Merge pull request #53 from westonrobot/feature-python_bindings

Feature python bindings

.github/workflows/pybind-ci.yml

@@ -0,0 +1,22 @@
+name: Pybind
+
+on:
+  push:
+  pull_request:
+    branches: 
+      - main
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        os: [ ubuntu-22.04, ubuntu-20.04 ]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+    - name: Install dependencies
+      run: sudo apt-get install -y build-essential cmake libasio-dev python3-dev
+    - name: Build python package
+      run: python setup.py build_ext --inplace

.gitignore

@@ -8,6 +8,10 @@ cmake-build-release/
 
 .editorconfig
 
+# Python
+dist
+*.egg-info
+
 # Temp files
 *~
 */~
@@ -49,7 +53,7 @@ src/lcmtypes/python
 *.pch
 
 # Compiled Dynamic libraries
-#*.so
+*.so
 #*.dylib
 #*.dll
 

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "test/googletest"]
 	path = test/googletest
 	url = https://github.com/google/googletest.git
+[submodule "python/pybind11"]
+	path = python/pybind11
+	url = https://github.com/pybind/pybind11.git

CMakeLists.txt

@@ -10,8 +10,7 @@ endif()
 ## Project Options
 option(BUILD_TESTING "Build tests" OFF)
 option(STATIC_CHECK "Run static check" OFF)
-# set(CMAKE_BUILD_TYPE Release)
-# set(CMAKE_BUILD_TYPE Debug)
+option(PYTHON_BINDING "Build python binding" OFF)
 
 ## Check if pkg is built with ROS catkin
 if(CATKIN_DEVEL_PREFIX)
@@ -111,6 +110,7 @@ add_library(${PROJECT_NAME}
 )
 target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
 target_compile_definitions(${PROJECT_NAME} PUBLIC ASIO_ENABLE_OLD_SERVICES)
+target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
 target_include_directories(${PROJECT_NAME} PUBLIC
 	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
@@ -121,6 +121,12 @@ if(BUILD_WITHOUT_ROS)
     add_subdirectory(sample)
 endif()
 
+# Build python binding
+if(PYTHON_BINDING)
+    message(STATUS "Build python binding")
+    add_subdirectory(python)
+endif()
+
 # Build tests
 if(BUILD_TESTS)
     add_subdirectory(test)

MANIFEST.in

@@ -0,0 +1,9 @@
+include CMakeLists.txt
+include LICENSE
+include README.md
+include package.xml
+recursive-include sample *
+recursive-include cmake *
+recursive-include include *
+recursive-include src *
+recursive-include python *

README.md

@@ -8,8 +8,8 @@
 This software package provides a C++ interface to communicate with the mobile platforms, for sending commands to the
 robot and receiving the latest robot state. The repository is a joint effort by the development teams at Weston Robot (Singapore) and AgileX Robotics (China).
 
-- Copyright (c) 2020-2023 [Weston Robot](https://www.westonrobot.com/)
-- Copyright (c) 2020-2023 [AgileX Robotics](http://www.agilex.ai/?lang=zh-cn)
+- Copyright (c) 2020-2024 [Weston Robot](https://www.westonrobot.com/)
+- Copyright (c) 2020-2024 [AgileX Robotics](http://www.agilex.ai/?lang=zh-cn)
 
 Please create an issue on Github at https://github.com/westonrobot/ugv_sdk/issues if you encounter any problems when
 using the packages.
@@ -62,6 +62,54 @@ $ cd ..
 $ catkin_make
 ```
 
+### Build the package as a CMake project
+
+```
+$ git clone https://github.com/westonrobot/ugv_sdk.git
+$ cd ugv_sdk
+$ mkdir build && cd build
+$ cmake .. && make
+```
+
+If you need Python binding, you can build the package with the following command
+
+```bash
+$ sudo apt-get install python3-dev
+```
+
+```
+$ git clone --recursive https://github.com/westonrobot/ugv_sdk.git
+$ cd ugv_sdk
+# if you've checked out ugv_sdk without --recursive, you can run  the following command to fetch the submodule
+$ git submodule update --init --recursive
+$ mkdir build && cd build
+$ cmake -DPYTHON_BINDING=ON .. && make
+```
+
+### Build the package as a Python package
+
+For development and testing, you can use inplace build
+
+```bash
+$ python setup.py build_ext --inplace
+```
+
+It will generate library files in build/temp.linux-x86_64-3.10/lib (the name could be different based on your system) and in the directory where you run the command.
+
+You can then use the library in a python script from the same directory directly. If you want to use the library in other directories, you can add the path to the PYTHONPATH environment variable.
+
+Please note that setting the PYTHONPATH directly in the shell will only affect the current session.
+
+```bash
+$ export PYTHONPATH=$PYTHONPATH:<path-to-the-repo>/build/lib.linux-x86_64-3.10
+```
+
+You can also install the package to your Python environment using
+
+```bash
+$ python3 -m pip install .
+```
+
 ## Setup CAN-To-USB Adapter
 
 1. Enable gs_usb kernel module

include/ugv_sdk/mobile_robot/ranger_robot.hpp

@@ -23,7 +23,7 @@ class RangerRobot : public RobotCommonInterface, public RangerInterface {
   bool Connect(std::string can_name) override;
 
   void EnableCommandedMode() override;
-  std::string RequestVersion(int timeout_sec) override;
+  std::string RequestVersion(int timeout_sec = 3) override;
 
   // functions to be implemented by each robot class
   void ResetRobotState() override;

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>ugv_sdk</name>
-  <version>0.1.6</version>
+  <version>0.8.0</version>
   <description>Weston Robot Platform SDK</description>
 
   <author email="ruixiang.du@westonrobot.com">Ruixiang Du</author>

python/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(pybind11)
+add_subdirectory(ugv_sdk_py)

python/ugv_sdk_py/CMakeLists.txt

@@ -0,0 +1,17 @@
+pybind11_add_module(ugv_sdk_py
+  src/ugv_sdk_py.cpp
+  src/agilex_message.cpp
+  src/scout_robot.cpp
+  src/hunter_robot.cpp
+  src/ranger_robot.cpp
+)
+target_link_libraries(ugv_sdk_py PRIVATE ugv_sdk)
+target_include_directories(ugv_sdk_py PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  PRIVATE src)
+set(PYBIND_OUTPUT_LIBDIR ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR} CACHE PATH "Output directory for pybind libraries")
+message(STATUS " - To install pybind components to ${PYBIND_OUTPUT_LIBDIR}")
+set_target_properties(ugv_sdk_py PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${PYBIND_OUTPUT_LIBDIR}
+)

python/ugv_sdk_py/include/ugv_sdk_py/agilex_message.hpp

@@ -0,0 +1,28 @@
+/* 
+ * agilex_message.hpp
+ *
+ * Created on 5/8/24 7:36 PM
+ * Description:
+ *
+ * Copyright (c) 2024 Weston Robot Pte. Ltd.
+ */
+
+#ifndef UGV_SDK_AGILEX_MESSAGE_HPP
+#define UGV_SDK_AGILEX_MESSAGE_HPP
+
+#include <pybind11/pybind11.h>
+
+namespace westonrobot {
+    void BindProtocolVersion(pybind11::module &m);
+    void BindSystemStateMessage(pybind11::module &m);
+    void BindMotionStateMessage(pybind11::module &m);
+    void BindLightStateMessage(pybind11::module &m);
+    void BindRcStateMessage(pybind11::module &m);
+    void BindActuatorHSStateMessage(pybind11::module &m);
+    void BindActuatorLSStateMessage(pybind11::module &m);
+    void BindActuatorStateMessageV1(pybind11::module &m);
+    void BindMotionModeStateMessage(pybind11::module &m);
+    void BindBmsBasicMessage(pybind11::module &m);
+}
+
+#endif //UGV_SDK_AGILEX_MESSAGE_HPP

python/ugv_sdk_py/include/ugv_sdk_py/hunter_robot.hpp

@@ -0,0 +1,19 @@
+/**
+ * @file hunter_robot.hpp
+ * @brief 
+ * @date 28-05-2024
+ * 
+ * hunter_robot submodule for ugv_sdk_py
+ * 
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
+ */
+#ifndef UGV_SDK_PY_HUNTER_ROBOT_HPP
+#define UGV_SDK_PY_HUNTER_ROBOT_HPP
+
+#include <pybind11/pybind11.h>
+
+namespace westonrobot {
+    void BindHunterRobot(pybind11::module &m);
+}
+
+#endif /* UGV_SDK_PY_HUNTER_ROBOT_HPP */

python/ugv_sdk_py/include/ugv_sdk_py/ranger_robot.hpp

@@ -0,0 +1,19 @@
+/**
+ * @file ranger_robot.hpp
+ * @brief 
+ * @date 28-05-2024
+ * 
+ * ranger_robot submodule for ugv_sdk_py
+ * 
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
+ */
+#ifndef UGV_SDK_PY_RANGER_ROBOT_HPP
+#define UGV_SDK_PY_RANGER_ROBOT_HPP
+#include <pybind11/pybind11.h>
+
+namespace westonrobot {
+    void BindRangerRobot(pybind11::module &m);
+}
+
+
+#endif /* UGV_SDK_PY_RANGER_ROBOT_HPP */

python/ugv_sdk_py/include/ugv_sdk_py/scout_robot.hpp

@@ -0,0 +1,19 @@
+/**
+ * @file scout_robot.hpp
+ * @brief 
+ * @date 28-05-2024
+ * 
+ * scout_robot submodule for ugv_sdk_py
+ * 
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
+ */
+#ifndef UGV_SDK_PY_SCOUT_ROBOT_HPP
+#define UGV_SDK_PY_SCOUT_ROBOT_HPP
+
+#include <pybind11/pybind11.h>
+
+namespace westonrobot {
+    void BindScoutRobot(pybind11::module &m);
+}
+
+#endif /* UGV_SDK_PY_SCOUT_ROBOT_HPP */