JuliaComputing · asinghvi17 · Jul 28, 2025 · Jul 28, 2025 · Jul 28, 2025 · Jul 28, 2025
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,4 @@
 /Manifest.toml
-/.CondaPkg
+/.CondaPkg
+/gen/Manifest.toml
+/examples/Manifest.toml
diff --git a/Project.toml b/Project.toml
@@ -1,36 +1,29 @@
 name = "QuanserInterface"
 uuid = "d7748c0a-89fb-413b-a9f0-29aba34b281f"
 authors = ["Fredrik Bagge Carlson"]
-version = "1.0.0-DEV"
+version = "0.1.0-DEV"
 
 [deps]
-CBinding = "d43a6710-96b8-4a2d-833c-c424785e5374"
 CEnum = "fa961155-64e5-5f13-b03f-caf6b980ea82"
-Clang = "40e3b903-d033-50b4-a0cc-940c62c95e31"
 ControlSystemIdentification = "3abffc1c-5106-53b7-b354-a47bfc086282"
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 DSP = "717857b8-e6f2-59f4-9121-6e50c889abd2"
 DiscretePIDs = "c1363496-6848-4723-8758-079b737f6baf"
 HardwareAbstractions = "9ac91abb-62f4-42c0-88e8-83732e93d543"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 LowLevelParticleFilters = "d9d29d28-c116-5dba-9239-57a5fe23875b"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Preferences = "21216c6a-2e73-6563-6e65-726566657250"
 RobustAndOptimalControl = "21fd56a4-db03-40ee-82ee-a87907bee541"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
-
 [weakdeps]
 PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d"
 
 [extensions]
 QuanserInterfacePythonCallExt = ["PythonCall"]
 
-
 [compat]
-CBinding = "1.0.10"
-CEnum = "0.4.2"
-Clang = "0.17.6"
+CEnum = "0.4.2, 0.5"
 ControlSystemIdentification = "2.6"
 ControlSystemsBase = "1.7.0"
 DSP = "0.7.8"
@@ -44,8 +37,8 @@ StaticArrays = "1.5"
 julia = "1.9"
 
 [extras]
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
 test = ["Test"]
diff --git a/README.md b/README.md
@@ -9,8 +9,19 @@ See the Youtube vidoe series [Control of a rotary pendulum using Julia](https://
 ## Installation
 
 1. Install the hardware-in-the-loop (HIL) interface from here https://github.com/quanser/hil_sdk_linux_x86_64 (change linux to what's appropriate for your system)
-2. To use the `PythonBackend` Install Quanser python packages as described [here](https://docs.quanser.com/quarc/documentation/python/installation.html) and manually install and load PythonCall (the python backend is an extension). Optionally, set the default backend using `QuanserInterface.set_default_backend("python")`. Install the Virtual Environment first, which will include the Python Wheels.
-3. To use the C backend (default), install the sdk, and if on Linux, possibly symlink `sudo ln -s /usr/lib/x86_64-linux-gnu/libquanser_communications.so.1 /lib/libquanser_communications.so` (or wherever the library is located on your system), I had issues with the `.1` suffix causing Libdl not to find the library. The easiest way to install all the required shared libraries is to follow the python install instructions, i.e., issue the `sudo apt install python3-quanser-apis` after having added their package server.
+2. To use the `CBackend` (default), install the Quanser HIL SDK ([mac], [linux], [windows])
+
+<details>
+
+<summary> Linux tips </summary>
+
+If on Linux, possibly symlink `sudo ln -s /usr/lib/x86_64-linux-gnu/libquanser_communications.so.1 /lib/libquanser_communications.so` (or wherever the library is located on your system), I had issues with the `.1` suffix causing Libdl not to find the library. The easiest way to install all the required shared libraries _on linux_ is to follow the python install instructions, i.e., issue the `sudo apt install python3-quanser-apis` after having added their package server.
+
+</details>
+
+---
+
+3. To use the `PythonBackend`, install Quanser python packages as described [here](https://docs.quanser.com/quarc/documentation/python/installation.html), and manually install and load `PythonCall.jl` (the python backend is an extension). Optionally, set the default backend using `QuanserInterface.set_default_backend("python")`. Install the Virtual Environment first, which will include the Python Wheels.
 
 ### Virtual environment 
 

diff --git a/examples/Project.toml b/examples/Project.toml
@@ -0,0 +1,15 @@
+[deps]
+ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
+DelimitedFiles = "8bb1440f-4735-579b-a4ab-409b98df4dab"
+Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
+GLMakie = "e9467ef8-e4e7-5192-8a1a-b1aee30e663a"
+HardwareAbstractions = "9ac91abb-62f4-42c0-88e8-83732e93d543"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+LowLevelParticleFilters = "d9d29d28-c116-5dba-9239-57a5fe23875b"
+Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+QuanserInterface = "d7748c0a-89fb-413b-a9f0-29aba34b281f"
+
+[sources]
+QuanserInterface = { path = ".." }
diff --git a/examples/README.md b/examples/README.md
@@ -1,2 +1,10 @@
 # Examples
-Each example has a little description at the top.
+Each example has a little description at the top.
+
+To run an example, you can do this.
+
+```bash
+QuanserInterface.jl/> julia --project=. examples/swingup.jl
+```
+
+and it will just run.  The examples must be run in the `QuanserInterface.jl` project.
diff --git a/examples/pendulum_identification.jl b/examples/pendulum_identification.jl
@@ -3,7 +3,7 @@ This script performs maximum likelihood estimation of the parameters of the pend
 
 The estimation uses an UnscentedKalmanFilter to perform state estimation, the system is unstable and integrates a force disturbance, and performing identification using a state estimator is a good way of handling both those problems.
 =#
-cd(@__DIR__)
+
 using DelimitedFiles, Plots
 N = 250
 D = readdlm("swingup.csv", ',')[2:N, :] .|> identity

diff --git a/examples/swingup.jl b/examples/swingup.jl
@@ -1,8 +1,12 @@
 #=
 This script performs swingup of the pendulum using an energy-based controller, and stabilizes the pendulum at the top using an LQR controller. The controller gain is designed using furuta_lqg.jl
 =#
-cd(@__DIR__)
-using Pkg; Pkg.activate("..")
+
+if splitdir(Base.active_project())[1] != @__DIR__
+    @warn "Not in the QuanserInterface.jl/examples project, activating it"
+    using Pkg; Pkg.activate(@__DIR__)
+end
+
 using QuanserInterface
 using HardwareAbstractions
 using ControlSystemsBase

diff --git a/examples/virtual_swingup.jl b/examples/virtual_swingup.jl
@@ -1,8 +1,12 @@
 #=
 This script performs swingup of the virtual pendulum using an energy-based controller, and stabilizes the pendulum at the top using an LQR controller.
 =#
-cd(@__DIR__)
-using Pkg; Pkg.activate("..")
+
+if splitdir(Base.active_project())[1] != @__DIR__
+    @warn "Not in the `QuanserInterface.jl/examples` project, activating it"
+    using Pkg; Pkg.activate(@__DIR__)
+end
+
 using QuanserInterface
 using HardwareAbstractions
 using ControlSystemsBase

diff --git a/src/Generator.toml → gen/Generator.toml b/src/Generator.toml → gen/Generator.toml
diff --git a/gen/Project.toml b/gen/Project.toml
@@ -0,0 +1,2 @@
+[deps]
+Clang = "40e3b903-d033-50b4-a0cc-940c62c95e31"
diff --git a/src/QuanserCGenerator.jl → gen/QuanserCGenerator.jl b/src/QuanserCGenerator.jl → gen/QuanserCGenerator.jl
@@ -2,7 +2,7 @@ using Clang.Generators
 
 LIB_PATH = "/opt/quanser/hil_sdk/include"
 headers =  [joinpath(LIB_PATH, header) for header in filter(x -> endswith(x, ".h"), readdir(LIB_PATH))] # include all .h files in the directory
-output = "src/QuanserBindings.jl"
+output = joinpath(@__DIR__, "QuanserBindings.jl")
 
 # make sure Clang.jl can find necessary headers included by your header file
 clang_args = ["-I", LIB_PATH]
@@ -20,4 +20,4 @@ ctx = create_context(headers, args, options)
 # run generator
 build!(ctx)
 
-println("Bindings generated in $output")
+println("Bindings generated in $output.\nPlease copy the file to src/QuanserBindings.jl")
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		[deps]
		Clang = "40e3b903-d033-50b4-a0cc-940c62c95e31"