py_wrapper.h

/*
 * AUTHOR: Ken Hasselmann <arg AT kenh DOT fr>
 *
 * Connects ARGoS to python
 *
 */

#ifndef PY_WRAPPER_H
#define PY_WRAPPER_H

#include <boost/python.hpp>
#include <boost/python/suite/indexing/map_indexing_suite.hpp>

#include <argos3/core/control_interface/ci_controller.h>

#include "py_actusensor_wrapper_generic.h"
#include "py_actusensor_wrapper_footbot.h"
#include "py_actusensor_wrapper_epuck.h"

#include <argos3/core/utility/logging/argos_log.h>
#include <argos3/core/utility/math/general.h>

#include <string>
#include <iostream>

namespace argos
{

class ActusensorsWrapper
{
  public:
    ActusensorsWrapper();
    ~ActusensorsWrapper(){};

    static void Logprint(const std::string str_message);

    //Sensors
    void CreateSensor(const std::string str_name, CCI_Sensor *pc_sensor, TConfigurationNode &t_node);

    //Actuators
    void CreateActu(const std::string str_name, CCI_Actuator *pc_actu, TConfigurationNode &t_node);

    // Wrapper for the CColor class.
    class CColorWrapper
    {
      public:
        argos::CColor m_cColor;
        // Create a color by providing its name.
        CColorWrapper(const std::string str_color_name);
        // Create a color by providing its RGB values.
        CColorWrapper(const UInt8 un_red, const UInt8 un_green, const UInt8 un_blue);
        ~CColorWrapper(){};
    };

    /****************************************/
    /****************************************/

    // Define a wrapper for each actuator and sensor

    // Generic actusensors
    CWheelsWrapper m_cWheelsWrapper;
    COmnidirectionalCameraWrapper m_cOmnidirectionalCameraWrapper; 
    CLedsActuatorWrapper m_cLedsWrapper;
    CRangeAndBearingWrapper m_cRangeAndBearingWrapper;
    
    // Footbot Actusensors
    CGripperWrapper m_cGripperWrapper;
    CFootBotProximitySensorWrapper m_cProximitySensorWrapper;
    CTurretWrapper m_cTurretWrapper;
    CDistanceScannerWrapper m_cDistanceScannerWrapper;
    CLightSensorWrapper m_cLightSensorWrapper;
    CGroundSensorWrapper m_cGroundSensorWrapper;
    CBaseGroundSensorWrapper m_cBaseGroundSensorWrapper;

    // E-Puck actusensors
    CEPuckWheelsWrapper m_cEPuckWheelsWrapper;
    CEPuckProximitySensorWrapper m_cEPuckProximitySensorWrapper;
    CEPuckGroundSensorWrapper m_cEPuckGroundSensorWrapper;
    CEPuckRangeAndBearingWrapper m_cEPuckRangeAndBearingWrapper;
    CEPuckLedsActuatorWrapper m_cEPuckLedsWrapper;
    

    /****************************************/
    /****************************************/

    // Define functions to access the elements the argos::CByteArray class.
    // Original source: https://mail.python.org/pipermail/cplusplus-sig/2003-June/004024.html
    static void CByteArraySetItem(argos::CByteArray &c_vec, const UInt32 un_index, const UInt8 un_value);

    static UInt8 CByteArrayGetItem(const argos::CByteArray &c_vec, const UInt32 un_index);

    // Define getter for the EPuck ground sensor readings.
    static Real EPuckGroundReadingsGetItem(const argos::CCI_EPuckGroundSensor::SReadings &c_readings, const UInt32 un_index);

    /****************************************/
    /****************************************/

    // Used to convert vectors to python lists.
    // Original source: http://www.boost.org/doc/libs/1_62_0/libs/python/pyste/doc/wrappers.html
    template <class T>
    static boost::python::list ToPythonList(std::vector<T> c_vec)
    {
        typename std::vector<T>::iterator iter;
        boost::python::list list;
        for (iter = c_vec.begin(); iter != c_vec.end(); ++iter)
        {
            list.append(*iter);
        }
        return list;
    }
};
}

#endif