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Add bindings for RobotDriver tool GPIO methods #13

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Add bindings for RobotDriver tool GPIO methods #13

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3 changes: 3 additions & 0 deletions marinholab/sas/core/_core.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -125,6 +125,9 @@ class RobotDriver:
def get_joint_limits(self) -> tuple[np.ndarray, np.ndarray]: ...
def set_joint_limits(self, joint_limits: tuple[np.ndarray, np.ndarray]) -> None: ...

def get_tool_gpio(self) -> list[bool]: ...
def set_tool_gpio(self, tool_gpio: list[bool]) -> None: ...

def watchdog_start(self, period: timedelta) -> None: ...
def watchdog_trigger(
self,
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27 changes: 27 additions & 0 deletions src/sas_robot_driver_py.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,9 @@
#
# #################################################################
# Contributors:
#
# 1. Erwin Lopez (erwin.lopez@manchester.ac.uk)
# Added bindings for tool gpio
#*/

/**
Expand Down Expand Up @@ -129,6 +132,27 @@ class RobotDriverPy: public RobotDriver, public py::trampoline_self_life_support
);
}

std::array<bool, 2> get_tool_gpio() override
{
// The return type contains a comma, so it must be wrapped in
// PYBIND11_TYPE(...) to keep the macro's argument list intact.
PYBIND11_OVERRIDE(
PYBIND11_TYPE(std::array<bool, 2>),
RobotDriver,
get_tool_gpio,
);
}

void set_tool_gpio(const std::array<bool, 2>& tool_gpio) override
{
PYBIND11_OVERRIDE(
void,
RobotDriver,
set_tool_gpio,
tool_gpio
);
}

void connect() override
{
PYBIND11_OVERRIDE_PURE(
Expand Down Expand Up @@ -188,6 +212,9 @@ void init_sas_robot_driver_py(py::module_& m)
c.def("get_joint_limits", &RobotDriver::get_joint_limits, "");
c.def("set_joint_limits", &RobotDriver::set_joint_limits, "");

c.def("get_tool_gpio", &RobotDriver::get_tool_gpio, "");
c.def("set_tool_gpio", &RobotDriver::set_tool_gpio, "");

c.def("watchdog_start", &RobotDriver::watchdog_start, "");
c.def("watchdog_trigger", &RobotDriver::watchdog_trigger, "");
c.def("watchdog_set_maximum_acceptable_delay", &RobotDriver::watchdog_set_maximum_acceptable_delay, "");
Expand Down