Merge branch 'master' into Phantom-FrameLog-Restart-Jobs

.github/workflows/docker.yml

@@ -10,7 +10,7 @@ jobs:
     container: docker://nasatrick/${{matrix.container}}:latest
     strategy:
       matrix:
-        container: [trick_centos7, trick_centos8, trick_ubuntu1804]
+        container: [trick_ubuntu1804]
     steps:
       - name: run tests
         run: |

.github/workflows/python_tests_linux.yml

@@ -24,8 +24,6 @@ jobs:
           - { os: ubuntu, tag: 18.04,   arch: debian }         # EOL April 2023
           - { os: ubuntu, tag: 20.04,   arch: debian }         # EOL April 2025
           - { os: debian, tag: 10,      arch: debian }               # EOL 2024
-          - { os: centos, tag: 7,       arch: rhel   }          # EOL June 2024
-          - { os: centos, tag: latest,  arch: rhel   }     # 8 as of April 2020
         # - { os: fedora, tag: latest,  arch: rhel   }    # 31 as of April 2020
         # - { os: fedora, tag: 33,      arch: rhel   } # feeling confident?
         # - { os: fedora, tag: rawhide, arch: rhel   } # for thrill-seekers only
@@ -102,13 +100,6 @@ jobs:
           - cfg: { os: debian }
             os_deps: >-
               openjdk-11-jdk
-#-------- CentOS Only Dependencies ----------------
-          - cfg: { os: centos }
-            pkg_mgr: yum
-            conf_pkg: yum -y install epel-release && yum -y update
-            os_deps: >-
-              libX11-devel
-              libXt-devel
 #-------- Fedora Only Dependencies ----------------
 #           - cfg: { os: fedora }
 #             pkg_mgr: dnf
@@ -123,21 +114,6 @@ jobs:
             install_gtest: cd /usr/src/gtest && cmake . && make && cp lib/libgtest* /usr/lib/
             tag_deps: >-
               python3.8-dev
-          - cfg: { os: centos, tag: 7 }
-            tag_deps: >-
-              swig3
-              python-devel
-          - cfg: { os: centos, tag: latest }
-            pkg_mgr: dnf
-            conf_pkg: >
-              sed -i -e "s|mirrorlist=|#mirrorlist=|g" -e "s|#baseurl=http://mirror.centos.org|baseurl=http://vault.centos.org|g" /etc/yum.repos.d/CentOS-Linux-* &&
-              dnf -y install epel-release &&
-              dnf -y update &&
-              dnf install -y 'dnf-command(config-manager)' &&
-              dnf config-manager --enable powertools
-            tag_deps: >-
-              swig
-              python3-devel diffutils
 #-------- Job definition ----------------
     runs-on: ubuntu-18.04
     container: docker://${{matrix.cfg.os}}:${{matrix.cfg.tag}}

.github/workflows/report_linux.yml

@@ -13,7 +13,6 @@ jobs:
         cfg:
 #-------- Operating Systems ----------------
           - { os: ubuntu,      tag: 22.04,    arch: debian, arch_ver: 12 }
-          - { os: centos,      tag: 7,        arch: rhel,   arch_ver: 7  }
           - { os: rockylinux,  tag: 8,        arch: rhel,   arch_ver: 8  }
           - { os: oraclelinux, tag: 8,        arch: rhel,   arch_ver: 8  }
         python: [3]

.github/workflows/report_linux_py2.yml

@@ -13,7 +13,6 @@ jobs:
         cfg:
 #-------- Operating Systems ----------------
           - { os: ubuntu,      tag: 22.04,    arch: debian, arch_ver: 12 }
-          - { os: centos,      tag: 7,        arch: rhel,   arch_ver: 7  }
           - { os: rockylinux,  tag: 8,        arch: rhel,   arch_ver: 8  }
           - { os: oraclelinux, tag: 8,        arch: rhel,   arch_ver: 8  }
         python: [2]

.github/workflows/test_linux.yml

@@ -23,7 +23,6 @@ jobs:
         cfg:
 #-------- Operating Systems ----------------
           - { os: ubuntu,      tag: 22.04,    arch: debian, arch_ver: 12 }
-          - { os: centos,      tag: 7,        arch: rhel,   arch_ver: 7  }
           - { os: rockylinux,  tag: 8,        arch: rhel,   arch_ver: 8  }
           - { os: oraclelinux, tag: 8,        arch: rhel,   arch_ver: 8  }
         python: [3]
@@ -95,30 +94,6 @@ jobs:
               zlib-devel
               python2-devel
               python3-devel
-#-------- RHEL 7-based Only Dependencies ----------------
-          - cfg: { arch: rhel, arch_ver: 7 }
-            pkg_mgr: yum
-            conf_pkg: |
-              sed -i -e "s|mirrorlist=|#mirrorlist=|g" -e "s|#baseurl=http://mirror.centos.org|baseurl=http://vault.centos.org|g" /etc/yum.repos.d/CentOS-* &&
-              yum -y install epel-release
-              yum -y update
-              yum -y install wget
-            os_deps: >-
-              libX11-devel
-              libXt-devel
-              swig3
-            install_gtest: |
-              cd /tmp
-              wget https://github.com/google/googletest/archive/release-1.8.0.tar.gz
-              tar xzvf release-1.8.0.tar.gz
-              cd /tmp/googletest-release-1.8.0/googletest
-              cmake .
-              make
-              make install
-              cd /tmp/googletest-release-1.8.0/googlemock
-              cmake .
-              make
-              make install
 #-------- RHEL 8-based Only Dependencies ----------------
           - cfg: { arch: rhel, arch_ver: 8 }
             pkg_mgr: dnf

.github/workflows/test_linux_py2.yml

@@ -13,7 +13,6 @@ jobs:
         cfg:
 #-------- Operating Systems ----------------
           - { os: ubuntu,      tag: 22.04,    arch: debian, arch_ver: 12 }
-          - { os: centos,      tag: 7,        arch: rhel,   arch_ver: 7  }
           - { os: rockylinux,  tag: 8,        arch: rhel,   arch_ver: 8  }
           - { os: oraclelinux, tag: 8,        arch: rhel,   arch_ver: 8  }
         python: [2]

libexec/trick/convert_swig

@@ -338,23 +338,6 @@ sub process_file() {
         print OUT "$contents\n" ;
         print OUT $global_template_typedefs ;
 
-        # Add _swig_setattr_nondynamic_instance_variable function for raising AttributeError for improper non-class attribute assingment in input processor.
-        # _swig_setattr_nondynamic_instance_variable function is added for each class in process_class subroutine.
-        foreach my $c ( @class_names ) {
-            if ( ! exists $class_typemap_printed{$c} ) {
-                my $c_ = $c ;
-                $c_ =~ s/\:/_/g ;
-                if ( $c !~ /::/ ) {
-                    print OUT "\n#if SWIG_VERSION > 0x040000\n";
-                    print OUT "%pythoncode %{\n" ; 
-                    print OUT "    if '$c' in globals():\n";
-                    print OUT "        $c.__setattr__ = _swig_setattr_nondynamic_instance_variable(object.__setattr__)\n" ;
-                    print OUT "%}\n" ;
-                    print OUT "#endif\n";
-                }
-            }
-        }
-
         # Add a trick_cast_as macro line for each class parsed in the file.  These lines must appear at the bottom of the
         # file to ensure they are not in a namespace directive and they are after the #define statements they depend on.
         undef %class_typemap_printed ;
@@ -785,7 +768,7 @@ sub process_typedef_struct($$$$) {
     my ($typedef_struct_string , $contents_ref, $new_contents_ref , $class_names_ref) = @_ ;
 
     my $extracted ;
-    my ($tail , $struct_names, @struct_names) ;
+    my ($tail , $my_struct_contents, $struct_names, @struct_names) ;
 
     #print "*** typedef_struct_string = $typedef_struct_string ***\n" ;
 
@@ -811,10 +794,12 @@ sub process_typedef_struct($$$$) {
     foreach my $s ( @struct_names ) {
         if ( $s !~ /\*/ ) {
             push @$class_names_ref , $s ;
+            # Add _swig_setattr_nondynamic_instance_variable function for raising AttributeError for improper struct attribute assingment in input processor
+            $my_struct_contents .= "\n#if SWIG_VERSION > 0x040000\n\%pythoncode \%{\n    if '$s' in globals():\n        $s.__setattr__ = _swig_setattr_nondynamic_instance_variable(object.__setattr__)\n\%}\n#endif\n" ;
         }
     }
 
-    $$new_contents_ref .= $extracted . $tail ;
+    $$new_contents_ref .= $extracted . $tail . $my_struct_contents ;
 
 }
 

share/trick/makefiles/trickify.mk

@@ -115,7 +115,7 @@ TRICK_CFLAGS   += $(TRICKIFY_CXX_FLAGS)
 TRICK_CXXFLAGS += $(TRICKIFY_CXX_FLAGS)
 
 # Ensure we can process all headers
-TRICK_EXT_LIB_DIRS :=
+TRICK_EXT_LIB_DIRS := $(TRICKIFY_EXT_LIB_DIRS)
 
 .PHONY: all
 all: $(TRICKIFY_OBJECT_NAME) $(TRICKIFY_PYTHON_DIR)

trick_sims/SIM_singlerigidbody/Modified_data/realtime.py

@@ -0,0 +1,12 @@
+
+trick.frame_log_on()
+trick.real_time_enable()
+trick.exec_set_software_frame(0.033)
+trick.itimer_enable()
+
+trick.exec_set_enable_freeze(True)
+#trick.exec_set_freeze_command(True)
+
+#simControlPanel = trick.SimControlPanel()
+#trick.add_external_application(simControlPanel)
+

trick_sims/SIM_singlerigidbody/Modified_data/state_data.dr

@@ -0,0 +1,54 @@
+global DR_GROUP_ID
+global drg
+try:
+    if DR_GROUP_ID >= 0:
+        DR_GROUP_ID += 1
+except NameError:
+    DR_GROUP_ID = 0
+    drg = []
+
+drg.append(trick.DRBinary("StateData"))
+drg[DR_GROUP_ID].set_freq(trick.DR_Always)
+drg[DR_GROUP_ID].set_cycle(0.10)
+drg[DR_GROUP_ID].set_single_prec_only(False)
+drg[DR_GROUP_ID].add_variable("dyn.body.force[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.force[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.force[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle_force[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[0][2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[1][2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.rotate[2][2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.pos[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.pos[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.pos[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.angle[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.vel[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.vel[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.vel[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.acc[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.acc[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.acc[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omega[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omega[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omega[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.omegaDot[2]")
+drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[0]")
+drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[1]")
+drg[DR_GROUP_ID].add_variable("dyn.body.FORCE_INIT[2]")
+
+
+
+trick.add_data_record_group(drg[DR_GROUP_ID], trick.DR_Buffer)
+drg[DR_GROUP_ID].enable()