Add Python bindings for human state-related data structures

CMakeLists.txt

@@ -36,6 +36,7 @@ find_package(YCM REQUIRED)
 # Import cmake utilities
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include(AddWarningsConfigurationToTarget)
+include(AddHDEPythonModule)
 
 # To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE
 # See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
@@ -51,6 +52,9 @@ endif()
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+# Flag to enable python bindings
+option(HDE_COMPILE_PYTHON_BINDINGS "Flag that enables building the bindings" OFF)
+
 # Plugins are force to be Shared/Dynamic Library 
 set(YARP_FORCE_DYNAMIC_PLUGINS ON)
 
@@ -86,6 +90,7 @@ add_subdirectory(modules)
 add_subdirectory(servers)
 add_subdirectory(clients)
 add_subdirectory(publishers)
+add_subdirectory(bindings)
 add_subdirectory(HumanDynamicsEstimationLibrary)
 
 include(InstallBasicPackageFiles)

bindings/CMakeLists.txt

@@ -0,0 +1,69 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+if(HDE_COMPILE_PYTHON_BINDINGS)
+
+ find_package(Python3 3.6 COMPONENTS Interpreter Development REQUIRED)
+
+ find_package(pybind11 2.4.3 CONFIG REQUIRED)
+
+ set(NEW_LINE "\n")
+
+ option(HDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES
+ "Do you want HDE to detect and use the active site-package directory? (it could be a system dir)"
+ FALSE)
+
+ # Install the resulting Python package for the active interpreter
+ if(NOT DEFINED HDE_PYTHON_INSTALL_DIR)
+ if(HDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
+ set(HDE_PYTHON_INSTALL_DIR ${Python3_SITELIB})
+ else()
+ execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+ OUTPUT_VARIABLE _PYTHON_INSTDIR)
+ string(STRIP ${_PYTHON_INSTDIR} _PYTHON_INSTDIR_CLEAN)
+ set(HDE_PYTHON_INSTALL_DIR ${_PYTHON_INSTDIR_CLEAN})
+ endif()
+ endif()
+ set(PYTHON_INSTDIR ${HDE_PYTHON_INSTALL_DIR}/hde)
+
+ # Folder of the Python package within the build tree.
+ # It is used for the Python tests.
+ set(HDE_PYTHON_PACKAGE "${CMAKE_BINARY_DIR}/hde")
+
+ # Add the bindings directory
+ add_subdirectory(python)
+
+ # Create the __init__.py file
+ file(GENERATE
+ OUTPUT "${HDE_PYTHON_PACKAGE}/__init__.py"
+ CONTENT "from .bindings import *${NEW_LINE}")
+
+ # Install the __init__.py file
+ install(FILES "${HDE_PYTHON_PACKAGE}/__init__.py"
+ DESTINATION ${PYTHON_INSTDIR})
+
+ # Install pip metadata files to ensure that HDE installed via CMake is listed by pip list
+ # See https://packaging.python.org/specifications/recording-installed-packages/
+ # and https://packaging.python.org/en/latest/specifications/core-metadata/#core-metadata
+ option(HDE_PYTHON_PIP_METADATA_INSTALL "Use CMake to install Python pip metadata. Set to off if some other tool already installs it." ON)
+ mark_as_advanced(HDE_PYTHON_PIP_METADATA_INSTALL)
+ set(HDE_PYTHON_PIP_METADATA_INSTALLER "cmake" CACHE STRING "Specify the string to identify the pip Installer. Default: cmake, change this if you are using another tool.")
+ mark_as_advanced(HDE_PYTHON_PIP_METADATA_INSTALLER)
+ if(HDE_PYTHON_PIP_METADATA_INSTALL)
+ get_filename_component(PYTHON_METADATA_PARENT_DIR ${PYTHON_INSTDIR} DIRECTORY)
+ if(WIN32)
+ set(NEW_LINE "\n\r")
+ else()
+ set(NEW_LINE "\n")
+ endif()
+ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/METADATA "")
+ file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Metadata-Version: 2.1${NEW_LINE}")
+ file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Name: hde${NEW_LINE}")
+ file(APPEND ${CMAKE_CURRENT_BINARY_DIR}/METADATA "Version: ${hde_VERSION}${NEW_LINE}")
+ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/INSTALLER "${HDE_PYTHON_PIP_METADATA_INSTALLER}${NEW_LINE}")
+ install(
+ FILES "${CMAKE_CURRENT_BINARY_DIR}/METADATA" "${CMAKE_CURRENT_BINARY_DIR}/INSTALLER"
+ DESTINATION ${PYTHON_METADATA_PARENT_DIR}/hde-${hde_VERSION}.dist-info)
+ endif()
+
+endif()

bindings/python/CMakeLists.txt

@@ -0,0 +1,34 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+add_subdirectory(msgs)
+
+get_property(pybind_headers GLOBAL PROPERTY pybind_headers)
+get_property(pybind_sources GLOBAL PROPERTY pybind_sources)
+get_property(pybind_include_dirs GLOBAL PROPERTY pybind_include_dirs)
+get_property(pybind_link_libraries GLOBAL PROPERTY pybind_link_libraries)
+
+pybind11_add_module(pybind11_hde MODULE
+ hde.cpp
+ ${pybind_sources}
+ ${pybind_headers}
+ )
+
+target_include_directories(pybind11_hde PUBLIC "$<BUILD_INTERFACE:${pybind_include_dirs}>")
+
+target_link_libraries(pybind11_hde PRIVATE
+ ${pybind_link_libraries})
+
+# # The generated Python dynamic module must have the same name as the pybind11
+# # module, i.e. `bindings`.
+set_target_properties(pybind11_hde PROPERTIES
+ LIBRARY_OUTPUT_DIRECTORY "${HDE_PYTHON_PACKAGE}"
+ OUTPUT_NAME "bindings")
+
+# Output package is:
+#
+# hde
+# |-- __init__.py (generated from main bindings CMake file)
+# `-- bindings.<cpython_extension>
+
+install(TARGETS pybind11_hde DESTINATION ${PYTHON_INSTDIR})

bindings/python/hde.cpp

@@ -0,0 +1,18 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+
+#include <pybind11/pybind11.h>
+
+#include <hde/bindings/msgs/Module.h>
+
+// Create the Python module
+PYBIND11_MODULE(bindings, m)
+{
+ namespace py = ::pybind11;
+
+ m.doc() = "Human dynamics estimation bindings";
+
+ py::module msgModule = m.def_submodule("msg");
+ hde::bindings::msgs::CreateModule(msgModule);
+}

bindings/python/msgs/CMakeLists.txt

@@ -0,0 +1,11 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+
+set(H_PREFIX include/hde/bindings/msgs)
+
+add_hde_python_module(
+ NAME MsgsBindings
+ SOURCES src/HumanState.cpp src/Module.cpp
+ HEADERS ${H_PREFIX}/HumanState.h ${H_PREFIX}/BufferedPort.h ${H_PREFIX}/Module.h
+ LINK_LIBRARIES HumanDynamicsEstimation::HumanStateMsg YARP::YARP_os)

bindings/python/msgs/include/hde/bindings/msgs/BufferedPort.h

@@ -0,0 +1,44 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+#ifndef HDE_BINDINGS_MSGS_BUFFERED_PORT_H
+#define HDE_BINDINGS_MSGS_BUFFERED_PORT_H
+
+#include <string>
+
+#include <pybind11/detail/common.h>
+#include <pybind11/pybind11.h>
+
+#include <yarp/os/BufferedPort.h>
+
+namespace hde {
+ namespace bindings {
+ namespace msgs {
+
+ template <typename T>
+ void CreateBufferedPort(pybind11::module& module, const std::string& name)
+ {
+ namespace py = ::pybind11;
+ py::class_<::yarp::os::BufferedPort<T>>(module, name.c_str())
+ .def(py::init())
+ .def("open",
+ py::overload_cast<const std::string&>(&::yarp::os::BufferedPort<T>::open),
+ py::arg("name"))
+ .def("close", &::yarp::os::BufferedPort<T>::close)
+ .def("isClosed", &::yarp::os::BufferedPort<T>::isClosed)
+ .def("prepare",
+ &::yarp::os::BufferedPort<T>::prepare,
+ py::return_value_policy::reference_internal)
+ .def("write",
+ &::yarp::os::BufferedPort<T>::write,
+ py::arg("forceStrict") = false)
+ .def("read",
+ &::yarp::os::BufferedPort<T>::read,
+ py::arg("shouldWait") = true,
+ py::return_value_policy::reference_internal);
+ }
+ } // namespace msgs
+ } // namespace bindings
+} // namespace hde
+
+#endif // HDE_BINDINGS_MSGS_BUFFERED_PORT_H

bindings/python/msgs/include/hde/bindings/msgs/HumanState.h

@@ -0,0 +1,19 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+#ifndef HDE_BINDINGS_MSGS_HUMAN_STATE_H
+#define HDE_BINDINGS_MSGS_HUMAN_STATE_H
+
+#include <pybind11/pybind11.h>
+
+namespace hde {
+ namespace bindings {
+ namespace msgs {
+
+ void CreateHumanState(pybind11::module& module);
+
+ } // namespace msgs
+ } // namespace bindings
+} // namespace hde
+
+#endif // HDE_BINDINGS_MSGS_HUMAN_STATE_H

bindings/python/msgs/include/hde/bindings/msgs/Module.h

@@ -0,0 +1,19 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+#ifndef HDE_BINDINGS_MSGS_MODULE_H
+#define HDE_BINDINGS_MSGS_MODULE_H
+
+#include <pybind11/pybind11.h>
+
+namespace hde {
+ namespace bindings {
+ namespace msgs {
+
+ void CreateModule(pybind11::module& module);
+
+ } // namespace msgs
+ } // namespace bindings
+} // namespace hde
+
+#endif // HDE_BINDINGS_MSGS_MODULE_H

bindings/python/msgs/src/HumanState.cpp

@@ -0,0 +1,38 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <string>
+#include <hde/msgs/HumanState.h>
+
+#include <hde/bindings/msgs/BufferedPort.h>
+#include <hde/bindings/msgs/HumanState.h>
+
+namespace hde {
+ namespace bindings {
+ namespace msgs {
+
+ void CreateHumanState(pybind11::module& module)
+ {
+ namespace py = ::pybind11;
+ using namespace ::hde::msgs;
+
+ py::class_<HumanState>(module, "HumanState")
+ .def(py::init())
+ .def_readwrite("jointNames", &HumanState::jointNames)
+ .def_readwrite("positions", &HumanState::positions)
+ .def_readwrite("velocities", &HumanState::velocities)
+ .def_readwrite("baseName", &HumanState::baseName)
+ .def_readwrite("baseOriginWRTGlobal", &HumanState::baseOriginWRTGlobal)
+ .def_readwrite("baseOrientationWRTGlobal", &HumanState::baseOrientationWRTGlobal)
+ .def_readwrite("baseVelocityWRTGlobal", &HumanState::baseVelocityWRTGlobal)
+ .def_readwrite("CoMPositionWRTGlobal", &HumanState::CoMPositionWRTGlobal)
+ .def_readwrite("CoMVelocityWRTGlobal", &HumanState::CoMVelocityWRTGlobal);
+
+ CreateBufferedPort<HumanState>(module, "BufferedPortHumanState");
+ }
+ } // namespace msgs
+ } // namespace bindings
+} // namespace hde

bindings/python/msgs/src/Module.cpp

@@ -0,0 +1,20 @@
+// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+// SPDX-License-Identifier: BSD-3-Clause
+
+#include <pybind11/pybind11.h>
+
+#include <hde/bindings/msgs/HumanState.h>
+
+namespace hde {
+ namespace bindings {
+ namespace msgs {
+
+ void CreateModule(pybind11::module& module)
+ {
+ module.doc() = "YarpUtilities module.";
+
+ CreateHumanState(module);
+ }
+ } // namespace msgs
+ } // namespace bindings
+} // namespace hde

cmake/AddHDEPythonModule.cmake

@@ -0,0 +1,46 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+function(add_hde_python_module)
+
+ set(options )
+ set(oneValueArgs NAME)
+ set(multiValueArgs
+ SOURCES
+ HEADERS
+ LINK_LIBRARIES
+ TESTS
+ TESTS_RUNTIME_CONDITIONS)
+
+ set(prefix "hde")
+
+ cmake_parse_arguments(${prefix}
+ "${options}"
+ "${oneValueArgs}"
+ "${multiValueArgs}"
+ ${ARGN})
+
+ set(name ${${prefix}_NAME})
+ set(is_interface ${${prefix}_IS_INTERFACE})
+ set(sources ${${prefix}_SOURCES})
+ set(headers ${${prefix}_HEADERS})
+ set(link_libraries ${${prefix}_LINK_LIBRARIES})
+ set(subdirectories ${${prefix}_SUBDIRECTORIES})
+ set(tests ${${prefix}_TESTS})
+ set(tests_runtime_conditions ${${prefix}_TESTS_RUNTIME_CONDITIONS})
+
+ foreach(file ${headers})
+ set_property(GLOBAL APPEND PROPERTY pybind_headers ${CMAKE_CURRENT_SOURCE_DIR}/${file})
+ endforeach()
+
+ foreach(file ${sources})
+ set_property(GLOBAL APPEND PROPERTY pybind_sources ${CMAKE_CURRENT_SOURCE_DIR}/${file})
+ endforeach()
+
+ set_property(GLOBAL APPEND PROPERTY pybind_include_dirs ${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+ set_property(GLOBAL APPEND PROPERTY pybind_link_libraries ${link_libraries})
+
+ message(STATUS "Added files for bindings named ${name} in ${PROJECT_NAME}.")
+
+endfunction()