def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that coresponds to the given namespace
global_ns: is the module builder for the entire library
"""
classes = []
local_ns.exclude()
# Mark class from other modules as already exposed
module_builder.class_('::ram::core::Subsystem').already_exposed = True
module_builder.class_('::ram::math::Vector3').already_exposed = True
module_builder.class_('::ram::math::Vector2').already_exposed = True
Quaternion = module_builder.class_('::ram::math::Quaternion')
Quaternion.already_exposed = True
Quaternion.constructors().allow_implicit_conversion = False
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
# Include obstacle class
Obstacle = local_ns.class_('Obstacle')
Obstacle.include()
Obstacle.include_files.append(os.environ['RAM_SVN_DIR'] +
'/packages/estimation/include/Obstacle.h')
# Include state estimator class
IStateEstimator = local_ns.class_('IStateEstimator')
IStateEstimator.include()
IStateEstimator.include_files.append(
os.environ['RAM_SVN_DIR'] +
'/packages/estimation/include/IStateEstimator.h')
classes.append(IStateEstimator)
wrap.registerSubsystemConverter(IStateEstimator)
module_builder.add_registration_code("registerIStateEstimatorPtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/estimation/include/RegisterFunctions.h'
] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that corresponds to the given namespace
global_ns: is the module builder for the entire library
"""
local_ns.exclude()
classes = []
module_builder.class_('::ram::core::Subsystem').already_exposed = True
# NetworkPublisher
NetworkPublisher = local_ns.class_('NetworkPublisher')
NetworkPublisher.include()
classes.append(NetworkPublisher)
events = wrap.expose_events(local_ns)
if events:
wrap.make_already_exposed(global_ns, 'ram::core', ['Event'])
classes += events
wrap.registerSubsystemConverter(NetworkPublisher)
wrap.add_needed_includes(classes)
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/network/include/RegisterFunctions.h'
] + list(include_files)
def initAlreadyExposedClasses(module_builder): # Elenco delle classi esposte manualmente already_exposed_classes = ["::boost::posix_time::ptime", "::osiris::String"] for c in already_exposed_classes: module_builder.class_(c).already_exposed = True
def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that coresponds to the given namespace
global_ns: is the module builder for the entire library
"""
global_ns.exclude()
classes = []
# Mark class from other modules as already exposed
module_builder.class_('::ram::core::Subsystem').already_exposed = True
# EventPlayer
EventPlayer = local_ns.class_('EventPlayer')
EventPlayer.include()
classes.append(EventPlayer)
events = wrap.expose_events(local_ns)
if events:
wrap.make_already_exposed(global_ns, 'ram::core', ['Event'])
classes += events
# Do class wide items
wrap.add_needed_includes(classes)
# Add registrations functions for hand wrapped classes
module_builder.add_registration_code("registerLoggingPtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/logging/include/RegisterFunctions.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that coresponds to the given namespace
global_ns: is the module builder for the entire library
"""
global_ns.exclude()
classes = []
# Mark class from other modules as already exposed
module_builder.class_('::ram::core::Subsystem').already_exposed = True
# EventPlayer
EventPlayer = local_ns.class_('EventPlayer')
EventPlayer.include()
classes.append(EventPlayer)
events = wrap.expose_events(local_ns)
if events:
wrap.make_already_exposed(global_ns, 'ram::core', ['Event'])
classes += events
# Do class wide items
wrap.add_needed_includes(classes)
# Add registrations functions for hand wrapped classes
module_builder.add_registration_code("registerLoggingPtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/logging/include/RegisterFunctions.h'
] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that corresponds to the given namespace
global_ns: is the module builder for the entire library
"""
local_ns.exclude()
classes = []
module_builder.class_('::ram::core::Subsystem').already_exposed = True
# NetworkPublisher
NetworkPublisher = local_ns.class_('NetworkPublisher')
NetworkPublisher.include()
classes.append(NetworkPublisher)
events = wrap.expose_events(local_ns)
if events:
wrap.make_already_exposed(global_ns, 'ram::core', ['Event'])
classes += events
wrap.registerSubsystemConverter(NetworkPublisher)
wrap.add_needed_includes(classes)
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/network/include/RegisterFunctions.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
local_ns: is the namespace that coresponds to the given namespace
global_ns: is the module builder for the entire library
"""
classes = []
local_ns.exclude()
# Mark class from other modules as already exposed
module_builder.class_('::ram::core::Subsystem').already_exposed = True
module_builder.class_('::ram::math::Vector3').already_exposed = True
module_builder.class_('::ram::math::Vector2').already_exposed = True
Quaternion = module_builder.class_('::ram::math::Quaternion')
Quaternion.already_exposed = True
Quaternion.constructors().allow_implicit_conversion = False
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
# Include obstacle class
Obstacle = local_ns.class_('Obstacle')
Obstacle.include()
Obstacle.include_files.append(os.environ['RAM_SVN_DIR'] +
'/packages/estimation/include/Obstacle.h')
# Include state estimator class
IStateEstimator = local_ns.class_('IStateEstimator')
IStateEstimator.include()
IStateEstimator.include_files.append(os.environ['RAM_SVN_DIR'] +
'/packages/estimation/include/IStateEstimator.h')
classes.append(IStateEstimator)
wrap.registerSubsystemConverter(IStateEstimator)
module_builder.add_registration_code("registerIStateEstimatorPtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/estimation/include/RegisterFunctions.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
name: is the name of the module being wrapped (in name::space::form)
global_ns: is the module builder for the entire library
local_ns: is the namespace that coresponds to the given namespace
"""
# Remove all those pesky warnings about only pointed to types!
for cls in local_ns.decls(decl_type=decls_package.class_declaration_t):
cls.include()
cls.already_exposed = True
module_builder.class_('::ram::core::Subsystem').already_exposed = True
classes = []
# Include IVehicle class and handle special cases
IVehicle = local_ns.class_('IVehicle')
IVehicle.include()
classes.append(IVehicle)
# Remove default wrapper for getDevice
IVehicle.member_function('getDevice').exclude()
# Provide the normal one by hand, so C++ users of python subclasses
# still get the overridden method
IVehicle.add_wrapper_code("""
virtual ::ram::vehicle::device::IDevicePtr getDevice( ::std::string name ){
bp::override func = this->get_override(\"getDevice\");
return func( name);
}
""")
# Provide a hand made implementation for Python users of C++ IVehicle
# subclasses, this uses our custom converter to ensure proper IDevice
# downcasting
IVehicle.add_declaration_code("""
boost::python::object pyGetDevice(
ram::vehicle::IVehicle& veh,
std::string deviceName)
{
ram::vehicle::device::IDevicePtr device =
veh.getDevice(deviceName);
return ram::vehicle::device::IDeviceConverter::convertObject(device);
}
""")
IVehicle.add_registration_code("def(\"getDevice\", &::pyGetDevice)",
works_on_instance = True )
IVehicle.include_files.append('vehicle/include/device/IDeviceConverter.h')
global_ns.typedef('TempNameList').type.declaration.already_exposed = True
global_ns.typedef('TempList').include()
# Fix TempNameList (the include does stick)
t = global_ns.class_(function =
lambda x: x.name.startswith('vector<std::string'))
t.already_exposed = True
# Fix overley long std::container names
#wrap.mangle_container_names(local_ns)
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
# Added the needed includes
wrap.add_needed_includes(classes)
IVehicle.include_files.append(os.environ['RAM_SVN_DIR'] +
'/packages/vehicle/include/device/IDevice.h')
# Add a castTo
wrap.registerSubsystemConverter(IVehicle)
module_builder.add_registration_code("registerIVehiclePtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/vehicle/include/RegisterFunctions.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
global_ns: is the module builder for the entire library
local_ns: is the namespace that coresponds to the given namespace
"""
# Remove all those pesky warnings about only pointed to types!
for cls in local_ns.decls(decl_type=decls_package.class_declaration_t):
cls.include()
cls.already_exposed = True
module_builder.class_('::ram::core::EventPublisher').already_exposed = True
module_builder.class_('::ram::core::IUpdatable').already_exposed = True
wrappedClasses = []
# Wrap IDevice Class
IDevice = expose_device(local_ns, 'IDevice', register = False);
wrappedClasses.append(IDevice)
# Wrap the thruster class
IThruster = expose_device(local_ns, 'IThruster')
wrappedClasses.append(IThruster)
# Wrap the IDepthSensor class
IDepthSensor = expose_device(local_ns, 'IDepthSensor')
wrappedClasses.append(IDepthSensor)
# Wrap marker interfaces (slightly abuse expose device)
IVoltageProvider = expose_device(local_ns, 'IVoltageProvider',
register = False)
wrappedClasses.append(IVoltageProvider)
ICurrentProvider = expose_device(local_ns, 'ICurrentProvider',
register = False)
wrappedClasses.append(ICurrentProvider)
# Wrap the IPowerSource class
IPowerSource = expose_device(local_ns, 'IPowerSource')
wrappedClasses.append(IPowerSource)
# Wrap the ITempSensor class
ITempSensor = expose_device(local_ns, 'ITempSensor')
wrappedClasses.append(ITempSensor)
# Wrap the IIMU class
IIMU = expose_device(local_ns, 'IIMU')
wrappedClasses.append(IIMU)
# Wrap the ISonar class
ISonar = expose_device(local_ns, 'ISonar')
wrappedClasses.append(ISonar)
# Wrap the IPayloadSet class
IPayloadSet = expose_device(local_ns, 'IPayloadSet')
wrappedClasses.append(IPayloadSet)
# Wrap the IVelocitySensor class
IVelocitySensor = expose_device(local_ns, 'IVelocitySensor')
wrappedClasses.append(IVelocitySensor)
# Wrap the IPositionSensor class
IPositionSensor = expose_device(local_ns, 'IPositionSensor')
wrappedClasses.append(IPositionSensor)
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
module_builder.add_registration_code("registerIDeviceMakerClass();")
module_builder.add_registration_code("registerIDevicePtrs();")
wrap.add_needed_includes(wrappedClasses)
include_files = set([cls.location.file_name for cls in wrappedClasses])
for cls in wrappedClasses:
include_files.update(cls.include_files)
return ['wrappers/vehicle/include/RegisterFunctions.h',
'core/include/Event.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
global_ns: is the module builder for the entire library
local_ns: is the namespace that coresponds to the given namespace
"""
global_ns.exclude()
classes = []
# Lets Py++ know to make VisionSystem a subclass of Subsystem
module_builder.class_('::ram::core::Subsystem').already_exposed = True
module_builder.class_('::ram::core::Event').already_exposed = True
# Vision System
VisionSystem = local_ns.class_('VisionSystem')
VisionSystem.include()
VisionSystem.include_files.append('vision/include/Camera.h')
classes.append(VisionSystem)
# Wrap Events
EventType = local_ns.class_('EventType')
EventType.include()
classes.append(EventType)
Symbol = local_ns.class_('Symbol')
Symbol.include()
Symbol.member_function('getSymbolNames').exclude()
Symbol.member_function('symbolToText').exclude()
classes.append(Symbol)
Color = local_ns.class_('Color')
Color.include()
Color.member_function('getColorNames').exclude()
Color.member_function('colorToText').exclude()
classes.append(Color)
events = wrap.expose_events(local_ns)
classes += events
ImageEvent = local_ns.class_('ImageEvent')
ImageEvent.include_files.append('vision/include/Image.h')
wrap.set_implicit_conversions([ImageEvent], False)
BinEvent = local_ns.class_('BinEvent')
wrap.set_implicit_conversions([BinEvent], False)
if events:
wrap.make_already_exposed(global_ns, 'ram::core', ['Event'])
classes += events
# Append the approaite include files
# for cls in classes:
# cls.include()
wrap.add_needed_includes(classes)
module_builder.add_registration_code("registerImageClass();")
module_builder.add_registration_code("registerCameraClass();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/vision/include/RegisterFunctions.h'] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
global_ns: is the module builder for the entire library
local_ns: is the namespace that coresponds to the given namespace
"""
# Remove all those pesky warnings about only pointed to types!
for cls in local_ns.decls(decl_type=decls_package.class_declaration_t):
cls.include()
cls.already_exposed = True
module_builder.class_('::ram::core::EventPublisher').already_exposed = True
module_builder.class_('::ram::core::IUpdatable').already_exposed = True
wrappedClasses = []
# Wrap IDevice Class
IDevice = expose_device(local_ns, 'IDevice', register=False)
wrappedClasses.append(IDevice)
# Wrap the thruster class
IThruster = expose_device(local_ns, 'IThruster')
wrappedClasses.append(IThruster)
# Wrap the IDepthSensor class
IDepthSensor = expose_device(local_ns, 'IDepthSensor')
wrappedClasses.append(IDepthSensor)
# Wrap marker interfaces (slightly abuse expose device)
IVoltageProvider = expose_device(local_ns,
'IVoltageProvider',
register=False)
wrappedClasses.append(IVoltageProvider)
ICurrentProvider = expose_device(local_ns,
'ICurrentProvider',
register=False)
wrappedClasses.append(ICurrentProvider)
# Wrap the IPowerSource class
IPowerSource = expose_device(local_ns, 'IPowerSource')
wrappedClasses.append(IPowerSource)
# Wrap the ITempSensor class
ITempSensor = expose_device(local_ns, 'ITempSensor')
wrappedClasses.append(ITempSensor)
# Wrap the IIMU class
IIMU = expose_device(local_ns, 'IIMU')
wrappedClasses.append(IIMU)
# Wrap the ISonar class
ISonar = expose_device(local_ns, 'ISonar')
wrappedClasses.append(ISonar)
# Wrap the IPayloadSet class
IPayloadSet = expose_device(local_ns, 'IPayloadSet')
wrappedClasses.append(IPayloadSet)
# Wrap the IVelocitySensor class
IVelocitySensor = expose_device(local_ns, 'IVelocitySensor')
wrappedClasses.append(IVelocitySensor)
# Wrap the IPositionSensor class
IPositionSensor = expose_device(local_ns, 'IPositionSensor')
wrappedClasses.append(IPositionSensor)
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
module_builder.add_registration_code("registerIDeviceMakerClass();")
module_builder.add_registration_code("registerIDevicePtrs();")
wrap.add_needed_includes(wrappedClasses)
include_files = set([cls.location.file_name for cls in wrappedClasses])
for cls in wrappedClasses:
include_files.update(cls.include_files)
return [
'wrappers/vehicle/include/RegisterFunctions.h', 'core/include/Event.h'
] + list(include_files)
def generate(module_builder, local_ns, global_ns):
"""
name: is the name of the module being wrapped (in name::space::form)
global_ns: is the module builder for the entire library
local_ns: is the namespace that coresponds to the given namespace
"""
# Remove all those pesky warnings about only pointed to types!
for cls in local_ns.decls(decl_type=decls_package.class_declaration_t):
cls.include()
cls.already_exposed = True
module_builder.class_('::ram::core::Subsystem').already_exposed = True
classes = []
# Include IVehicle class and handle special cases
IVehicle = local_ns.class_('IVehicle')
IVehicle.include()
classes.append(IVehicle)
# Remove default wrapper for getDevice
IVehicle.member_function('getDevice').exclude()
# Provide the normal one by hand, so C++ users of python subclasses
# still get the overridden method
IVehicle.add_wrapper_code("""
virtual ::ram::vehicle::device::IDevicePtr getDevice( ::std::string name ){
bp::override func = this->get_override(\"getDevice\");
return func( name);
}
""")
# Provide a hand made implementation for Python users of C++ IVehicle
# subclasses, this uses our custom converter to ensure proper IDevice
# downcasting
IVehicle.add_declaration_code("""
boost::python::object pyGetDevice(
ram::vehicle::IVehicle& veh,
std::string deviceName)
{
ram::vehicle::device::IDevicePtr device =
veh.getDevice(deviceName);
return ram::vehicle::device::IDeviceConverter::convertObject(device);
}
""")
IVehicle.add_registration_code("def(\"getDevice\", &::pyGetDevice)",
works_on_instance=True)
IVehicle.include_files.append('vehicle/include/device/IDeviceConverter.h')
global_ns.typedef('TempNameList').type.declaration.already_exposed = True
global_ns.typedef('TempList').include()
# Fix TempNameList (the include does stick)
t = global_ns.class_(
function=lambda x: x.name.startswith('vector<std::string'))
t.already_exposed = True
# Fix overley long std::container names
#wrap.mangle_container_names(local_ns)
# Wrap Events
events = wrap.expose_events(local_ns)
if events:
module_builder.class_('::ram::core::Event').already_exposed = True
classes += events
# Added the needed includes
wrap.add_needed_includes(classes)
IVehicle.include_files.append(os.environ['RAM_SVN_DIR'] +
'/packages/vehicle/include/device/IDevice.h')
# Add a castTo
wrap.registerSubsystemConverter(IVehicle)
module_builder.add_registration_code("registerIVehiclePtrs();")
include_files = set([cls.location.file_name for cls in classes])
for cls in classes:
include_files.update(cls.include_files)
return ['wrappers/vehicle/include/RegisterFunctions.h'
] + list(include_files)
