Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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105 lines
4.4 KiB
105 lines
4.4 KiB
#include "boost/python.hpp"
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#include "RF24/RF24.h"
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#include "RF24Network/RF24Network.h"
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#include "RF24Mesh/RF24Mesh.h"
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namespace bp = boost::python;
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// ******************** explicit wrappers **************************
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// where needed, especially where buffer is involved
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void throw_ba_exception(void)
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{
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PyErr_SetString(PyExc_TypeError, "buf parameter must be bytes or bytearray");
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bp::throw_error_already_set();
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}
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char *get_bytes_or_bytearray_str(bp::object buf)
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{
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PyObject *py_ba;
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py_ba = buf.ptr();
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if (PyByteArray_Check(py_ba))
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return PyByteArray_AsString(py_ba);
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else if (PyBytes_Check(py_ba))
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return PyBytes_AsString(py_ba);
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else
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throw_ba_exception();
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return NULL;
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}
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int get_bytes_or_bytearray_ln(bp::object buf)
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{
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PyObject *py_ba;
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py_ba = buf.ptr();
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if (PyByteArray_Check(py_ba))
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return PyByteArray_Size(py_ba);
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else if (PyBytes_Check(py_ba))
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return PyBytes_Size(py_ba);
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else
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throw_ba_exception();
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return 0;
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}
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bool write_wrap1(RF24Mesh& ref, bp::object buf, uint8_t msg_type)
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{
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return ref.write(get_bytes_or_bytearray_str(buf), msg_type, get_bytes_or_bytearray_ln(buf));
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}
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bool write_wrap2(RF24Mesh& ref, bp::object buf, uint8_t msg_type, uint8_t nodeID)
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{
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return ref.write(get_bytes_or_bytearray_str(buf), msg_type, get_bytes_or_bytearray_ln(buf), nodeID);
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}
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bool write_to_node_wrap(RF24Mesh& ref, uint16_t to_node, bp::object buf, uint8_t msg_type)
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{
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return ref.write(to_node, get_bytes_or_bytearray_str(buf), msg_type, get_bytes_or_bytearray_ln(buf));
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}
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// ******************** overload wrappers **************************
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(begin_overload, RF24Mesh::begin, 0, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(getNodeID_overload, RF24Mesh::getNodeID, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(renewAddress_overload, RF24Mesh::renewAddress, 0, 1)
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// ******************** RF24Mesh exposed **************************
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BOOST_PYTHON_MODULE(RF24Mesh)
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{
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{ //::RF24Mesh
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bp::class_<RF24Mesh>("RF24Mesh", bp::init<RF24&, RF24Network&>((bp::arg("_radio"), bp::arg("_network"))))
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//bool begin(uint8_t channel = MESH_DEFAULT_CHANNEL, rf24_datarate_e data_rate = RF24_1MBPS, uint32_t timeout=MESH_RENEWAL_TIMEOUT );
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.def("begin", &RF24Mesh::begin, begin_overload(bp::args("channel", "data_rate", "timeout")))
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//uint8_t update();
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.def("update", &RF24Mesh::update)
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//bool write(const void* data, uint8_t msg_type, size_t size, uint8_t nodeID=0);
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.def("write", &write_wrap1, (bp::arg("data"), bp::arg("msg_type")))
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.def("write", &write_wrap2, (bp::arg("data"), bp::arg("msg_type"), bp::arg("nodeID")))
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//bool write(uint16_t to_node, const void* data, uint8_t msg_type, size_t size );
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.def("write", &write_to_node_wrap, (bp::arg("to_node"), bp::arg("data"), bp::arg("msg_type"), bp::arg("size")))
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//void setNodeID(uint8_t nodeID);
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.def("setNodeID", &RF24Mesh::setNodeID, (bp::arg("nodeID")))
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//void DHCP();
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.def("DHCP", &RF24Mesh::DHCP)
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//int16_t getNodeID(uint16_t address=MESH_BLANK_ID);
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.def("getNodeID", &RF24Mesh::getNodeID, getNodeID_overload(bp::args("address")))
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//bool checkConnection();
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.def("checkConnection", &RF24Mesh::checkConnection)
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//uint16_t renewAddress(uint32_t timeout=MESH_RENEWAL_TIMEOUT);
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.def("renewAddress", &RF24Mesh::renewAddress, getNodeID_overload(bp::args("timeout")))
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//bool releaseAddress();
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.def("releaseAddress", &RF24Mesh::releaseAddress)
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//int16_t getAddress(uint8_t nodeID);
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.def("getAddress", &RF24Mesh::getAddress, (bp::arg("nodeID")))
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//void setChannel(uint8_t _channel);
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.def("setChannel", &RF24Mesh::setChannel, (bp::arg("_channel")))
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//void setChild(bool allow);
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.def("setChild", &RF24Mesh::setChild, (bp::arg("allow")))
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//void setAddress(uint8_t nodeID, uint16_t address);
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.def("setAddress", &RF24Mesh::setAddress, (bp::arg("nodeID"), bp::arg("address")))
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//void saveDHCP();
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.def("saveDHCP", &RF24Mesh::saveDHCP)
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//void loadDHCP();
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.def("loadDHCP", &RF24Mesh::loadDHCP)
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//void setStaticAddress(uint8_t nodeID, uint16_t address);
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.def("setStaticAddress", &RF24Mesh::setStaticAddress, (bp::arg("nodeID"), bp::arg("address")));
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}
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}
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