Merge branch 'develop' into 130-control-hand-in-position

.github/workflows/generate_code.yml

@@ -0,0 +1,61 @@
+
+name: Generate Code
+
+on: [push]
+
+jobs:
+  generate-python:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Set up Python 3.10
+      uses: actions/setup-python@v5
+      with:
+        python-version: "3.10"
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install grpcio-tools==1.59.3 mypy-protobuf==3.5.0
+
+    - name: Generate Protobuf Python Code
+      run: |
+        python -m grpc_tools.protoc -I./protos --python_out=./python/reachy2_sdk_api --grpc_python_out=./python/reachy2_sdk_api --mypy_out=./python/reachy2_sdk_api --mypy_grpc_out=./python/reachy2_sdk_api  ./protos/*.proto
+
+    - name: Commit and push changes
+      run: |
+        git config --global user.name 'github-actions[bot]'
+        git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+        git add .
+        git commit -m "Generated Protobuf Python Code" || echo "No changes to commit"
+        git push
+
+  generate-csharp:
+    runs-on: windows-2022
+    needs: generate-python
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Setup MSBuild
+      uses: microsoft/setup-msbuild@v2
+      with:
+        vs-version: '[17.10,17.11)'
+
+    - name: Restore NuGet packages
+      run: nuget restore 'csharp/reachy_sdk/reachy_sdk.sln'
+
+    - name: Build solution
+      run: msbuild 'csharp\reachy_sdk\reachy_sdk.sln' /p:Configuration=Release
+
+    - name: Commit and push changes
+      run: |
+        git config --global user.name 'github-actions[bot]'
+        git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+        git add .
+        git commit -m "Generated Protobuf C# Code" || echo "No changes to commit"
+        git push

README.md

@@ -1,14 +1,17 @@
+# Protobuf for Reachy 2 SDK
+
 ## Generate gRPC code
 
+Code for Python and C# is generated automatically by the CI. You just need to `git pull` to get the generated code after any pushed changes to the .proto. If you still need to generate these files locally, you can do the following commands
+
 ### For Python:
 
-Install `pip install mypy-protobuf` to generate the mypy stubs
+Just install `pip install mypy-protobuf` to generate the mypy stubs, and run:
 
 ```python
 python -m grpc_tools.protoc -I./protos --python_out=./python/reachy2_sdk_api --grpc_python_out=./python/reachy2_sdk_api --mypy_out=./python/reachy2_sdk_api --mypy_grpc_out=./python/reachy2_sdk_api  ./protos/*.proto
 ```
 
 ### For C#
 
-On a Windows computer, open `reachy_sdk.sln`` in Visual Studio.
-`Click Build > Build Solution`
+Open `reachy_sdk.sln` in Visual Studio, and `Click Build > Build Solution`

csharp/Reachy.cs

@@ -27,51 +27,50 @@ static ReachyReflection() {
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-            "Y2h5U3RyZWFtQXVkaXRSZXF1ZXN0GhQucmVhY2h5LlJlYWNoeVN0YXR1czAB",
-            "YgZwcm90bzM="));
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+            "dFJlcXVlc3QaFC5yZWFjaHkuUmVhY2h5U3RhdHVzMAFiBnByb3RvMw=="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
-          new pbr::FileDescriptor[] { global::Google.Protobuf.WellKnownTypes.EmptyReflection.Descriptor, global::Google.Protobuf.WellKnownTypes.TimestampReflection.Descriptor, global::Reachy.Part.Arm.ArmReflection.Descriptor, global::Reachy.Part.Head.HeadReflection.Descriptor, global::Reachy.Part.Hand.HandReflection.Descriptor, global::Mobile.Base.Utility.MobileBaseUtilityReflection.Descriptor, global::Component.Sound.SoundReflection.Descriptor, global::Component.Video.VideoReflection.Descriptor, },
+          new pbr::FileDescriptor[] { global::Google.Protobuf.WellKnownTypes.EmptyReflection.Descriptor, global::Google.Protobuf.WellKnownTypes.TimestampReflection.Descriptor, global::Reachy.Part.Arm.ArmReflection.Descriptor, global::Reachy.Part.Head.HeadReflection.Descriptor, global::Reachy.Part.Hand.HandReflection.Descriptor, global::Mobile.Base.Utility.MobileBaseUtilityReflection.Descriptor, global::Component.Sound.SoundReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] {
             new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.Reachy), global::Reachy.Reachy.Parser, new[]{ "Id", "LArm", "RArm", "Head", "LHand", "RHand", "MobileBase", "Microphone", "Speaker", "Info" }, null, null, null, null),
             new pbr::GeneratedClrTypeInfo(typeof(global::Reachy.ReachyId), global::Reachy.ReachyId.Parser, new[]{ "Id", "Name" }, null, null, null, null),

protos/reachy.proto

@@ -8,7 +8,6 @@ import "head.proto";
 import "hand.proto";
 import "mobile_base_utility.proto";
 import "sound.proto";
-import "video.proto";
 
 package reachy;