Python: added support for gimbal

mavlink · Aug 20, 2018 · 7f496cb · 7f496cb
1 parent f5a9095
commit 7f496cb
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Showing 3 changed files with 30 additions and 17 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -78,6 +78,7 @@ if (PYTHON)
                 ${CMAKE_CURRENT_SOURCE_DIR}/plugins/mission/include/plugins/mission/mission.h
                 ${CMAKE_CURRENT_SOURCE_DIR}/plugins/mission/include/plugins/mission/mission_item.h
                 ${CMAKE_CURRENT_SOURCE_DIR}/plugins/telemetry/include/plugins/telemetry/telemetry.h
+                ${CMAKE_CURRENT_SOURCE_DIR}/plugins/gimbal/include/plugins/gimbal/gimbal.h
             --template ${CMAKE_CURRENT_SOURCE_DIR}/core/pydronecode_sdk.cpp.in
             --output ${CMAKE_CURRENT_BINARY_DIR}/core/pydronecode_sdk.cpp
             --verbose
@@ -86,6 +87,7 @@ if (PYTHON)
             ${CMAKE_CURRENT_SOURCE_DIR}/plugins/mission/include/plugins/mission/mission.h
             ${CMAKE_CURRENT_SOURCE_DIR}/plugins/mission/include/plugins/mission/mission_item.h
             ${CMAKE_CURRENT_SOURCE_DIR}/plugins/telemetry/include/plugins/telemetry/telemetry.h
+            ${CMAKE_CURRENT_SOURCE_DIR}/plugins/gimbal/include/plugins/gimbal/gimbal.h
             ${CMAKE_CURRENT_SOURCE_DIR}/core/pydronecode_sdk.cpp.in
         OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/core/pydronecode_sdk.cpp
         COMMENT "Generating code for pybind11."
@@ -101,6 +103,7 @@ if (PYTHON)
         dronecode_sdk_action
         dronecode_sdk_mission
         dronecode_sdk_telemetry
+        dronecode_sdk_gimbal
         ${CMAKE_THREAD_LIBS_INIT}
         ${CURL_LIBRARY}
         ${TINYXML2_LIBRARY}

diff --git a/generate_pybind_definition.py b/generate_pybind_definition.py
@@ -11,6 +11,9 @@ def debug(string):
     if verbose:
         print(string)
 
+class PluginParseException(Exception):
+    pass
+
 class Method(object):
     def __init__(self):
         self.return_type = ""
@@ -69,8 +72,7 @@ def parse_plugin_header(self, lines):
                     "async" in line or \
                     "class " + self.class_name in line or \
                     self.class_name + "()" in line or \
-                    "operator" in line or \
-                    "&rhs" in line:  # TODO: remove this hack
+                    "operator" in line:
                 continue
 
             if "struct {" in line:
@@ -116,7 +118,7 @@ def determine_class_name(self, lines):
                           format(self.class_name))
                     return
 
-        raise Exception("Could not find class name")
+        raise PluginParseException("Could not find class name")
 
     def find_method(self, part):
         # We ignore static methods for now.
@@ -127,7 +129,7 @@ def find_method(self, part):
         m = p.match(part)
         if m:
             if len(m.groups()) != 3:
-                raise Exception("Unknown number of groups {} for {}"
+                raise ("Unknown number of groups {} for {}"
                                 .format(m.groups(), part))
 
             new_method = Method()
@@ -155,7 +157,7 @@ def find_enum(self, part):
             new_enum.name = m.groups()[0]
             debug("Found enum name: '{}'".format(new_enum.name))
         else:
-            raise Exception("Could not parse enum name")
+            raise PluginParseException("Could not parse enum name")
 
         p = re.compile('([\w\d]*),')
         m = p.findall(part)
@@ -166,7 +168,7 @@ def find_enum(self, part):
             self.enums.append(new_enum)
             return True
         else:
-            raise Exception("Could not find enum entries")
+            raise PluginParseException("Could not find enum entries")
 
     def find_struct(self, part):
         if not 'struct' in part:
@@ -180,7 +182,7 @@ def find_struct(self, part):
             new_struct.name = m.groups()[0]
             debug("Found struct name: '{}'".format(new_struct.name))
         else:
-            raise Exception("Could not parse struct name")
+            raise PluginParseException("Could not parse struct name")
 
         p = re.compile('[\w\d]*\s*([\w\d]+);')
         m = p.findall(part)
@@ -191,16 +193,18 @@ def find_struct(self, part):
             self.structs.append(new_struct)
             return True
         else:
-            raise Exception("Could not parse struct fields")
+            raise PluginParseException("Could not parse struct fields")
 
 
 
     def parse_part(self, part):
-        debug("Parsing: '{}'".format(part))
-        if not self.find_method(part) and \
-                not self.find_enum(part) and \
-                not self.find_struct(part):
-            raise Exception("Could not parse '{}'".format(part))
+        try:
+            if self.find_method(part) or \
+                    self.find_enum(part) or \
+                    self.find_struct(part):
+                return
+        except PluginParseException as e:
+            print("Ignoring: '{}', error: {}".format(part, e))
 
 
     def get_pybind_entry(self):
@@ -209,7 +213,7 @@ def get_pybind_entry(self):
                 format(self.class_name)
             self.output += '        .def(py::init<System &>())\n'
         elif self.parent_name is not None:
-            raise Exception("Can't deal with parent other than PluginBase")
+            raise PluginParseException("Can't deal with parent other than PluginBase")
         elif self.class_name == 'MissionItem':
             # TODO: remove this gack for std::shared_ptr used
             #       to upload/download mission items.
@@ -253,7 +257,11 @@ def get_pybind_entry(self):
 
         return self.output
 
-
+def remove_newlines_inside_brackets(content):
+    return re.sub(r'\(.*?\)',
+                  lambda m: m.group().replace("\n", " "),
+                  content,
+                  flags=re.DOTALL)
 
 def main():
 
@@ -283,7 +291,9 @@ def main():
     for header in args.headers:
         includes += '#include "{}"\n'.format(header)
         with open(header, "r") as f:
-            lines = f.readlines()
+            content = f.read()
+            content = remove_newlines_inside_brackets(content)
+            lines = content.splitlines()
 
             header_parser = HeaderParser()
             header_parser.parse_plugin_header(lines)

diff --git a/plugins/gimbal/include/plugins/gimbal/gimbal.h b/plugins/gimbal/include/plugins/gimbal/gimbal.h
@@ -38,7 +38,7 @@ class Gimbal : public PluginBase {
      * @brief Possible results returned for gimbal commands.
      */
     enum class Result {
-        SUCCESS = 0, /**< @brief Success. The gimbal command was accepted. */
+        SUCCESS, /**< @brief Success. The gimbal command was accepted. */
         ERROR, /**< @brief Error. An error occured sending the command. */
         TIMEOUT, /**< @brief Timeout. A timeout occured sending the command. */
         UNKNOWN /**< @brief Unspecified error. */