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Support setting mainRobot/enabled/timeStep #70

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Merged
arntanguy merged 1 commit into from
Jul 3, 2026
Merged

Support setting mainRobot/enabled/timeStep #70

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18 changes: 18 additions & 0 deletions modules/superbuild/options.nix
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,24 @@ in
default = [ ];
};

mainRobot = lib.mkOption {
type = lib.types.nullOr lib.types.str;
default = null;
description = "Name of the MainRobot";
};

enabled = lib.mkOption {
type = lib.types.nullOr lib.types.str;
default = null;
description = "Name of the Enabled controller";
};

timeStep = lib.mkOption {
type = lib.types.nullOr lib.types.number;
default = null;
description = "TimeStep";
};

runtime = lib.mkOption {
type = lib.types.submodule { options = runtimeOptions; };
default = { };
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16 changes: 16 additions & 0 deletions modules/superbuild/resolver.nix
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Expand Up @@ -15,12 +15,17 @@ let

mkRuntime = mkComponent;

# 1. Added defaults to mkPreset
mkPreset = {
mainRobot = null;
enabled = null;
timeStep = null;
runtime = mkRuntime;
devel = mkComponent;
};

preferString = previous: next: if next != null && next != "" then next else previous;
preferNumber = previous: next: if next != null then next else previous;

mergeComponent = left: right: {
apps = left.apps ++ right.apps;
Expand All @@ -35,6 +40,9 @@ let
mergeRuntime = mergeComponent;

mergePreset = left: right: {
mainRobot = preferString (left.mainRobot or null) (right.mainRobot or null);
enabled = preferString (left.enabled or null) (right.enabled or null);
timeStep = preferNumber (left.timeStep or null) (right.timeStep or null);
runtime = mergeRuntime left.runtime right.runtime;
devel = mergeComponent left.devel right.devel;
};
Expand All @@ -56,7 +64,11 @@ let

project = cfg.project;

# 2. Ensured overlay includes configuration items from project top-level
projectOverlay = {
mainRobot = project.mainRobot or null;
enabled = project.enabled or null;
timeStep = project.timeStep or null;
runtime = project.runtime;
devel = project.devel;
};
Expand Down Expand Up @@ -90,7 +102,11 @@ in
mkPreset
selectedConfiguration
;
# 3. Made mainRobot, enabled, and timeStep directly available at the root of resolved
resolved = {
mainRobot = base.mainRobot;
enabled = base.enabled;
timeStep = base.timeStep;
inherit base release devel;
};
}
7 changes: 7 additions & 0 deletions modules/superbuild/superbuild.nix
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Expand Up @@ -18,6 +18,10 @@ let
if isDevel then resolver.resolved.devel.runtime else resolver.resolved.release.runtime;
develOverlay = resolver.resolved.devel.devel;

mainRobot = resolver.resolved.mainRobot;
enabled = resolver.resolved.enabled;
timeStep = resolver.resolved.timeStep;

localPath = "$PWD/${relativeLocalPath}";
localInstallPath = "${localPath}/install";

Expand Down Expand Up @@ -167,6 +171,9 @@ in

cat <<EOF_CONF > $PROJECT_DIR/mc_rtc.yaml
---
${lib.optionalString (mainRobot != null && mainRobot != "") "MainRobot: \"${mainRobot}\""}
${lib.optionalString (enabled != null && enabled != "") "Enabled: \"${enabled}\""}
${lib.optionalString (timeStep != null) "Timestep: ${toString timeStep}"}
ControllerModulePaths: [${mkModulePaths "mc_controller" shellControllers}]
RobotModulePaths: [${mkModulePaths "mc_robots" shellRobots}]
ObserverModulePaths: [${mkModulePaths "mc_observers" shellObservers}]
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