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traversaro
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Add Python bindings for human state-related data structures (#379)
Co-authored-by: Silvio Traversaro <silvio@traversaro.it>
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‎CMakeLists.txt‎

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

‎bindings/CMakeLists.txt‎

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

‎bindings/python/CMakeLists.txt‎

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

‎bindings/python/hde.cpp‎

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

‎bindings/python/msgs/CMakeLists.txt‎

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

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

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

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

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

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

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

‎bindings/python/msgs/src/HumanState.cpp‎

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

‎bindings/python/msgs/src/Module.cpp‎

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

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