Merge branch 'master' of github.com:petercorke/robotics-toolbox-python

jhavl · jhavl · commit dadc083986f0 · 2021-01-07T17:05:51.000+10:00
diff --git a/.github/workflows/pythonpackage.yml b/.github/workflows/pythonpackage.yml
@@ -13,11 +13,8 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        #os: [windows-latest, ubuntu-latest, macos-latest]
-        #python-version: [3.6, 3.7, 3.8]
-        os: [ubuntu-latest]
-        python-version: [3.8]
-
+        os: [windows-latest, ubuntu-latest, macos-latest]
+        python-version: [3.6, 3.7, 3.8]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{ matrix.python-version }}
@@ -31,14 +28,6 @@ jobs:
       run: |
         pip install .[dev,collision,vpython]
         pip install pytest-timeout
-        echo "========================"
-        pwd -L
-        pwd -P
-        printenv
-        echo "============ ls -R /opt ============"
-        ls -R /opt/hostedtoolcache/Python/3.8.6/x64/lib/python3.8/site-packages/roboticstoolbox
-        echo "============ ls -R . ============"
-        ls -R .
         pytest --timeout=30 --timeout_method thread -s
   codecov:
     # If all tests pass:
diff --git a/roboticstoolbox/tools/data.py b/roboticstoolbox/tools/data.py
@@ -1,7 +1,5 @@
 from pathlib import Path
-import roboticstoolbox.tools.trajectory as tt
 import sys
-import importlib
 
 def loadmat(filename):
     """
@@ -50,7 +48,6 @@ def loaddata(filename, handler, **kwargs):
     :seealso: :func:`path_to_datafile`
     """
     path = path_to_datafile(filename)
-    print("loaddata: ", path)
     return handler(path, **kwargs)
 
 def path_to_datafile(filename):
@@ -77,56 +74,28 @@ def path_to_datafile(filename):
         loadmat('~/data/foo.dat')  # read ~/data/foo.dat
     """
 
-
     filename = Path(filename)
 
     if filename.parent == Path():
         # just a filename, no path, assume it is in roboticstoolbox/data
-        # import inspect
-        # path = Path(inspect.getframeinfo(inspect.currentframe()).filename)
-
-        class C:
-            def __init__(self):
-                self.classpath = sys.modules[self.__module__].__file__
 
-        a = C()  # instantiate
-        p = Path(a.classpath).resolve().parent.parent / 'data' / filename
-        print(f"p={p}")
+        p = Path(__file__).resolve().parent.parent / 'data' / filename
         if p.exists():
-            print(f"returning")
             return str(p.resolve())
 
     p = filename.expanduser()
-    print(f"continuing, filename={filename}, p={p}")
     p = p.resolve()
-    print(f"after resolve p={p}")
     if not p.exists():
-        print(f"File '{p}' does not exist")
         raise FileNotFoundError(f"File '{p}' does not exist")
-    print(f"returning p={p}")
     return str(p)
 
 if __name__ == "__main__":
 
     a = loadmat("map1.mat")
     print(a)
-    # a = loadmat("roboticstoolbox/data/map1.mat")
-    # print(a)
-    # a = loadmat("roboticstoolbox/data/../data/map1.mat")
-    # print(a)
+    a = loadmat("roboticstoolbox/data/map1.mat")
+    print(a)
+    a = loadmat("roboticstoolbox/data/../data/map1.mat")
+    print(a)
     a = loadmat("~/code/robotics-toolbox-python/roboticstoolbox/data/map1.mat")
     print(a)
-
-
-    # print("***** ", tt.__file__)
-    # print("***** ", loadmat.__module__)
-    # import inspect, os
-    # filename = inspect.getframeinfo(inspect.currentframe()).filename
-    # path = os.path.dirname(os.path.abspath(filename))
-    # print("**1 ", path)
-    # path = os.path.dirname(os.path.abspath(__file__))
-    # print("**2 ", path)
-    # # classpath = sys.modules[self.__module__].__file__
-    # #         print("***** ", classpath)
-    # print("path_to_data: ", filename, __file__)
-    # filename = Path(filename)
diff --git a/setup.py b/setup.py
@@ -41,6 +41,13 @@
 with open(os.path.join(here, 'README.md'), encoding='utf-8') as f:
     long_description = f.read()
 
+# list all data folders here, to ensure they get packaged
+
+data_folders = [
+    'roboticstoolbox/models/URDF/xacro',
+    'roboticstoolbox/models/DH/meshes',
+    'roboticstoolbox/data',
+]
 
 def package_files(directory):
     paths = []
@@ -49,11 +56,9 @@ def package_files(directory):
             paths.append(os.path.join('..', pathhere, filename))
     return paths
 
-
-extra_files1 = package_files('roboticstoolbox/models/URDF/xacro')
-extra_files2 = package_files('roboticstoolbox/data')
-
-extra_files = extra_files1 + extra_files2
+extra_files = []
+for data_folder in data_folders:
+    extra_files += package_files(data_folder)
 
 frne = Extension(
         'frne',
