Added tests to proto_to_pybind11

.gitignore

@@ -1,5 +1,4 @@
 # ROS specific
-build/
 devel/
 .catkin_tools/
 
@@ -17,7 +16,6 @@ __pycache__/
 
 # Distribution / packaging
 .Python
-build/
 develop-eggs/
 dist/
 downloads/

alpyca_sim/build/pybind/pybind_block.py

@@ -0,0 +1,21 @@
+
+class PybindBlock():
+    def __init__(self, writer, braces=None):
+        self.writer = writer
+        self.braces = braces
+
+    def new_write_line(self, text):
+        self.org_write_line('  ' + text)
+
+    def __enter__(self):
+        if self.braces is not None:
+            self.writer.write_line(self.braces[0])
+
+        self.org_write_line = self.writer.write_line
+        self.writer.write_line = self.new_write_line
+
+    def __exit__(self, *args):
+        self.writer.write_line = self.org_write_line
+
+        if self.braces is not None:
+            self.writer.write_line(self.braces[1])

alpyca_sim/build/pybind/pybind_class.py

@@ -0,0 +1,13 @@
+
+class PybindClass():
+    def __init__(self, writer):
+        self.writer = writer
+
+    def __enter__(self):
+        pass
+
+    def __exit__(self, *args):
+        self.writer.remove_last_char()
+        self.writer.write(';')
+        self.writer.new_line()
+        self.writer.new_line()

alpyca_sim/build/pybind/pybind_file.py

@@ -0,0 +1,15 @@
+from pybind_writer import PybindWriter
+
+
+class PybindFile():
+    def __init__(self, path):
+        self.path = path
+
+    def __enter__(self):
+        self.writer = PybindWriter()
+        return self.writer
+
+    def __exit__(self, *args):
+        pybind_file = open(self.path, 'w')
+        pybind_file.write(self.writer.text)
+        pybind_file.close()

alpyca_sim/build/pybind/pybind_writer.py

@@ -0,0 +1,73 @@
+from pybind_class import PybindClass
+from pybind_block import PybindBlock
+
+
+class PybindWriter():
+    def __init__(self):
+        self.text = ''
+        self.repeated_types = set()
+
+    def write(self, text):
+        self.text += text
+
+    def remove_last_char(self):
+        self.text = self.text[:-1]
+
+    def write_line(self, text):
+        self.write(text)
+        self.new_line()
+
+    def include(self, text):
+        self.write_line('#include ' + text)
+
+    def new_line(self):
+        self.write('\n')
+
+    def includes(self):
+        self.include('<string>')
+        self.new_line()
+
+        self.include('<pybind11/pybind11.h>')
+        self.include('<pybind11/functional.h>')
+        self.include('<pybind11/stl.h>')
+        self.include('<gazebo/gazebo.hh>')
+        self.new_line()
+
+        self.include('\"alpyca/sim/repeated.h\"')
+        self.new_line()
+
+    def add_class(self, clsname, clsmember):
+        normalized_clsname = clsname.replace('::', '_')
+        self.write_line('py::class_<{clsname}>(m, \"{normalized_clsname}\")'.format(clsname=clsname, normalized_clsname=normalized_clsname)) 
+
+        with PybindClass(self):
+            for field in clsmember.DESCRIPTOR.fields:
+                if field.label == field.LABEL_REPEATED:
+                    if field.message_type is not None:
+                        attr_type = field.message_type.name
+                    else:
+                        dtype_mapper = {field.CPPTYPE_BOOL: 'bool',
+                                        field.CPPTYPE_DOUBLE: 'double',
+                                        field.CPPTYPE_FLOAT: 'float',
+                                        field.CPPTYPE_INT32: 'int32_t',
+                                        field.CPPTYPE_INT64: 'int64_t',
+                                        field.CPPTYPE_STRING: 'std::string',
+                                        field.CPPTYPE_UINT32: 'uint32_t',
+                                        field.CPPTYPE_UINT64: 'int64_t'}
+                        attr_type = dtype_mapper[field.cpp_type]
+                    if attr_type in dir(clsmember):
+                        attr_type = '::'.join([clsname, attr_type])
+                    self.repeated_types.add(attr_type)
+
+                    self.write_line('.def_property_readonly(\"{attr}\", []({clsname} *obj) -> Repeated<{attr_type}>'.format(attr=field.name, clsname=clsname, attr_type=attr_type))
+                    with PybindBlock(self, braces=('{', '})')):
+                        self.write_line('std::function<{attr_type}(int)> func = [obj](int index) {{ return obj->{attr}(index); }};'.format(attr=field.name, attr_type=attr_type))
+                        self.write_line('return Repeated<{attr_type}>(func, obj->{attr}_size());'.format(attr=field.name, attr_type=attr_type))
+                else:
+                    self.write_line('.def_property_readonly(\"{attr}\", &{clsname}::{attr})'.format(attr=field.name, clsname=clsname))
+
+    def add_repeated(self, attr_type):
+        normalized_attr_type = attr_type.replace('::', '_')
+        self.write_line('py::class_<Repeated<{attr_type}>>(m, \"Repeated_{normalized_attr_type}\")'.format(attr_type=attr_type, normalized_attr_type=normalized_attr_type)) 
+        self.write_line('.def(\"__getitem__\", &Repeated<{}>::getitem);'.format(attr_type))
+        self.new_line()

alpyca_sim/build/pybind/test_pybind_block.py

@@ -0,0 +1,25 @@
+import unittest
+
+from pybind_block import PybindBlock
+from pybind_writer import PybindWriter
+
+
+class TestPybindBlock(unittest.TestCase):
+
+    def test_context_manager(self):
+        writer = PybindWriter()
+        with PybindBlock(writer):
+            writer.write_line('test')
+
+        self.assertEqual(writer.text, '  test\n')
+
+    def test_context_manager_with_braces(self):
+        writer = PybindWriter()
+        with PybindBlock(writer, braces=('{', '}')):
+            writer.write_line('test')
+
+        self.assertEqual(writer.text, '{\n  test\n}\n')
+
+
+if __name__ == '__main__':
+    unittest.main()

alpyca_sim/build/pybind/test_pybind_class.py

@@ -0,0 +1,18 @@
+import unittest
+
+from pybind_class import PybindClass
+from pybind_writer import PybindWriter
+
+
+class TestPybindClass(unittest.TestCase):
+
+    def test_context_manager(self):
+        writer = PybindWriter()
+        with PybindClass(writer):
+            writer.write_line('test')
+
+        self.assertEqual(writer.text, 'test;\n\n')
+
+
+if __name__ == '__main__':
+    unittest.main()

alpyca_sim/build/pybind/test_pybind_file.py

@@ -0,0 +1,22 @@
+import unittest
+from mock import patch, mock_open
+
+from pybind_file import PybindFile
+
+
+class TestPybindFile(unittest.TestCase):
+
+    def test_context_manager(self):
+        with patch("__builtin__.open", mock_open()) as mock_file:
+            path = 'text.txt'
+            text = 'test'
+            with PybindFile(path) as writer:
+                writer.write(text)
+
+            mock_file.assert_called_once_with(path, 'w')
+            handle = mock_file()
+            handle.write.assert_called_once_with(text)
+
+
+if __name__ == '__main__':
+    unittest.main()

alpyca_sim/build/pybind/test_pybind_writer.py

@@ -0,0 +1,42 @@
+import unittest
+
+from pybind_writer import PybindWriter
+
+
+class TestPybindWriter(unittest.TestCase):
+
+    def test_write(self):
+        writer = PybindWriter()
+        text = 'text'
+        writer.write(text)
+        self.assertEqual(writer.text, text)
+
+    def test_remove_last_char(self):
+        writer = PybindWriter()
+        writer.write('text')
+        writer.remove_last_char()
+        self.assertEqual(writer.text, 'tex')
+
+    def test_write_line(self):
+        writer = PybindWriter()
+        writer.write_line('text')
+        self.assertEqual(writer.text, 'text\n')
+
+    def test_include(self):
+        writer = PybindWriter()
+        writer.include('text')
+        self.assertEqual(writer.text, '#include text\n')
+
+    def test_new_line(self):
+        writer = PybindWriter()
+        writer.new_line()
+        self.assertEqual(writer.text, '\n')
+
+    def test_repeated(self):
+        writer = PybindWriter()
+        writer.add_repeated('text::123')
+        self.assertEqual(writer.text, 'py::class_<Repeated<text::123>>(m, \"Repeated_text_123\")\n'\
+                                      '.def(\"__getitem__\", &Repeated<text::123>::getitem);\n\n')
+
+if __name__ == '__main__':
+    unittest.main()