Merge pull request #863 from jpreiss/pybindings

Python bindings draft

.gitignore

@@ -12,6 +12,8 @@ tools/make/config.mk
 cflie.*
 version.c
 tags
+*cffirmware*.so
+cffirmware.py
 
 /cf2.*
 /tag.*
@@ -21,6 +23,7 @@ current_platform.mk
 
 /generated/**
 **/__pycache__/**
+**/*.pyc
 
 docs/.jekyll-metadata
 docs/.jekyll-cache

Makefile

@@ -493,4 +493,18 @@ unit:
 # The flag "-DUNITY_INCLUDE_DOUBLE" allows comparison of double values in Unity. See: https://stackoverflow.com/a/37790196
 	rake unit "DEFINES=$(CFLAGS) -DUNITY_INCLUDE_DOUBLE" "FILES=$(FILES)" "UNIT_TEST_STYLE=$(UNIT_TEST_STYLE)"
 
-.PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_verify cload size print_version clean_version
+# Python bindings
+MOD_INC = $(CRAZYFLIE_BASE)/src/modules/interface
+MOD_SRC = $(CRAZYFLIE_BASE)/src/modules/src
+
+bindings_python: bindings/setup.py bin/cffirmware_wrap.c $(MOD_SRC)/*.c
+	$(PYTHON) bindings/setup.py build_ext --inplace
+
+bin/cffirmware_wrap.c cffirmware.py: bindings/cffirmware.i $(MOD_INC)/*.h
+	swig -python -I$(MOD_INC) -o bin/cffirmware_wrap.c bindings/cffirmware.i
+	mv bin/cffirmware.py cffirmware.py
+
+test_python: bindings_python
+	$(PYTHON) -m pytest test_python
+
+.PHONY: all clean build compile unit prep erase flash check_submodules trace openocd gdb halt reset flash_dfu flash_verify cload size print_version clean_version bindings_python

bindings/cffirmware.i

@@ -0,0 +1,70 @@
+%module cffirmware
+
+// ignore GNU specific compiler attributes
+#define __attribute__(x)
+
+%{
+#define SWIG_FILE_WITH_INIT
+#include "math3d.h"
+%}
+
+%include "math3d.h"
+
+%inline %{
+%}
+
+%pythoncode %{
+import numpy as np
+%}
+
+#define COPY_CTOR(structname) \
+structname(struct structname const *x) { \
+    struct structname *y = malloc(sizeof(struct structname)); \
+    *y = *x; \
+    return y; \
+} \
+~structname() { \
+    free($self); \
+} \
+
+%extend vec {
+    COPY_CTOR(vec)
+
+    %pythoncode %{
+        def __repr__(self):
+            return "({}, {}, {})".format(self.x, self.y, self.z)
+
+        def __array__(self):
+            return np.array([self.x, self.y, self.z])
+
+        def __len__(self):
+            return 3
+
+        def __getitem__(self, i):
+            if 0 <= i and i < 3:
+                return _cffirmware.vindex(self, i)
+            else:
+                raise IndexError("vec index must be in {0, 1, 2}.")
+
+        # Unary operator overloads.
+        def __neg__(self):
+            return _cffirmware.vneg(self)
+
+        # Vector-scalar binary operator overloads.
+        def __rmul__(self, s):
+            return _cffirmware.vscl(s, self)
+
+        def __div__(self, s):
+            return self.__truediv__(s)
+
+        def __truediv__(self, s):
+            return _cffirmware.vdiv(self, s)
+
+        # Vector-vector binary operator overloads.
+        def __add__(self, other):
+            return _cffirmware.vadd(self, other)
+
+        def __sub__(self, other):
+            return _cffirmware.vsub(self, other)
+    %}
+};

bindings/setup.py

@@ -0,0 +1,37 @@
+"""Compiles the cffirmware C extension."""
+
+import distutils.command.build
+from distutils.core import setup, Extension
+import os
+
+fw_dir = "."
+include = [
+    os.path.join(fw_dir, "src/modules/interface"),
+]
+
+modules = [
+    # list firmware c-files here
+]
+fw_sources = [os.path.join(fw_dir, "src/modules/src", mod) for mod in modules]
+
+cffirmware = Extension(
+    "_cffirmware",
+    include_dirs=include,
+    sources=fw_sources + ["bin/cffirmware_wrap.c"],
+    extra_compile_args=[
+        "-O3",
+    ],
+)
+
+# Override build command to specify custom "build" directory
+class BuildCommand(distutils.command.build.build):
+    def initialize_options(self):
+        distutils.command.build.build.initialize_options(self)
+        self.build_base = "bin"
+
+setup(
+    name="cffirmware",
+    version="1.0",
+    cmdclass={"build": BuildCommand},
+    ext_modules=[cffirmware]
+)

test_python/test_math3d.py

@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+import numpy as np
+import cffirmware
+
+def test_conversion_to_numpy():
+    v_cf = cffirmware.mkvec(1, 2, 3)
+    v_np = np.array(v_cf)
+    assert np.allclose(v_np, np.array([1,2,3]))

tools/build/build

@@ -4,5 +4,6 @@ set -e
 scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 
 ${scriptDir}/test "${@}"
+${scriptDir}/test_python "${@}"
 ${scriptDir}/make "${@}"
 ${scriptDir}/check_elf

tools/build/test_python

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+scriptDir=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+
+make test_python "${@}"

tools/make/targets.mk

@@ -68,7 +68,7 @@ clean_o: clean_version
 	@$(if $(QUIET), ,echo $(CLEAN_O_COMMAND$(VERBOSE)) )
 	@$(CLEAN_O_COMMAND)
 
-CLEAN_COMMAND=rm -f cf*.elf cf*.hex cf*.bin cf*.dfu cf*.map $(BIN)/dep/*.d $(BIN)/*.o
+CLEAN_COMMAND=rm -f cf*.elf cf*.hex cf*.bin cf*.dfu cf*.map cf*.py _cf*.so $(BIN)/dep/*.d $(BIN)/*.o $(BIN)/*.c
 CLEAN_COMMAND_SILENT="  CLEAN"
 clean:
 	@$(if $(QUIET), ,echo $(CLEAN_COMMAND$(VERBOSE)) )