move files in control directory to appimage

viam-modules · Oct 2, 2024 · 63635ae · 63635ae
1 parent 3d4185c
commit 63635ae
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Showing 5 changed files with 7 additions and 5 deletions.
diff --git a/packaging/appimages/universal-robots-x86_64.yml b/packaging/appimages/universal-robots-x86_64.yml
@@ -2,11 +2,12 @@
 version: 1
 script:
  - rm -rf AppDir || true
- - mkdir -p $TARGET_APPDIR/usr/bin $TARGET_APPDIR/usr/lib
+ - mkdir -p $TARGET_APPDIR/usr/bin $TARGET_APPDIR/usr/lib $TARGET_APPDIR/src/
  - cp ../../build/universal-robots $TARGET_APPDIR/usr/bin/
  - cp ../../build/_deps/universal_robots_client_library-build/liburcl.so $TARGET_APPDIR/usr/lib/
  - mkdir -p $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/
  - cp ./viam-server.png $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/viam-server.png
+ - cp -r ../../src/control $TARGET_APPDIR/src/control
  - go install github.com/Otterverse/aix@latest
  - cp `go env GOPATH`/bin/aix $TARGET_APPDIR/usr/bin/
  - chmod 755 $TARGET_APPDIR/usr/bin/*

diff --git a/src/ur5e.urdf → src/control/ur5e.urdf b/src/ur5e.urdf → src/control/ur5e.urdf
diff --git a/src/ur5e_arm.hpp b/src/ur5e_arm.hpp
@@ -25,10 +25,10 @@ const double TIMESTEP = 0.2;    // seconds
 
 // locations of files necessary to build module, specified as absolute paths
 // TODO: figure out how to make these relative paths
-const std::string URDF_FILE = "/host/src/ur5e.urdf";
-const std::string SCRIPT_FILE = "/host/src/control/external_control.urscript";
-const std::string OUTPUT_RECIPE = "/host/src/control/rtde_output_recipe.txt";
-const std::string INPUT_RECIPE = "/host/src/control/rtde_input_recipe.txt";
+const std::string URDF_FILE = std::string(std::getenv("APPDIR")) + "/src/control/ur5e.urdf";
+const std::string SCRIPT_FILE = std::string(std::getenv("APPDIR")) + "/src/control/external_control.urscript";
+const std::string OUTPUT_RECIPE = std::string(std::getenv("APPDIR")) + "/src/control/rtde_output_recipe.txt";
+const std::string INPUT_RECIPE = std::string(std::getenv("APPDIR")) + "/src/control/rtde_input_recipe.txt";
 
 // TODO: using this is deprecated by the URCL, we could find some way around using it
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";

diff --git a/urmodtester.json b/urmodtester.json
@@ -0,0 +1 @@
+{"cloud":{"app_address":"https://app.viam.com:443","id":"394b5b70-7554-42d0-9517-54fcff7afc16","secret":"1w86ox4mqzrf9n73hmfdjcbo84znrdfyeub2vfx6cdvzcmgq"}}
diff --git a/viam-server-stable-x86_64 b/viam-server-stable-x86_64