Release/7.0.0

.github/dependabot.yml

@@ -3,4 +3,4 @@ updates:
 - package-ecosystem: "github-actions"
   directory: "/"
   schedule:
-      interval: "weekly"
+      interval: "monthly"

.github/workflows/nix.yml

@@ -17,7 +17,7 @@ jobs:
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       matrix:
-        os: [ubuntu, macos]
+        os: [ubuntu]
     steps:
       - uses: actions/checkout@v5
       - uses: cachix/install-nix-action@v31
@@ -26,6 +26,7 @@ jobs:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
       - run: nix flake check -L
+      - run: nix build -L
   check:
     if: always()
     name: check-macos-linux-nix

.github/workflows/update-flake-lock.yml

@@ -6,14 +6,28 @@ on:
     - cron: '0 6 13 * *'
 
 jobs:
-  lockfile:
-    runs-on: ubuntu-latest
+  update-flake-inputs:
+    runs-on: ubuntu-slim
+    permissions:
+      contents: write
+      pull-requests: write
     steps:
+      - name: Generate GitHub App Token
+        id: app-token
+        uses: actions/create-github-app-token@v2
+        with:
+          app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
+          private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}
       - name: Checkout repository
-        uses: actions/checkout@v4
-      - name: Install Nix
-        uses: DeterminateSystems/nix-installer-action@main
-      - name: Update flake.lock
-        uses: DeterminateSystems/update-flake-lock@main
+        uses: actions/checkout@v6
+        with:
+          token: ${{ steps.app-token.outputs.token }}
+      - name: Setup Nix
+        uses: cachix/install-nix-action@v31
+      - name: Update flake inputs
+        uses: mic92/update-flake-inputs@v1
         with:
-          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
+          github-token: ${{ steps.app-token.outputs.token }}
+          pr-labels: 'no-changelog'
+          git-author-name: 'hrp2-14'
+          git-author-email: '40568249+hrp2-14@users.noreply.github.com'

.mergify.yml

@@ -5,6 +5,7 @@ pull_request_rules:
       - check-success = "pre-commit.ci - pr"
       - or:
           - author = dependabot[bot]
+          - author = gepetto-flake-updater[bot]
           - author = github-actions[bot]
           - author = hrp2-14
           - author = pre-commit-ci[bot]

.pre-commit-config.yaml

@@ -1,8 +1,8 @@
 ci:
-  autoupdate_branch: devel
+  autoupdate_schedule: quarterly
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.14.1
+  rev: v0.15.5
   hooks:
   - id: ruff
     args:
@@ -19,7 +19,7 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v21.1.2
+  rev: v22.1.0
   hooks:
   - id: clang-format
     args:

CMakeLists.txt

@@ -58,6 +58,8 @@ else()
 endif()
 
 include("${JRL_CMAKE_MODULES}/hpp.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")
+include("${JRL_CMAKE_MODULES}/boost.cmake")
 
 # Tells pkg-config to read qtversion from pkg config file.
 list(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES qtversion cmake_plugin)
@@ -124,10 +126,17 @@ else(USE_QT4)
 endif(USE_QT4)
 
 add_project_dependency("hpp-manipulation-corba" REQUIRED)
+add_project_dependency("hpp-manipulation" REQUIRED)
 add_project_dependency("qgv" REQUIRED)
 
-set(${PROJECT_NAME}_HEADERS include/hpp/plot/graph-widget.hh
-                            include/hpp/plot/hpp-manipulation-graph.hh)
+# Python bindings for native graph viewer
+set(PYTHON_COMPONENTS Interpreter Development NumPy)
+findpython()
+search_for_boost_python()
+
+set(${PROJECT_NAME}_HEADERS
+    include/hpp/plot/graph-widget.hh include/hpp/plot/hpp-manipulation-graph.hh
+    include/hpp/plot/hpp-native-graph.hh)
 set(${PROJECT_NAME}_HEADERS_NOMOC)
 
 set(${PROJECT_NAME}_FORMS)
@@ -146,7 +155,8 @@ else(USE_QT4)
 endif(USE_QT4)
 add_definitions(${QT_DEFINITIONS})
 
-set(${PROJECT_NAME}_SOURCES src/graph-widget.cc src/hpp-manipulation-graph.cc)
+set(${PROJECT_NAME}_SOURCES src/graph-widget.cc src/hpp-manipulation-graph.cc
+                            src/hpp-native-graph.cc)
 
 add_library(
   ${PROJECT_NAME} SHARED
@@ -157,7 +167,7 @@ add_library(
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC ${QT_LIBRARIES} hpp-manipulation-corba::hpp-manipulation-corba
-         qgv::qgvcore)
+         hpp-manipulation::hpp-manipulation qgv::qgvcore)
 
 install(
   TARGETS ${PROJECT_NAME}
@@ -166,3 +176,63 @@ install(
 
 add_subdirectory(bin)
 add_subdirectory(plugins)
+
+# Python module for native graph viewer
+add_library(pyhpp_plot_graph_viewer MODULE src/pyhpp_plot/graph_viewer.cc)
+target_link_boost_python(pyhpp_plot_graph_viewer PUBLIC)
+target_link_libraries(
+  pyhpp_plot_graph_viewer
+  PUBLIC ${PROJECT_NAME} ${QT_LIBRARIES} hpp-manipulation::hpp-manipulation
+         ${PYTHON_LIBRARIES})
+target_include_directories(pyhpp_plot_graph_viewer
+                           PRIVATE ${PYTHON_INCLUDE_DIRS})
+set_target_properties(
+  pyhpp_plot_graph_viewer
+  PROPERTIES PREFIX ""
+             OUTPUT_NAME "graph_viewer"
+             LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/pyhpp_plot")
+
+# pyhpp_plot_graph_viewer is a python module that spawn Qt windows. for this, at
+# runtime, it need a QT_PLUGIN_PATH env var with a path where the shared lib for
+# the current Qt "platform" are. Here we find a QT_PLUGIN_PATH that would work
+# at config time, so that at runtime we can append that as a default fallback,
+# if a end user has Qt installed in a non-FHS standard place and did not
+# manually tune their $QT_PLUGIN_PATH env var for it
+
+set(QT_PLUGIN_PATH_CMAKE)
+
+# First, we might need to manually discover platforms plugins which are not
+# installed in the same prefix as Qt5Gui. eg. Wayland.
+find_package(
+  Qt5 CONFIG
+  COMPONENTS WaylandClient
+  QUIET)
+if(Qt5WaylandClient_FOUND)
+  cmake_path(GET Qt5WaylandClient_DIR PARENT_PATH _p)
+  file(GLOB pluginTargets "${_p}/Qt5Gui/Qt5Gui_*.cmake")
+  if(pluginTargets)
+    foreach(pluginTarget ${pluginTargets})
+      include(${pluginTarget})
+    endforeach()
+  endif()
+endif()
+
+foreach(p IN LISTS Qt5Gui_PLUGINS)
+  get_target_property(_l ${p} IMPORTED_LOCATION_RELEASE)
+  cmake_path(GET _l PARENT_PATH _pp)
+  cmake_path(GET _pp PARENT_PATH _ppp)
+  if(NOT _ppp IN_LIST QT_PLUGIN_PATH_CMAKE)
+    set(QT_PLUGIN_PATH_CMAKE ${QT_PLUGIN_PATH_CMAKE} ${_ppp})
+  endif()
+endforeach()
+
+add_compile_definitions(
+  "QT_PLUGIN_PATH_CMAKE=\"$<JOIN:${QT_PLUGIN_PATH_CMAKE},:>\"")
+
+install(TARGETS pyhpp_plot_graph_viewer
+        DESTINATION "${PYTHON_SITELIB}/pyhpp_plot")
+
+# Install Python modules
+install(FILES "${CMAKE_SOURCE_DIR}/src/pyhpp_plot/__init__.py"
+              "${CMAKE_SOURCE_DIR}/src/pyhpp_plot/interactive_viewer.py"
+        DESTINATION "${PYTHON_SITELIB}/pyhpp_plot")