tentative manual merge with develop, conflicts in .proto resolved by …

…keeping everything from woth sides
pollen-robotics · Sep 20, 2024 · fbd0786 · fbd0786
2 parents a09cf10 + 6e6e54e
commit fbd0786
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diff --git a/.github/workflows/generate_code.yml b/.github/workflows/generate_code.yml
@@ -0,0 +1,65 @@
+
+name: Generate Code
+
+on: [push]
+
+jobs:
+  generate-python:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        ref: ${{ github.ref }}
+
+    - 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
+      with:
+        ref: ${{ github.ref }}
+
+    - 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
diff --git a/README.md b/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`
diff --git a/csharp/Arm.cs b/csharp/Arm.cs
diff --git a/csharp/Goto.cs b/csharp/Goto.cs
diff --git a/csharp/Hand.cs b/csharp/Hand.cs
diff --git a/csharp/Head.cs b/csharp/Head.cs
diff --git a/csharp/MobileBaseLidar.cs b/csharp/MobileBaseLidar.cs
diff --git a/csharp/MobileBaseLidarGrpc.cs b/csharp/MobileBaseLidarGrpc.cs
diff --git a/csharp/MobileBaseMobility.cs b/csharp/MobileBaseMobility.cs
diff --git a/csharp/MobileBaseMobilityGrpc.cs b/csharp/MobileBaseMobilityGrpc.cs
diff --git a/csharp/MobileBaseUtility.cs b/csharp/MobileBaseUtility.cs
diff --git a/csharp/MobileBaseUtilityGrpc.cs b/csharp/MobileBaseUtilityGrpc.cs
diff --git a/csharp/Reachy.cs b/csharp/Reachy.cs
diff --git a/csharp/ReachyGrpc.cs b/csharp/ReachyGrpc.cs
@@ -55,6 +55,10 @@ static T __Helper_DeserializeMessage<T>(grpc::DeserializationContext context, gl
     static readonly grpc::Marshaller<global::Reachy.ReachyState> __Marshaller_reachy_ReachyState = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.ReachyState.Parser));
     [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
     static readonly grpc::Marshaller<global::Reachy.ReachyStreamStateRequest> __Marshaller_reachy_ReachyStreamStateRequest = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.ReachyStreamStateRequest.Parser));
+    [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+    static readonly grpc::Marshaller<global::Reachy.ReachyStatus> __Marshaller_reachy_ReachyStatus = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.ReachyStatus.Parser));
+    [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+    static readonly grpc::Marshaller<global::Reachy.ReachyStreamAuditRequest> __Marshaller_reachy_ReachyStreamAuditRequest = grpc::Marshallers.Create(__Helper_SerializeMessage, context => __Helper_DeserializeMessage(context, global::Reachy.ReachyStreamAuditRequest.Parser));
 
     [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
     static readonly grpc::Method<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Reachy> __Method_GetReachy = new grpc::Method<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Reachy>(
@@ -80,6 +84,22 @@ static T __Helper_DeserializeMessage<T>(grpc::DeserializationContext context, gl
         __Marshaller_reachy_ReachyStreamStateRequest,
         __Marshaller_reachy_ReachyState);
 
+    [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+    static readonly grpc::Method<global::Reachy.ReachyId, global::Reachy.ReachyStatus> __Method_Audit = new grpc::Method<global::Reachy.ReachyId, global::Reachy.ReachyStatus>(
+        grpc::MethodType.Unary,
+        __ServiceName,
+        "Audit",
+        __Marshaller_reachy_ReachyId,
+        __Marshaller_reachy_ReachyStatus);
+
+    [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+    static readonly grpc::Method<global::Reachy.ReachyStreamAuditRequest, global::Reachy.ReachyStatus> __Method_StreamAudit = new grpc::Method<global::Reachy.ReachyStreamAuditRequest, global::Reachy.ReachyStatus>(
+        grpc::MethodType.ServerStreaming,
+        __ServiceName,
+        "StreamAudit",
+        __Marshaller_reachy_ReachyStreamAuditRequest,
+        __Marshaller_reachy_ReachyStatus);
+
     /// <summary>Service descriptor</summary>
     public static global::Google.Protobuf.Reflection.ServiceDescriptor Descriptor
     {
@@ -108,6 +128,18 @@ public abstract partial class ReachyServiceBase
         throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
       }
 
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual global::System.Threading.Tasks.Task<global::Reachy.ReachyStatus> Audit(global::Reachy.ReachyId request, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual global::System.Threading.Tasks.Task StreamAudit(global::Reachy.ReachyStreamAuditRequest request, grpc::IServerStreamWriter<global::Reachy.ReachyStatus> responseStream, grpc::ServerCallContext context)
+      {
+        throw new grpc::RpcException(new grpc::Status(grpc::StatusCode.Unimplemented, ""));
+      }
+
     }
 
     /// <summary>Client for ReachyService</summary>
@@ -187,6 +219,36 @@ protected ReachyServiceClient(ClientBaseConfiguration configuration) : base(conf
       {
         return CallInvoker.AsyncServerStreamingCall(__Method_StreamReachyState, null, options, request);
       }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual global::Reachy.ReachyStatus Audit(global::Reachy.ReachyId request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return Audit(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual global::Reachy.ReachyStatus Audit(global::Reachy.ReachyId request, grpc::CallOptions options)
+      {
+        return CallInvoker.BlockingUnaryCall(__Method_Audit, null, options, request);
+      }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual grpc::AsyncUnaryCall<global::Reachy.ReachyStatus> AuditAsync(global::Reachy.ReachyId request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return AuditAsync(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual grpc::AsyncUnaryCall<global::Reachy.ReachyStatus> AuditAsync(global::Reachy.ReachyId request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncUnaryCall(__Method_Audit, null, options, request);
+      }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual grpc::AsyncServerStreamingCall<global::Reachy.ReachyStatus> StreamAudit(global::Reachy.ReachyStreamAuditRequest request, grpc::Metadata headers = null, global::System.DateTime? deadline = null, global::System.Threading.CancellationToken cancellationToken = default(global::System.Threading.CancellationToken))
+      {
+        return StreamAudit(request, new grpc::CallOptions(headers, deadline, cancellationToken));
+      }
+      [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
+      public virtual grpc::AsyncServerStreamingCall<global::Reachy.ReachyStatus> StreamAudit(global::Reachy.ReachyStreamAuditRequest request, grpc::CallOptions options)
+      {
+        return CallInvoker.AsyncServerStreamingCall(__Method_StreamAudit, null, options, request);
+      }
       /// <summary>Creates a new instance of client from given <c>ClientBaseConfiguration</c>.</summary>
       [global::System.CodeDom.Compiler.GeneratedCode("grpc_csharp_plugin", null)]
       protected override ReachyServiceClient NewInstance(ClientBaseConfiguration configuration)
@@ -203,7 +265,9 @@ protected override ReachyServiceClient NewInstance(ClientBaseConfiguration confi
       return grpc::ServerServiceDefinition.CreateBuilder()
           .AddMethod(__Method_GetReachy, serviceImpl.GetReachy)
           .AddMethod(__Method_GetReachyState, serviceImpl.GetReachyState)
-          .AddMethod(__Method_StreamReachyState, serviceImpl.StreamReachyState).Build();
+          .AddMethod(__Method_StreamReachyState, serviceImpl.StreamReachyState)
+          .AddMethod(__Method_Audit, serviceImpl.Audit)
+          .AddMethod(__Method_StreamAudit, serviceImpl.StreamAudit).Build();
     }
 
     /// <summary>Register service method with a service binder with or without implementation. Useful when customizing the service binding logic.
@@ -216,6 +280,8 @@ public static void BindService(grpc::ServiceBinderBase serviceBinder, ReachyServ
       serviceBinder.AddMethod(__Method_GetReachy, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Google.Protobuf.WellKnownTypes.Empty, global::Reachy.Reachy>(serviceImpl.GetReachy));
       serviceBinder.AddMethod(__Method_GetReachyState, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.ReachyId, global::Reachy.ReachyState>(serviceImpl.GetReachyState));
       serviceBinder.AddMethod(__Method_StreamReachyState, serviceImpl == null ? null : new grpc::ServerStreamingServerMethod<global::Reachy.ReachyStreamStateRequest, global::Reachy.ReachyState>(serviceImpl.StreamReachyState));
+      serviceBinder.AddMethod(__Method_Audit, serviceImpl == null ? null : new grpc::UnaryServerMethod<global::Reachy.ReachyId, global::Reachy.ReachyStatus>(serviceImpl.Audit));
+      serviceBinder.AddMethod(__Method_StreamAudit, serviceImpl == null ? null : new grpc::ServerStreamingServerMethod<global::Reachy.ReachyStreamAuditRequest, global::Reachy.ReachyStatus>(serviceImpl.StreamAudit));
     }
 
   }