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bindings.cpp
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#include <pybind11/numpy.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <cstdint>
#include <vector>
#include "candle.hpp"
#include "register.hpp"
namespace py = pybind11;
namespace mab
{
class CandlePython : public Candle
{
public:
CandlePython(CANdleBaudrate_E canBaudrate, bool printVerbose = true, mab::BusType_E busType = BusType_E::USB, const std::string device = "") : Candle(canBaudrate, printVerbose, busType, device) {}
CandlePython(CANdleBaudrate_E canBaudrate, bool printVerbose, std::shared_ptr<Bus> bus) : Candle(canBaudrate, printVerbose, bus) {}
virtual ~CandlePython() = default;
float readMd80Register_(uint16_t canId, Md80Reg_E regId, float regValue)
{
(void)regValue;
md80Register->read(canId, regId, regValue);
return regValue;
}
int64_t readMd80Register_(uint16_t canId, Md80Reg_E regId, int64_t regValue)
{
(void)regValue;
int64_t regValue_i64 = 0;
md80Register->read(canId, regId, regValue_i64);
if (md80Register->getType(regId) == Register::type::I8)
return *(uint8_t*)®Value_i64;
else if (md80Register->getType(regId) == Register::type::I16)
return *(uint16_t*)®Value_i64;
else if (md80Register->getType(regId) == Register::type::I32)
return *(uint32_t*)®Value_i64;
else
return regValue_i64;
}
std::string readMd80Register_(uint16_t canId, Md80Reg_E regId, char* regValue)
{
(void)regValue;
char regValue_[64] = {0};
md80Register->read(canId, regId, regValue_);
return std::string(regValue_);
}
bool writeMd80Register_(uint16_t canId, Md80Reg_E regId, float regValue)
{
return md80Register->write(canId, regId, regValue);
}
bool writeMd80Register_(uint16_t canId, Md80Reg_E regId, uint32_t regValue)
{
return md80Register->write(canId, regId, regValue);
}
bool writeMd80Register_(uint16_t canId, Md80Reg_E regId, int32_t regValue)
{
return md80Register->write(canId, regId, regValue);
}
bool writeMd80Register_(uint16_t canId, Md80Reg_E regId, std::string regValue)
{
char regValue_[64] = {0};
memcpy(regValue_, regValue.c_str(), regValue.length());
return md80Register->write(canId, regId, regValue_);
}
};
} // namespace mab
PYBIND11_MODULE(pyCandle, m)
{
m.doc() = "pyCandle module for interfacing with md80 drives using Python";
py::enum_<mab::CANdleBaudrate_E>(m, "CANdleBaudrate_E")
.value("CAN_BAUD_1M", mab::CAN_BAUD_1M)
.value("CAN_BAUD_2M", mab::CAN_BAUD_2M)
.value("CAN_BAUD_5M", mab::CAN_BAUD_5M)
.value("CAN_BAUD_8M", mab::CAN_BAUD_8M)
.export_values();
py::enum_<mab::Md80Mode_E>(m, "Md80Mode_E")
.value("IDLE", mab::IDLE)
.value("POSITION_PID", mab::POSITION_PID)
.value("VELOCITY_PID", mab::VELOCITY_PID)
.value("RAW_TORQUE", mab::RAW_TORQUE)
.value("IMPEDANCE", mab::IMPEDANCE)
.value("POSITION_PROFILE", mab::POSITION_PROFILE)
.value("VELOCITY_PROFILE", mab::VELOCITY_PROFILE)
.export_values();
py::enum_<mab::CANdleMode_E>(m, "CANdleMode_E")
.value("CONFIG", mab::CONFIG)
.value("UPDATE", mab::UPDATE)
.export_values();
py::enum_<mab::BusType_E>(m, "BusType_E")
.value("USB", mab::BusType_E::USB)
.value("SPI", mab::BusType_E::SPI)
.value("UART", mab::BusType_E::UART)
.export_values();
py::enum_<mab::Md80Reg_E>(m, "Md80Reg_E")
.value("canId", mab::Md80Reg_E::canId)
.value("canBaudrate", mab::Md80Reg_E::canBaudrate)
.value("canWatchdog", mab::Md80Reg_E::canWatchdog)
.value("canTermination", mab::Md80Reg_E::canTermination)
.value("motorName", mab::Md80Reg_E::motorName)
.value("motorPolePairs", mab::Md80Reg_E::motorPolePairs)
.value("motorKt", mab::Md80Reg_E::motorKt)
.value("motorKt_a", mab::Md80Reg_E::motorKt_a)
.value("motorKt_b", mab::Md80Reg_E::motorKt_b)
.value("motorKt_c", mab::Md80Reg_E::motorKt_c)
.value("motorIMax", mab::Md80Reg_E::motorIMax)
.value("motorGearRatio", mab::Md80Reg_E::motorGearRatio)
.value("motorTorqueBandwidth", mab::Md80Reg_E::motorTorqueBandwidth)
.value("motorFriction", mab::Md80Reg_E::motorFriction)
.value("motorStriction", mab::Md80Reg_E::motorStiction)
.value("motorResistance", mab::Md80Reg_E::motorResistance)
.value("motorInductance", mab::Md80Reg_E::motorInductance)
.value("motorKV", mab::Md80Reg_E::motorKV)
.value("motorCalibrationMode", mab::Md80Reg_E::motorCalibrationMode)
.value("motorThermistorType", mab::Md80Reg_E::motorThermistorType)
.value("outputEncoder", mab::Md80Reg_E::outputEncoder)
.value("outputEncoderDir", mab::Md80Reg_E::outputEncoderDir)
.value("outputEncoderDefaultBaud", mab::Md80Reg_E::outputEncoderDefaultBaud)
.value("outputEncoderVelocity", mab::Md80Reg_E::outputEncoderVelocity)
.value("outputEncoderPosition", mab::Md80Reg_E::outputEncoderPosition)
.value("outputEncoderMode", mab::Md80Reg_E::outputEncoderMode)
.value("outputEncoderCalibrationMode", mab::Md80Reg_E::outputEncoderCalibrationMode)
.value("motorPosPidKp", mab::Md80Reg_E::motorPosPidKp)
.value("motorPosPidKi", mab::Md80Reg_E::motorPosPidKi)
.value("motorPosPidKd", mab::Md80Reg_E::motorPosPidKd)
.value("motorPosPidWindup", mab::Md80Reg_E::motorPosPidWindup)
.value("motorVelPidKp", mab::Md80Reg_E::motorVelPidKp)
.value("motorVelPidKi", mab::Md80Reg_E::motorVelPidKi)
.value("motorVelPidKd", mab::Md80Reg_E::motorVelPidKd)
.value("motorVelPidWindup", mab::Md80Reg_E::motorVelPidWindup)
.value("motorImpPidKp", mab::Md80Reg_E::motorImpPidKp)
.value("motorImpPidKd", mab::Md80Reg_E::motorImpPidKd)
.value("mainEncoderVelocity", mab::Md80Reg_E::mainEncoderVelocity)
.value("mainEncoderPosition", mab::Md80Reg_E::mainEncoderPosition)
.value("motorTorque", mab::Md80Reg_E::motorTorque)
.value("runSaveCmd", mab::Md80Reg_E::runSaveCmd)
.value("runTestMainEncoderCmd", mab::Md80Reg_E::runTestMainEncoderCmd)
.value("runTestOutputEncoderCmd", mab::Md80Reg_E::runTestOutputEncoderCmd)
.value("runCalibrateCmd", mab::Md80Reg_E::runCalibrateCmd)
.value("runCalibrateOutputEncoderCmd", mab::Md80Reg_E::runCalibrateOutputEncoderCmd)
.value("runCalibratePiGains", mab::Md80Reg_E::runCalibratePiGains)
.value("runRestoreFactoryConfig", mab::Md80Reg_E::runRestoreFactoryConfig)
.value("runReset", mab::Md80Reg_E::runReset)
.value("runClearWarnings", mab::Md80Reg_E::runClearWarnings)
.value("runClearErrors", mab::Md80Reg_E::runClearErrors)
.value("runBlink", mab::Md80Reg_E::runBlink)
.value("runZero", mab::Md80Reg_E::runZero)
.value("runCanReinit", mab::Md80Reg_E::runCanReinit)
.value("calOutputEncoderStdDev", mab::Md80Reg_E::calOutputEncoderStdDev)
.value("calOutputEncoderMinE", mab::Md80Reg_E::calOutputEncoderMinE)
.value("calOutputEncoderMaxE", mab::Md80Reg_E::calOutputEncoderMaxE)
.value("calMainEncoderStdDev", mab::Md80Reg_E::calMainEncoderStdDev)
.value("calMainEncoderMinE", mab::Md80Reg_E::calMainEncoderMinE)
.value("calMainEncoderMaxE", mab::Md80Reg_E::calMainEncoderMaxE)
.value("positionLimitMax", mab::Md80Reg_E::positionLimitMax)
.value("positionLimitMin", mab::Md80Reg_E::positionLimitMin)
.value("maxTorque", mab::Md80Reg_E::maxTorque)
.value("maxVelocity", mab::Md80Reg_E::maxVelocity)
.value("maxAcceleration", mab::Md80Reg_E::maxAcceleration)
.value("maxDeceleration", mab::Md80Reg_E::maxDeceleration)
.value("profileVelocity", mab::Md80Reg_E::profileVelocity)
.value("profileAcceleration", mab::Md80Reg_E::profileAcceleration)
.value("profileDeceleration", mab::Md80Reg_E::profileDeceleration)
.value("quickStopDeceleration", mab::Md80Reg_E::quickStopDeceleration)
.value("positionWindow", mab::Md80Reg_E::positionWindow)
.value("velocityWindow", mab::Md80Reg_E::velocityWindow)
.value("motionModeCommand", mab::Md80Reg_E::motionModeCommand)
.value("motionModeStatus", mab::Md80Reg_E::motionModeStatus)
.value("state", mab::Md80Reg_E::state)
.value("targetPosition", mab::Md80Reg_E::targetPosition)
.value("targetVelocity", mab::Md80Reg_E::targetVelocity)
.value("targetTorque", mab::Md80Reg_E::targetTorque)
.value("userGpioConfiguration", mab::Md80Reg_E::userGpioConfiguration)
.value("reverseDirection", mab::Md80Reg_E::reverseDirection)
.value("shuntResistance", mab::Md80Reg_E::shuntResistance)
.value("buildDate", mab::Md80Reg_E::buildDate)
.value("commitHash", mab::Md80Reg_E::commitHash)
.value("firmwareVersion", mab::Md80Reg_E::firmwareVersion)
.value("hardwareVersion", mab::Md80Reg_E::hardwareVersion)
.value("bridgeType", mab::Md80Reg_E::bridgeType)
.value("quickStatus", mab::Md80Reg_E::quickStatus)
.value("mosfetTemperature", mab::Md80Reg_E::mosfetTemperature)
.value("motorTemperature", mab::Md80Reg_E::motorTemperature)
.value("motorShutdownTemp", mab::Md80Reg_E::motorShutdownTemp)
.value("mainEncoderErrors", mab::Md80Reg_E::mainEncoderErrors)
.value("outputEncoderErrors", mab::Md80Reg_E::outputEncoderErrors)
.value("calibrationErrors", mab::Md80Reg_E::calibrationErrors)
.value("bridgeErrors", mab::Md80Reg_E::bridgeErrors)
.value("hardwareErrors", mab::Md80Reg_E::hardwareErrors)
.value("communicationErrors", mab::Md80Reg_E::communicationErrors)
.value("motionErrors", mab::Md80Reg_E::motionErrors)
.export_values();
py::class_<mab::regRO_st>(m, "regRO_st")
.def(py::init())
.def_readwrite("firmwareVersion", &mab::regRO_st::firmwareVersion)
.def_readwrite("hardwareVersion", &mab::regRO_st::hardwareVersion)
.def_readwrite("buildDate", &mab::regRO_st::buildDate)
.def_readwrite("bridgeType", &mab::regRO_st::bridgeType)
.def_readwrite("resistance", &mab::regRO_st::resistance)
.def_readwrite("inductance", &mab::regRO_st::inductance)
.def_readwrite("quickStatus", &mab::regRO_st::quickStatus)
.def_readwrite("mosfetTemperature", &mab::regRO_st::mosfetTemperature)
.def_readwrite("motorTemperature", &mab::regRO_st::motorTemperature)
.def_readwrite("mainEncoderVelocity", &mab::regRO_st::mainEncoderVelocity)
.def_readwrite("mainEncoderPosition", &mab::regRO_st::mainEncoderPosition)
.def_readwrite("motorTorque", &mab::regRO_st::motorTorque)
.def_readwrite("outputEncoderVelocity", &mab::regRO_st::outputEncoderVelocity)
.def_readwrite("outputEncoderPosition", &mab::regRO_st::outputEncoderPosition)
.def_readwrite("calOutputEncoderStdDev", &mab::regRO_st::calOutputEncoderStdDev)
.def_readwrite("calOutputEncoderMinE", &mab::regRO_st::calOutputEncoderMinE)
.def_readwrite("calOutputEncoderMaxE", &mab::regRO_st::calOutputEncoderMaxE)
.def_readwrite("calMainEncoderStdDev", &mab::regRO_st::calMainEncoderStdDev)
.def_readwrite("calMainEncoderMinE", &mab::regRO_st::calMainEncoderMinE)
.def_readwrite("calMainEncoderMaxE", &mab::regRO_st::calMainEncoderMaxE)
.def_readwrite("mainEncoderErrors", &mab::regRO_st::mainEncoderErrors)
.def_readwrite("outputEncoderErrors", &mab::regRO_st::outputEncoderErrors)
.def_readwrite("calibrationErrors", &mab::regRO_st::calibrationErrors)
.def_readwrite("bridgeErrors", &mab::regRO_st::bridgeErrors)
.def_readwrite("hardwareErrors", &mab::regRO_st::hardwareErrors)
.def_readwrite("communicationErrors", &mab::regRO_st::communicationErrors)
.def_readwrite("motionErrors", &mab::regRO_st::motionErrors)
.def_readwrite("shuntResistance", &mab::regRO_st::shuntResistance);
py::class_<mab::regRW_st>(m, "regRW_st")
.def(py::init())
.def_readwrite("canId", &mab::regRW_st::canId)
.def_readwrite("canBaudrate", &mab::regRW_st::canBaudrate)
.def_readwrite("canWatchdog", &mab::regRW_st::canWatchdog)
.def_readwrite("canTermination", &mab::regRW_st::canTermination)
.def_readwrite("polePairs", &mab::regRW_st::polePairs)
.def_readwrite("motorKV", &mab::regRW_st::motorKV)
.def_readwrite("motorCalibrationMode", &mab::regRW_st::motorCalibrationMode)
.def_readwrite("motorThermistorType", &mab::regRW_st::motorThermistorType)
.def_readwrite("motorKt", &mab::regRW_st::motorKt)
.def_readwrite("motorKt_a", &mab::regRW_st::motorKt_a)
.def_readwrite("motorKt_b", &mab::regRW_st::motorKt_b)
.def_readwrite("motorKt_c", &mab::regRW_st::motorKt_c)
.def_readwrite("iMax", &mab::regRW_st::iMax)
.def_readwrite("gearRatio", &mab::regRW_st::gearRatio)
.def_readwrite("outputEncoder", &mab::regRW_st::outputEncoder)
.def_readwrite("outputEncoderMode", &mab::regRW_st::outputEncoderMode)
.def_readwrite("outputEncoderCalibrationMode", &mab::regRW_st::outputEncoderCalibrationMode)
.def_readwrite("outputEncoderDir", &mab::regRW_st::outputEncoderDir)
.def_readwrite("torqueBandwidth", &mab::regRW_st::torqueBandwidth)
.def_readwrite("outputEncoderDefaultBaud", &mab::regRW_st::outputEncoderDefaultBaud)
.def_readwrite("friction", &mab::regRW_st::friction)
.def_readwrite("stiction", &mab::regRW_st::stiction)
.def_readwrite("motorShutdownTemp", &mab::regRW_st::motorShutdownTemp)
.def_readwrite("impedancePdGains", &mab::regRW_st::impedancePdGains)
.def_readwrite("velocityPidGains", &mab::regRW_st::velocityPidGains)
.def_readwrite("positionPidGains", &mab::regRW_st::positionPidGains)
.def_readwrite("positionLimitMax", &mab::regRW_st::positionLimitMax)
.def_readwrite("positionLimitMin", &mab::regRW_st::positionLimitMin)
.def_readwrite("maxAcceleration", &mab::regRW_st::maxAcceleration)
.def_readwrite("maxDeceleration", &mab::regRW_st::maxDeceleration)
.def_readwrite("maxTorque", &mab::regRW_st::maxTorque)
.def_readwrite("maxVelocity", &mab::regRW_st::maxVelocity)
.def_readwrite("profileAcceleration", &mab::regRW_st::profileAcceleration)
.def_readwrite("profileDeceleration", &mab::regRW_st::profileDeceleration)
.def_readwrite("profileVelocity", &mab::regRW_st::profileVelocity)
.def_readwrite("quickStopDeceleration", &mab::regRW_st::quickStopDeceleration)
.def_readwrite("positionWindow", &mab::regRW_st::positionWindow)
.def_readwrite("velocityWindow", &mab::regRW_st::velocityWindow)
.def_readwrite("targetPosition", &mab::regRW_st::targetPosition)
.def_readwrite("targetVelocity", &mab::regRW_st::targetVelocity)
.def_readwrite("targetTorque", &mab::regRW_st::targetTorque)
.def_readwrite("motionMode", &mab::regRW_st::motionMode)
.def_readwrite("state", &mab::regRW_st::state)
.def_readwrite("reverseDirection", &mab::regRW_st::reverseDirection)
.def_readwrite("userGpioConfiguration", &mab::regRW_st::userGpioConfiguration);
py::class_<mab::ImpedanceControllerGains_t>(m, "ImpedanceControllerGains_t")
.def(py::init())
.def_readwrite("kp", &mab::ImpedanceControllerGains_t::kp)
.def_readwrite("kd", &mab::ImpedanceControllerGains_t::kd)
.def_readwrite("outMax", &mab::ImpedanceControllerGains_t::outMax);
py::class_<mab::PidControllerGains_t>(m, "PidControllerGains_t")
.def(py::init())
.def_readwrite("kp", &mab::PidControllerGains_t::kp)
.def_readwrite("ki", &mab::PidControllerGains_t::ki)
.def_readwrite("kd", &mab::PidControllerGains_t::kd)
.def_readwrite("intWindup", &mab::PidControllerGains_t::intWindup)
.def_readwrite("outMax", &mab::PidControllerGains_t::outMax);
py::class_<mab::regWrite_st>(m, "regWrite_st")
.def(py::init())
.def_readwrite("RW", &mab::regWrite_st::RW);
py::class_<mab::regRead_st>(m, "regRead_st")
.def(py::init())
.def_readwrite("RO", &mab::regRead_st::RO)
.def_readwrite("RW", &mab::regRead_st::RW);
py::class_<mab::Md80>(m, "Md80")
.def("setPositionControllerParams", &mab::Md80::setPositionControllerParams)
.def("setVelocityControllerParams", &mab::Md80::setVelocityControllerParams)
.def("setImpedanceControllerParams", &mab::Md80::setImpedanceControllerParams)
.def("setMaxTorque", &mab::Md80::setMaxTorque)
.def("setProfileVelocity", &mab::Md80::setProfileVelocity)
.def("setProfileAcceleration", &mab::Md80::setProfileAcceleration)
.def("setTargetPosition", &mab::Md80::setTargetPosition)
.def("setTargetVelocity", &mab::Md80::setTargetVelocity)
.def("setTargetTorque", &mab::Md80::setTargetTorque)
.def("getQuickStatus", &mab::Md80::getQuickStatus)
.def("getId", &mab::Md80::getId)
.def("getPosition", &mab::Md80::getPosition)
.def("getVelocity", &mab::Md80::getVelocity)
.def("getOutputEncoderPosition", &mab::Md80::getOutputEncoderPosition)
.def("getOutputEncoderVelocity", &mab::Md80::getOutputEncoderVelocity)
.def("getTorque", &mab::Md80::getTorque)
.def("getTemperature", &mab::Md80::getTemperature)
.def("getReadReg", &mab::Md80::getReadReg)
.def("getWriteReg", &mab::Md80::getWriteReg)
.def("isTargetPositionReached", &mab::Md80::isTargetPositionReached)
.def("isTargetVelocityReached", &mab::Md80::isTargetVelocityReached);
py::class_<mab::CandlePython>(m, "Candle")
.def(py::init<mab::CANdleBaudrate_E, bool>())
.def(py::init<mab::CANdleBaudrate_E, bool, mab::BusType_E>())
.def(py::init<mab::CANdleBaudrate_E, bool, mab::BusType_E, const std::string>())
.def("getVersion", &mab::CandlePython::getVersion)
.def("getDeviceId", &mab::CandlePython::getDeviceId)
.def_readwrite("md80s", &mab::CandlePython::md80s)
.def("setVebose", &mab::CandlePython::setVebose)
.def("getActualCommunicationFrequency", &mab::CandlePython::getActualCommunicationFrequency)
.def("setTransmitDelayUs", &mab::CandlePython::setTransmitDelayUs)
.def("ping", py::overload_cast<>(&mab::CandlePython::ping))
.def("ping", py::overload_cast<mab::CANdleBaudrate_E>(&mab::CandlePython::ping))
.def("sendGenericFDCanFrame", &mab::CandlePython::sendGenericFDCanFrame)
.def("addMd80", &mab::CandlePython::addMd80, py::arg("canID"), py::arg("printFailure") = false)
.def("configCandleBaudrate", &mab::CandlePython::configCandleBaudrate)
.def("configMd80Can", &mab::CandlePython::configMd80Can)
.def("configMd80SetCurrentLimit", &mab::Candle::configMd80SetCurrentLimit)
.def("configMd80Save", &mab::CandlePython::configMd80Save)
.def("configMd80Blink", &mab::CandlePython::configMd80Blink)
.def("configMd80TorqueBandwidth", &mab::CandlePython::configMd80TorqueBandwidth)
.def("controlMd80SetEncoderZero", py::overload_cast<mab::Md80&>(&mab::CandlePython::controlMd80SetEncoderZero))
.def("controlMd80SetEncoderZero", py::overload_cast<uint16_t>(&mab::CandlePython::controlMd80SetEncoderZero))
.def("controlMd80Mode", py::overload_cast<mab::Md80&, mab::Md80Mode_E>(&mab::CandlePython::controlMd80Mode))
.def("controlMd80Mode", py::overload_cast<uint16_t, mab::Md80Mode_E>(&mab::CandlePython::controlMd80Mode))
.def("controlMd80Enable", py::overload_cast<mab::Md80&, bool>(&mab::CandlePython::controlMd80Enable))
.def("controlMd80Enable", py::overload_cast<uint16_t, bool>(&mab::CandlePython::controlMd80Enable))
.def("getMd80FromList", &mab::Candle::getMd80FromList)
.def("begin", &mab::CandlePython::begin)
.def("end", &mab::CandlePython::end)
.def("reset", &mab::CandlePython::reset)
.def("setupMd80Calibration", &mab::CandlePython::setupMd80Calibration)
.def("getCurrentBaudrate", &mab::CandlePython::getCurrentBaudrate)
.def("checkMd80ForBaudrate", &mab::CandlePython::checkMd80ForBaudrate)
.def("writeMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, std::string>(&mab::CandlePython::writeMd80Register_))
.def("writeMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, float>(&mab::CandlePython::writeMd80Register_))
.def("writeMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, uint32_t>(&mab::CandlePython::writeMd80Register_))
.def("writeMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, int32_t>(&mab::CandlePython::writeMd80Register_))
.def("readMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, char*>(&mab::CandlePython::readMd80Register_))
.def("readMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, float>(&mab::CandlePython::readMd80Register_))
.def("readMd80Register", py::overload_cast<uint16_t, mab::Md80Reg_E, int64_t>(&mab::CandlePython::readMd80Register_));
}