Fix #646, wrote a Python wrapper for the `SRTMinorServoCommandLibrary` (#650) (e35b20d0) · Commits · INAF / DISCOS

SRT/Libraries/SRTMinorServoLibrary/include/PySRTMinorServoCommandLibrary.h

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		#ifndef _PYSRTMINORSERVOCOMMANDLIBRARY_H
		#define _PYSRTMINORSERVOCOMMANDLIBRARY_H

		/**
		* PySRTMinorServoCommandLibrary.h
		* 2021/12/13
		* Giuseppe Carboni (giuseppe.carboni@inaf.it)
		*/

		#include <boost/python.hpp>
		#include "SRTMinorServoCommandLibrary.h"


		/**
		* SRT Minor Servo Command Library Python Wrapper
		*
		* This class wraps the SRTMinorServoCommandLibrary with boost_python in order to grant access to its static functions via Python
		*/
		class PySRTMinorServoCommandLibrary : public SRTMinorServoCommandLibrary
		{
		public:
		/*
		* Builds the command used to move a single servo to a given set of coordinates
		* This is an overload of the original SRTMinorServoCommandLibrary::preset function
		* An overload was needed in order to handle the coordinates parameter as a Python list instead of a C++ std::vector
		* @param servo_id the ID of the single servo to be moved
		* @param coordinates a Python list containing the N coordinates to be sent to the servo
		* @return the composed message
		*/
		static std::string preset(std::string servo_id, boost::python::list& coordinates);

		/*
		* Builds the command used to provide a single tracking set of coordinates to a single servo
		* This is an overload of the original SRTMinorServoCommandLibrary::programTrack function
		* An overload was needed in order to handle the coordinates parameter as a Python list instead of a C++ std::vector
		* @param servo_id the ID of the single servo to send the command to
		* @param trajectory_id the ID number of the trajectory the given set of coordinates belongs to
		* @param point_id the ID number of the given set of coordinates inside the trajectory
		* @param coordinates a Python list containing the N coordinates the servo have to move to at the given time
		* @param start_time only mandatory for the first point in the trajectory, a double representing the UNIX epoch of the starting instant of the trajectory
		* @return the composed message
		*/
		static std::string programTrack(std::string servo_id, unsigned int trajectory_id, unsigned int point_id, boost::python::list& coordinates, double start_time=-1);

		/*
		* Builds the command used to provide a set of offsets to a given servo
		* This is an overload of the original SRTMinorServoCommandLibrary::offset function
		* An overload was needed in order to handle the coordinates parameter as a Python list instead of a C++ std::vector
		* @param servo_id the ID of the single servo to be moved
		* @param coordinates a Python list containing the N coordinates to be sent to the servo
		* @return the composed message
		*/
		static std::string offset(std::string servo_id, boost::python::list& coordinates);

		private:
		/*
		* Converts the given Python list into a C++ std::vector object
		* @param py_list the given Python list to be converted
		* @return the composed C++ std::vector containing doubles
		*/
		static std::vector<double> pylist2cppvector(boost::python::list& py_list);
		};

		/*
		* The following 3 lines of code allow the overloaded functions to ignore the optional parameter and use the default one defined in the original SRTMinorServoCommandLibrary header file
		*/
		BOOST_PYTHON_FUNCTION_OVERLOADS(status, PySRTMinorServoCommandLibrary::status, 0, 1)
		BOOST_PYTHON_FUNCTION_OVERLOADS(stow, PySRTMinorServoCommandLibrary::stow, 1, 2)
		BOOST_PYTHON_FUNCTION_OVERLOADS(programTrack, PySRTMinorServoCommandLibrary::programTrack, 4, 5)

		/*
		* Python module definition. Since the original SRTMinorServoCommandLibrary only contains static functions, we write the Python module with static functions only, omitting the class
		*/
		BOOST_PYTHON_MODULE(libPySRTMinorServoCommandLibrary)
		{
		using namespace boost::python;
		def("status", &PySRTMinorServoCommandLibrary::status, status(arg("servo_id") = ""));
		def("setup", &PySRTMinorServoCommandLibrary::setup);
		def("stow", &PySRTMinorServoCommandLibrary::stow, stow(arg("stow_position") = 1));
		def("stop", &PySRTMinorServoCommandLibrary::stop);
		def("preset", &PySRTMinorServoCommandLibrary::preset);
		def("programTrack", &PySRTMinorServoCommandLibrary::programTrack, programTrack(arg("start_time") = -1));
		def("offset", &PySRTMinorServoCommandLibrary::offset);
		}
		#endif

SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoCommandLibrary.h

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		@@ -9,8 +9,6 @@

		#include <sstream>
		#include <vector>
		#include <acstimeEpochHelper.h>
		#include <IRA>

		/**
		* SRT Minor Servo Command Library
		@@ -40,7 +38,7 @@ public:
		* @param stow_position the position to which the servo have to stow to
		* @return the composed message
		*/
		static std::string stow(std::string servo_id, unsigned int stow_position = 0);
		static std::string stow(std::string servo_id, unsigned int stow_position = 1);

		/*
		* Builds the command used to stop a single servo system

SRT/Libraries/SRTMinorServoLibrary/src/Makefile

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		@@ -23,7 +23,7 @@ USER_CFLAGS = -Wall
		#
		# additional include and library search paths
		# USER_INC = /usr/local/include
		USER_LIB =
		# USER_LIB =

		#
		# MODULE CODE DESCRIPTION:
		@@ -59,12 +59,14 @@ INCLUDES = hexlib.h SRTMinorServoCommandLibrary.h
		#
		# Libraries (public and local)
		# ----------------------------
		LIBRARIES = SRTMinorServoLibrary SRTMinorServoCommandLibrary
		LIBRARIES = SRTMinorServoLibrary SRTMinorServoCommandLibrary PySRTMinorServoCommandLibrary
		LIBRARIES_L =
		SRTMinorServoLibrary_OBJECTS = hexlib
		SRTMinorServoLibrary_LIBS = gsl gslcblas m
		SRTMinorServoCommandLibrary_OBJECTS = SRTMinorServoCommandLibrary
		SRTMinorServoCommandLibrary_LIBS = IRALibrary
		SRTMinorServoCommandLibrary_LIBS =
		PySRTMinorServoCommandLibrary_OBJECTS = PySRTMinorServoCommandLibrary
		PySRTMinorServoCommandLibrary_LIBS = SRTMinorServoCommandLibrary boost_python

		#
		# <brief description of lllll library>
		@@ -91,7 +93,7 @@ PY_SCRIPTS_L =
		PY_MODULES =
		PY_MODULES_L =

		PY_PACKAGES =
		PY_PACKAGES = SRTMinorServoCommandLibrary
		PY_PACKAGES_L =
		pppppp_MODULES =

SRT/Libraries/SRTMinorServoLibrary/src/PySRTMinorServoCommandLibrary.cpp

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		#include "PySRTMinorServoCommandLibrary.h"

		std::string PySRTMinorServoCommandLibrary::preset(std::string servo_id, boost::python::list& coordinates)
		{
		return SRTMinorServoCommandLibrary::preset(servo_id, PySRTMinorServoCommandLibrary::pylist2cppvector(coordinates));
		}

		std::string PySRTMinorServoCommandLibrary::programTrack(std::string servo_id, unsigned int trajectory_id, unsigned int point_id, boost::python::list& coordinates, double start_time)
		{
		return SRTMinorServoCommandLibrary::programTrack(servo_id, trajectory_id, point_id, PySRTMinorServoCommandLibrary::pylist2cppvector(coordinates), start_time);
		}

		std::string PySRTMinorServoCommandLibrary::offset(std::string servo_id, boost::python::list& coordinates)
		{
		return SRTMinorServoCommandLibrary::offset(servo_id, PySRTMinorServoCommandLibrary::pylist2cppvector(coordinates));
		}

		std::vector<double> PySRTMinorServoCommandLibrary::pylist2cppvector(boost::python::list& py_list)
		{
		std::vector<double> cpp_vector;
		for(unsigned int i = 0; i < len(py_list); i++)
		{
		cpp_vector.push_back(boost::python::extract<double>(py_list[i]));
		}
		return cpp_vector;
		}

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoCommandLibrary/README.md

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		# SRTMinorServoCommandLibrary Python wrapper

		In order to use the SRTMinorServoCommandLibrary python wrapper, it is sufficient to import the SRTCommandLibrary package like this:

		`import SRTMinorServoCommandLibrary`

		The all the functions of the library can be used in the following fashion:

		`SRTMinorServoCommandLibrary.status()`
		`SRTMinorServoCommandLibrary.status('PFP')`
		`SRTMinorServoCommandLibrary.setup('KKG')`
		`SRTMinorServoCommandLibrary.stow('PFP')`
		`SRTMinorServoCommandLibrary.stow('PFP', 2)`
		`SRTMinorServoCommandLibrary.stop('SRP')`
		`SRTMinorServoCommandLibrary.preset('SRP', [0, 1, 2, 3, 4, 5])`
		`SRTMinorServoCommandLibrary.programTrack('PFP', 0, 0, [0, 1, 2, 3, 4, 5], <start_time>)`
		`SRTMinorServoCommandLibrary.programTrack('PFP', 0, 1, [0, 1, 2, 3, 4, 5])`
		`SRTMinorServoCommandLibrary.offset('SRP', [6, 7, 8, 9, 10, 11])`