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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143 lines
4.6 KiB
143 lines
4.6 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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namespace bp = boost::python;
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// **************** expicit wrappers *****************
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// where needed, especially where buffer is involved
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//
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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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bp::tuple read_wrap(RF24Network& ref, size_t maxlen)
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{
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char *buf = new char[maxlen+1];
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RF24NetworkHeader header;
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uint16_t len = ref.read(header, buf, maxlen);
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bp::object py_ba(bp::handle<>(PyByteArray_FromStringAndSize(buf, len)));
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delete[] buf;
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return bp::make_tuple(header, py_ba);
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}
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bool write_wrap(RF24Network& ref, RF24NetworkHeader& header, bp::object buf)
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{
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return ref.write(header, get_bytes_or_bytearray_str(buf), get_bytes_or_bytearray_ln(buf));
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}
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std::string toString_wrap(RF24NetworkHeader& ref)
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{
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return std::string(ref.toString());
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}
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// **************** RF24Network exposed *****************
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//
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BOOST_PYTHON_MODULE(RF24Network){
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{ //::RF24Network
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typedef bp::class_< RF24Network > RF24Network_exposer_t;
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RF24Network_exposer_t RF24Network_exposer = RF24Network_exposer_t( "RF24Network", bp::init< RF24 & >(( bp::arg("_radio") )) );
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bp::scope RF24Network_scope( RF24Network_exposer );
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bp::implicitly_convertible< RF24 &, RF24Network >();
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{ //::RF24Network::available
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typedef bool ( ::RF24Network::*available_function_type )( ) ;
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RF24Network_exposer.def(
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"available"
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, available_function_type( &::RF24Network::available ) );
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}
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{ //::RF24Network::begin
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typedef void ( ::RF24Network::*begin_function_type )( ::uint8_t,::uint16_t ) ;
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RF24Network_exposer.def(
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"begin"
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, begin_function_type( &::RF24Network::begin )
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, ( bp::arg("_channel"), bp::arg("_node_address") ) );
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}
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{ //::RF24Network::parent
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typedef ::uint16_t ( ::RF24Network::*parent_function_type )( ) const;
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RF24Network_exposer.def(
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"parent"
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, parent_function_type( &::RF24Network::parent ) );
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}
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{ //::RF24Network::read
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typedef bp::tuple ( *read_function_type )(::RF24Network&, size_t ) ;
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RF24Network_exposer.def(
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"read"
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//, read_function_type( &::RF24Network::read )
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, read_function_type( &read_wrap )
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, ( bp::arg("maxlen") ) );
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}
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{ //::RF24Network::update
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typedef void ( ::RF24Network::*update_function_type )( ) ;
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RF24Network_exposer.def(
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"update"
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, update_function_type( &::RF24Network::update ) );
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}
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{ //::RF24Network::write
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typedef bool ( *write_function_type )( ::RF24Network&, ::RF24NetworkHeader&, bp::object ) ;
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RF24Network_exposer.def("write", write_function_type( &write_wrap ), ( bp::arg("header"), bp::arg("buf") ) );
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}
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RF24Network_exposer.def_readwrite( "txTimeout", &RF24Network::txTimeout );
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}
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// **************** RF24NetworkHeader exposed *****************
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//
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bp::class_< RF24NetworkHeader >( "RF24NetworkHeader", bp::init< >() )
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.def( bp::init< uint16_t, bp::optional< unsigned char > >(( bp::arg("_to"), bp::arg("_type")=(unsigned char)(0) )) )
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.def("toString", &toString_wrap )
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.def_readwrite( "from_node", &RF24NetworkHeader::from_node )
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.def_readwrite( "id", &RF24NetworkHeader::id )
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.def_readwrite( "next_id", RF24NetworkHeader::next_id )
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.def_readwrite( "reserved", &RF24NetworkHeader::reserved )
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.def_readwrite( "to_node", &RF24NetworkHeader::to_node )
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.def_readwrite( "type", &RF24NetworkHeader::type );
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}
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