+ simplify porting of Robot module to Python3

FreeCAD · Jan 18, 2016 · 1081492 · 1081492
1 parent 65fe62d
commit 1081492
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Showing 6 changed files with 80 additions and 141 deletions.
diff --git a/src/Mod/Robot/App/AppRobot.cpp b/src/Mod/Robot/App/AppRobot.cpp
@@ -29,9 +29,12 @@
 #include <Base/Console.h>
 #include <Base/Interpreter.h>
 
+#include <CXX/Extensions.hxx>
+#include <CXX/Objects.hxx>
 
 #include "Robot6AxisPy.h"
 #include "Robot6Axis.h"
+#include "Simulation.h"
 #include "TrajectoryPy.h"
 #include "Trajectory.h"
 #include "PropertyTrajectory.h"
@@ -43,15 +46,50 @@
 #include "TrajectoryCompound.h"
 #include "TrajectoryDressUpObject.h"
 
-extern struct PyMethodDef Robot_methods[];
+namespace Robot {
+class Module : public Py::ExtensionModule<Module>
+{
+public:
+    Module() : Py::ExtensionModule<Module>("Robot")
+    {
+        add_varargs_method("simulateToFile",&Module::simulateToFile,
+            "simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."
+        );
+        initialize("This module is the Robot module."); // register with Python
+    }
+
+    virtual ~Module() {}
+
+private:
+    Py::Object simulateToFile(const Py::Tuple& args)
+    {
+        PyObject *pcRobObj;
+        PyObject *pcTracObj;
+        float tick;
+        char* FileName;
+
+        if (!PyArg_ParseTuple(args.ptr(), "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj,
+                                                    &(TrajectoryPy::Type), &pcTracObj,
+                                                    &tick,&FileName))
+            throw Py::Exception();
 
-PyDoc_STRVAR(module_Robot_doc,
-"This module is the Robot module.");
+        try {
+            Robot::Trajectory &Trac = * static_cast<TrajectoryPy*>(pcTracObj)->getTrajectoryPtr();
+            Robot::Robot6Axis &Rob  = * static_cast<Robot6AxisPy*>(pcRobObj)->getRobot6AxisPtr();
+            Simulation Sim(Trac,Rob);
+        }
+        catch (const Base::Exception& e) {
+            throw Py::RuntimeError(e.what());
+        }
+
+        return Py::Float(0.0);
+    }
+};
+} // namespace Robot
 
 
 /* Python entry */
-extern "C" {
-void RobotExport initRobot()
+PyMODINIT_FUNC initRobot()
 {
     // load dependent module
     try {
@@ -62,10 +100,9 @@ void RobotExport initRobot()
         return;
     }
 
-    PyObject* robotModule = Py_InitModule3("Robot", Robot_methods, module_Robot_doc);   /* mod name, table ptr */
+    PyObject* robotModule = (new Robot::Module())->module().ptr();
     Base::Console().Log("Loading Robot module... done\n");
 
-
     // Add Types to module
     Base::Interpreter().addType(&Robot::Robot6AxisPy          ::Type,robotModule,"Robot6Axis");
     Base::Interpreter().addType(&Robot::WaypointPy            ::Type,robotModule,"Waypoint");
@@ -75,7 +112,7 @@ void RobotExport initRobot()
     // NOTE: To finish the initialization of our own type objects we must
     // call PyType_Ready, otherwise we run into a segmentation fault, later on.
     // This function is responsible for adding inherited slots from a type's base class.
- 
+
     Robot::Robot6Axis              ::init();
     Robot::RobotObject             ::init();
     Robot::TrajectoryObject        ::init();
@@ -86,5 +123,3 @@ void RobotExport initRobot()
     Robot::TrajectoryCompound      ::init();
     Robot::TrajectoryDressUpObject ::init();
 }
-
-} // extern "C"
diff --git a/src/Mod/Robot/App/AppRobotPy.cpp b/src/Mod/Robot/App/AppRobotPy.cpp
diff --git a/src/Mod/Robot/App/CMakeLists.txt b/src/Mod/Robot/App/CMakeLists.txt
@@ -45,7 +45,6 @@ SET(Python_SRCS
 
 SET(Mod_SRCS
     AppRobot.cpp
-    AppRobotPy.cpp
     PreCompiled.cpp
     PreCompiled.h
 )

diff --git a/src/Mod/Robot/Gui/AppRobotGui.cpp b/src/Mod/Robot/Gui/AppRobotGui.cpp
@@ -26,6 +26,9 @@
 # include <Python.h>
 #endif
 
+#include <CXX/Extensions.hxx>
+#include <CXX/Objects.hxx>
+
 #include <Base/Console.h>
 #include <Base/Interpreter.h>
 #include <Gui/Application.h>
@@ -50,15 +53,26 @@ void loadRobotResource()
     Gui::Translator::instance()->refresh();
 }
 
-/* registration table  */
-extern struct PyMethodDef RobotGui_Import_methods[];
+namespace RobotGui {
+class Module : public Py::ExtensionModule<Module>
+{
+public:
+    Module() : Py::ExtensionModule<Module>("RobotGui")
+    {
+        initialize("This module is the RobotGui module."); // register with Python
+    }
+
+    virtual ~Module() {}
+
+private:
+};
+} // namespace RobotGui
 
 
 /* Python entry */
-extern "C" {
-void RobotGuiExport initRobotGui()  
+PyMODINIT_FUNC initRobotGui()
 {
-     if (!Gui::Application::Instance) {
+    if (!Gui::Application::Instance) {
         PyErr_SetString(PyExc_ImportError, "Cannot load Gui module in console application.");
         return;
     }
@@ -82,7 +96,7 @@ void RobotGuiExport initRobotGui()
         PyErr_SetString(PyExc_ImportError, e.what());
         return;
     }
-    (void) Py_InitModule("RobotGui", RobotGui_Import_methods);   /* mod name, table ptr */
+    (void)new RobotGui::Module();
     Base::Console().Log("Loading GUI of Robot module... done\n");
 
     // instantiating the commands
@@ -93,14 +107,12 @@ void RobotGuiExport initRobotGui()
 
     // addition objects
     RobotGui::Workbench                      ::init();
-	RobotGui::ViewProviderRobotObject        ::init();
-	RobotGui::ViewProviderTrajectory         ::init();
-	RobotGui::ViewProviderEdge2TracObject    ::init();
-	RobotGui::ViewProviderTrajectoryCompound ::init();
-	RobotGui::ViewProviderTrajectoryDressUp  ::init();
+    RobotGui::ViewProviderRobotObject        ::init();
+    RobotGui::ViewProviderTrajectory         ::init();
+    RobotGui::ViewProviderEdge2TracObject    ::init();
+    RobotGui::ViewProviderTrajectoryCompound ::init();
+    RobotGui::ViewProviderTrajectoryDressUp  ::init();
 
      // add resources and reloads the translators
     loadRobotResource();
 }
-
-} // extern "C" {
diff --git a/src/Mod/Robot/Gui/AppRobotGuiPy.cpp b/src/Mod/Robot/Gui/AppRobotGuiPy.cpp
diff --git a/src/Mod/Robot/Gui/CMakeLists.txt b/src/Mod/Robot/Gui/CMakeLists.txt
@@ -62,7 +62,6 @@ SOURCE_GROUP("Qt" FILES ${PartDesignGui_MOC_SRCS})
 
 SET(RobotGui_SRCS_Module
     AppRobotGui.cpp
-    AppRobotGuiPy.cpp
     Resources/Robot.qrc
     PreCompiled.cpp
     PreCompiled.h
@@ -94,7 +93,7 @@ SET(RobotGui_SRCS_ViewProvider
 SOURCE_GROUP("ViewProvider" FILES ${RobotGui_SRCS_ViewProvider})
 
 SET(RobotGui_SRCS_TaskBoxes
-	TaskRobot6Axis.ui
+    TaskRobot6Axis.ui
     TaskRobot6Axis.cpp
     TaskRobot6Axis.h
     TaskTrajectory.ui
@@ -125,21 +124,21 @@ SET(RobotGui_SRCS_TaskDlg
     TaskDlgSimulate.cpp
     TaskDlgEdge2Trac.h
     TaskDlgEdge2Trac.cpp
-	TaskDlgTrajectoryCompound.h
-	TaskDlgTrajectoryCompound.cpp
-	TaskDlgTrajectoryDressUp.h
-	TaskDlgTrajectoryDressUp.cpp
+    TaskDlgTrajectoryCompound.h
+    TaskDlgTrajectoryCompound.cpp
+    TaskDlgTrajectoryDressUp.h
+    TaskDlgTrajectoryDressUp.cpp
 )
 SOURCE_GROUP("Task_Dialogs" FILES ${RobotGui_SRCS_TaskDlg})
 
 SET(RobotGui_SRCS
     ${RobotGui_UIC_HDRS}
     ${RobotResource_SRCS}
-	${RobotGui_SRCS_Module}
-	${RobotGui_SRCS_ViewProvider}
-	${RobotGui_SRCS_Commands}
-	${RobotGui_SRCS_TaskBoxes}
-	${RobotGui_SRCS_TaskDlg}
+    ${RobotGui_SRCS_Module}
+    ${RobotGui_SRCS_ViewProvider}
+    ${RobotGui_SRCS_Commands}
+    ${RobotGui_SRCS_TaskBoxes}
+    ${RobotGui_SRCS_TaskDlg}
 )