEN: ${{ secrets.YAK_DF_TOKEN }}
+
+    - name: Create Rhino8 Yak package
+      shell: pwsh
+      run: |
+        invoke yakerize -m $Env:YAK_TEMPLATE\manifest.yml -l $Env:YAK_TEMPLATE\icon.png -g $Env:USER_OBJECTS -t rh8
+      env:
+        USER_OBJECTS: src\compas_fab\ghpython\components_cpython\ghuser
+        YAK_TEMPLATE: src\compas_fab\ghpython\yak_template
+
+    - name: Publish to Yak server (Rhino 8)
+      shell: pwsh
+      run: |
+        $test_flag = if ($Env:TEST_FLAG) { $Env:TEST_FLAG } else { "" }
+        $file = Get-ChildItem -Path dist\yak_package\*rh8*.yak -File | Select-Object -ExpandProperty Name
+        $command = "invoke publish-yak -y dist\yak_package\$file $test_flag".Trim()
+        Invoke-Expression $command
+      env:
+        YAK_TOKEN: ${{ secrets.YAK_DF_TOKEN }}

.gitignore

@@ -120,3 +120,4 @@ temp/**
 
 # Grasshopper generated objects
 src/compas_fab/ghpython/components/ghuser/*.ghuser
+src/compas_fab/ghpython/components_cpython/ghuser/*.ghuser

CHANGELOG.md

@@ -5,6 +5,27 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+
+### Added
+
+* Added helper function `message` to `compas_fab.ghpython.components`.
+* Added helper function `error` to `compas_fab.ghpython.components`.
+* Added helper function `remark` to `compas_fab.ghpython.components`.
+* Added helper function `warning` to `compas_fab.ghpython.components`.
+* Added GH component definitions compatible with CPython in Rhino8.
+
+### Changed
+
+* Updated dev dependency to `compas_invocations2`.
+* Fixed `AttributeError` in `inverse_kinematics_spherical_wrist()`.
+* Fixed `AttributeError` in VisualizeRobot GH component.
+
+### Removed
+
+* Removed `create_id` from `compas_fab.ghpython.components`, using `compas_ghpython.create_id` instead.
+
+
 ## [1.0.2] 2024-02-22
 
 ### Added

pyproject.toml

@@ -24,3 +24,34 @@ known_first_party = "compas_fab"
 default_section = "THIRDPARTY"
 forced_separate = "test_compas_fab"
 skip = ["__init__.py"]
+
+[tool.ruff]
+line-length = 120
+indent-width = 4
+target-version = "py39"
+
+[tool.ruff.lint]
+select = ["E", "F", "I"]
+
+[tool.ruff.lint.per-file-ignores]
+"__init__.py" = ["I001"]
+"tests/*" = ["I001"]
+"tasks.py" = ["I001"]
+"src/compas_fab/ghpython/components/*/code.py" = ["F821", "F401"]
+"src/compas_fab/ghpython/components_cpython/*/code.py" = ["F821", "F401"]
+
+[tool.ruff.lint.isort]
+force-single-line = true
+known-first-party = [
+    "compas_fab"
+]
+
+[tool.ruff.lint.pydocstyle]
+convention = "numpy"
+
+[tool.ruff.lint.pycodestyle]
+max-line-length = 179
+
+[tool.ruff.format]
+docstring-code-format = true
+docstring-code-line-length = "dynamic"

requirements-dev.txt

@@ -1,19 +1,16 @@
 attrs >=19.3.0
-autopep8
 black
 bump2version >=1.0.1
 check-manifest >=0.36
-compas_invocations
-doc8
-flake8
+compas-invocations2
+ruff
 importlib_metadata <5.0
 invoke>=0.14
-isort
-pylint
 pytest
 pytest_mock
 pytest-cov
 sphinx_compas2_theme
-sybil
+sybil~=8.0.1
 twine
+tomlkit
 -e .

src/compas_fab/backends/interfaces/client.py

@@ -1,6 +1,7 @@
 from __future__ import absolute_import
 from __future__ import division
 from __future__ import print_function
+
 from compas_fab.backends.exceptions import BackendFeatureNotSupportedError
 
 

src/compas_fab/backends/kinematics/solvers/spherical_wrist.py

@@ -174,7 +174,10 @@ def inverse_kinematics_spherical_wrist(target_frame, points):
         elbow_frame = Frame(p1A, elbow_dir, [0, 0, 1])
         elbow_plane = (p1A, elbow_frame.normal)
 
-        _, (center, radius, normal) = intersection_sphere_sphere(sphere1, sphere2)
+        sphere1_prim = (sphere1.base, sphere1.radius)
+        sphere2_prim = (sphere2.base, sphere2.radius)
+
+        _, (center, radius, normal) = intersection_sphere_sphere(sphere1_prim, sphere2_prim)
         circle = ((center, normal), radius)
 
         intersect_pt1, intersect_pt2 = intersection_plane_circle(elbow_plane, circle)

src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py

@@ -106,7 +106,7 @@ def inverse_kinematics(self, robot, frame_WCF, start_configuration=None, group=N
                 # I don't know what jointRanges needs to be.  Erwin Coumans knows, but he isn't telling.
                 # https://stackoverflow.com/questions/49674179/understanding-inverse-kinematics-pybullet
                 # https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/preview?pru=AAABc7276PI*zazLer2rlZ8tAUI8lF98Kw#heading=h.9i02ojf4k3ve
-                joint_ranges = [u - l for u, l in zip(upper_limits, lower_limits)]
+                joint_ranges = [upper - lower for upper, lower in zip(upper_limits, lower_limits)]
 
                 if options.get("semi-constrained"):
                     ik_options.update(

src/compas_fab/backends/pybullet/client.py

@@ -139,8 +139,8 @@ class PyBulletClient(PyBulletBase, ClientInterface):
     Examples
     --------
     >>> from compas_fab.backends import PyBulletClient
-    >>> with PyBulletClient(connection_type='direct') as client:
-    ...     print('Connected: %s' % client.is_connected)
+    >>> with PyBulletClient(connection_type="direct") as client:
+    ...     print("Connected: %s" % client.is_connected)
     Connected: True
 
     """

src/compas_fab/backends/pybullet/utils.py

@@ -25,10 +25,10 @@ def redirect_stdout(to=os.devnull, enabled=True):
 
     Examples
     --------
-    >>> import os                                                        # doctest: +SKIP
-    >>> with redirect_stdout(to='filename'):                             # doctest: +SKIP
-    ...     print("from Python")                                         # doctest: +SKIP
-    ...     os.system("echo non-Python applications are also supported") # doctest: +SKIP
+    >>> import os  # doctest: +SKIP
+    >>> with redirect_stdout(to="filename"):  # doctest: +SKIP
+    ...     print("from Python")  # doctest: +SKIP
+    ...     os.system("echo non-Python applications are also supported")  # doctest: +SKIP
     """
 
     def _redirect_stdout(to_):

src/compas_fab/backends/ros/client.py

@@ -82,7 +82,7 @@ def from_local_cache_directory(cls, local_cache_directory):
         False
 
 
-        >>> local_directory = os.path.join(os.path.expanduser('~'), 'robot_description', 'robocop')
+        >>> local_directory = os.path.join(os.path.expanduser("~"), "robot_description", "robocop")
         >>> info = LocalCacheInfo.from_local_cache_directory(local_directory)
         >>> info.use_local_cache
         True
@@ -126,7 +126,7 @@ class RosClient(Ros, ClientInterface):
 
     >>> from compas_fab.backends import RosClient
     >>> with RosClient() as client:
-    ...     print('Connected: %s' % client.is_connected)
+    ...     print("Connected: %s" % client.is_connected)
     Connected: True
 
     Notes

src/compas_fab/backends/ros/messages/geometry_msgs.py

@@ -201,7 +201,7 @@ class Inertia(ROSmsg):
 
     Examples
     --------
-    >>> inertia = compas_fab.robots.Inertia([[0] * 3] * 3, 1., [0.1, 3.1, 4.4])
+    >>> inertia = compas_fab.robots.Inertia([[0] * 3] * 3, 1.0, [0.1, 3.1, 4.4])
     >>> ros_inertia = Inertia.from_inertia(inertia)
     >>> ros_inertia.msg
     {'m': 1.0, 'com': {'x': 0.1, 'y': 3.1, 'z': 4.4}, 'ixx': 0.0, 'ixy': 0.0, 'ixz': 0.0, 'iyy': 0.0, 'iyz': 0.0, 'izz': 0.0}

src/compas_fab/ghpython/components/Cf_PlanCartesianMotion/code.py

@@ -4,12 +4,11 @@
 COMPAS FAB v1.0.2
 """
 
+from compas_ghpython import create_id
 from compas_rhino.conversions import plane_to_compas_frame
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 
-from compas_fab.ghpython.components import create_id
-
 
 class PlanCartesianMotion(component):
     def RunScript(

src/compas_fab/ghpython/components/Cf_PlanMotion/code.py

@@ -4,11 +4,10 @@
 COMPAS FAB v1.0.2
 """
 
+from compas_ghpython import create_id
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 
-from compas_fab.ghpython.components import create_id
-
 
 class PlanMotion(component):
     def RunScript(

src/compas_fab/ghpython/components/Cf_PlanningScene/code.py

@@ -4,10 +4,10 @@
 COMPAS FAB v1.0.2
 """
 
+from compas_ghpython import create_id
 from ghpythonlib.componentbase import executingcomponent as component
 from scriptcontext import sticky as st
 
-from compas_fab.ghpython.components import create_id
 from compas_fab.robots import PlanningScene