kinova-api-python/swig_wrapper.i at master · LongfeiProjects/kinova-api-python · GitHub

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%module kinovapy
%feature("autodoc", "1");

%include "typemaps.i"
%apply int &OUTPUT { int &result };

#define KINOVAAPI_NOEXPORT 1

%{
#include "KinovaTypes.h"
#include "Kinova.API.CommLayerUbuntu.h"
#include "Kinova.API.UsbCommandLayerUbuntu.h"


int SetActiveDeviceNum(int d) {
  KinovaDevice devices[MAX_KINOVA_DEVICE];
  int result;
  int count = GetDevices(devices, result);
  if(result != NO_ERROR_KINOVA)
    return -1 * result;
  if(d > count || d > MAX_KINOVA_DEVICE)
    return -1;
  return SetActiveDevice(devices[d]);
}

int GetNumDevices() {
  KinovaDevice devices[MAX_KINOVA_DEVICE];
  int result = -1;
  int count = GetDevices(devices, result);
  if(result != NO_ERROR_KINOVA)
    return -1 * result;
  else
    return count;
}

%}


/*
%typemap(in,numinputs=0) int& result (int temp) "$1 = &temp;"

%typemap(argout) int& result {
  %append_output(PyInt_FromLong(*$1));
}
*/

%extend AngularInfo {
  char *__str__() {
    static char tmp[512];
    snprintf(tmp, 512, "[%f, %f, %f, %f, %f, %f]",
      self->Actuator1,
      self->Actuator2,
      self->Actuator3,
      self->Actuator4,
      self->Actuator5,
      self->Actuator6
    );
    return tmp;
  }
}

%extend AngularPosition {
  char *__str__() {
    static char tmp[512];
    snprintf(tmp, 512, "<kinovapy.AngularPosition> Actuators: [%f, %f, %f, %f, %f, %f], Fingers: [%f, %f, %f]",
      self->Actuators.Actuator1,
      self->Actuators.Actuator2,
      self->Actuators.Actuator3,
      self->Actuators.Actuator4,
      self->Actuators.Actuator5,
      self->Actuators.Actuator6,
      self->Fingers.Finger1,
      self->Fingers.Finger2,
      self->Fingers.Finger3
    );
    return tmp;
  }
}

%extend CartesianInfo {
  char *__str__() {
    static char tmp[512];
    snprintf(tmp, 512, "[%f, %f, %f]",
      self->X,
      self->Y,
      self->Z
    );
    return tmp;
  }
}

%extend CartesianPosition {
  char *__str__() {
    static char tmp[512];
    snprintf(tmp, 512, "<kinovapy.CartesianPosition> Coordinates: Position: [%f, %f, %f], Orientation: [%f, %f, %f], Fingers: [%f, %f, %f]",
      self->Coordinates.X,
      self->Coordinates.Y,
      self->Coordinates.Z,
      self->Coordinates.ThetaX,
      self->Coordinates.ThetaY,
      self->Coordinates.ThetaZ,
      self->Fingers.Finger1,
      self->Fingers.Finger2,
      self->Fingers.Finger3
    );
    return tmp;
  }
}

%extend QuickStatus {
  char *__str__() {
    static char tmp[512];
    snprintf(tmp, 512, "<kinovapy.QuickStatus> Fingers: (%d, %d, %d), ControlEnable: %d, ControlModule: %d, ControlFrame: %d, CartesianFault: %d, ForceControl: %d, CurrentLimit: %d, RobotType: %d, TorqueSensors: %d",
      self->Finger1Status, self->Finger2Status, self->Finger3Status,
      self->ControlEnableStatus, self->ControlActiveModule,
      self->ControlFrameType, self->CartesianFaultState,
      self->ForceControlStatus, self->CurrentLimitationStatus,
      self->RobotType, self->TorqueSensorsStatus
    );
    return tmp;
  }
}


%extend ForcesInfo {
  char *__str__() {
    static char tmp[512];
    const float thresh = 0.1;
    snprintf(tmp, 512, "actuator_forces: [%f, %f, %f, %f, %f, %f], 'cartesian_forces: [%f, %f, %f, %f, %f, %f]",
      self->Actuator1 > thresh ? self->Actuator1 : 0,
      self->Actuator2 > thresh ? self->Actuator2 : 0,
      self->Actuator3 > thresh ? self->Actuator3 : 0,
      self->Actuator4 > thresh ? self->Actuator4 : 0,
      self->Actuator5 > thresh ? self->Actuator5 : 0,
      self->Actuator6 > thresh ? self->Actuator6 : 0,
      self->X > thresh ? self->X : 0,
      self->Y > thresh ? self->Y : 0,
      self->Z > thresh ? self->Z : 0,
      self->ThetaX > thresh ? self->ThetaX : 0,
      self->ThetaY > thresh ? self->ThetaY : 0,
      self->ThetaZ > thresh ? self->ThetaZ : 0
    );
    return tmp;
  }
}


%include "KinovaTypes.h"
%include "Kinova.API.CommLayerUbuntu.h"
%include "Kinova.API.UsbCommandLayerUbuntu.h"

int SetActiveDeviceNum(int d);
int GetNumDevices();