chore: update build system

Dockerfile

@@ -129,7 +129,8 @@ COPY --from=apt-dependencies /tmp/apt /
 COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
- cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
+ cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCPPZMQ_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+ && cmake --build build && cmake --install build --prefix /tmp/deps
 COPY --from=base-dependencies /tmp/deps /tmp/deps
 COPY --from=pinocchio-dependencies /tmp/deps /tmp/deps
 

apt-packages.txt

@@ -2,3 +2,4 @@ libboost-all-dev
 libeigen3-dev
 liburdfdom-dev
 libassimp-dev
+libzmq3-dev

dependencies/dependencies.cmake

@@ -18,4 +18,12 @@ FetchContent_Declare(
  SOURCE_SUBDIR cmake
 )
 
-FetchContent_MakeAvailable(OsqpEigen protobuf)
+FetchContent_Declare(
+ cppzmq
+ GIT_REPOSITORY https://github.com/zeromq/cppzmq/
+ GIT_TAG v4.7.1
+)
+FetchContent_MakeAvailable(cppzmq)
+
+
+FetchContent_MakeAvailable(OsqpEigen protobuf cppzmq)

python/setup.py

@@ -12,13 +12,14 @@
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
 __version__ = "8.0.0"
-__libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
+__libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model', 'communicatoin_interfaces']
 __include_dirs__ = ['include']
 
 __install_clproto_module__ = True
 __install_controllers_module__ = True
 __install_dynamical_systems_module__ = True
 __install_robot_model_module__ = True
+__install_communication_interfaces_module__ = True
 
 # check that necessary libraries can be found
 try:
@@ -122,6 +123,17 @@
  )
  )
 
+if __install_communication_interfaces_module__:
+ ext_modules.append(
+ Pybind11Extension('communication_interfaces',
+ sorted(glob('source/communication_interfaces/*.cpp')),
+ cxx_std=17,
+ include_dirs=__include_dirs__,
+ libraries=['communication_interfaces'],
+ define_macros=[('MODULE_VERSION_INFO', __version__)],
+ )
+ )
+
 setup(
  name='control-libraries',
  version=__version__,

source/CMakeLists.txt

@@ -7,6 +7,7 @@ option(BUILD_TESTING "Build all tests." OFF)
 option(BUILD_CONTROLLERS "Build and install controllers library" ON)
 option(BUILD_DYNAMICAL_SYSTEMS "Build and install dynamical systems library" ON)
 option(BUILD_ROBOT_MODEL "Build and install robot model library" ON)
+option(BUILD_COMMUNICATION_INTERFACES "Build and install communication interfaces library" ON)
 option(EXPERIMENTAL_FEATURES "Include experimental features" OFF)
 
 # Default to C99
@@ -78,6 +79,12 @@ if(BUILD_CONTROLLERS)
  add_pkgconfig_library(controllers ${PROJECT_VERSION})
 endif()
 
+if(BUILD_COMMUNICATION_INTERFACES)
+ add_subdirectory(communication_interfaces)
+ list(APPEND INSTALL_SUPPORTED_COMPONENTS communication_interfaces)
+ add_pkgconfig_library(communication_interfaces ${PROJECT_VERSION})
+endif()
+
 # generate the version file for the config file
 write_basic_package_version_file(
  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"

source/control_librariesConfig.cmake.in

@@ -22,6 +22,12 @@ while(_control_libraries_to_find)
  set_and_check(control_libraries_NOT_FOUND_MESSAGE "Unsupported component: ${_comp}")
  endif()
 
+ # Find communication interfaces dependencies if the corresponding component is needed
+ # FIXME: this should be done automatically
+ if (${_comp} STREQUAL "communication_interfaces")
+ find_dependency(cppzmq)
+ endif()
+
  # Find robot model dependencies if the corresponding component is needed
  # FIXME: this should be done automatically
  if (${_comp} STREQUAL "robot_model")