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Non-Swig Python API (cyberbotics#5297)
* simplified * Support more field operations * swiched API to PEP8 snake case * ENU fix * Update ansi_codes.c * Update __init__.py * Update ansi_codes.py * Update WB_CONSTANTS.py * Update camera.py * Update constants.py * Update distance_sensor.py * Update emitter.py * Update field.py * Update keyboard.py * Update motor.py * Update node.py * Update receiver.py * Update wb.py * Update mybot_simple.py * Update robot.py * Update sensor.py * Update supervisor.py * Fixed line endings * Fixed line endings * useless * progress with old API implementation * Working mybot_simple with legacy API * slave.py working with legacy API * progress with driver.py legacy support * Fixed imports * Fully working python example with legacy API * cleanup * clean-up * clean-up * Update mybot.wbt * Update .mybot.wbproj * Disabled old PYTHONPATH * Removed python swig build system * updated distribution and synchronization scripts * Led support * Support for accelerometer * Altimeter * Brake * Brake * Camera (unfinished) * Working camera example * Support for non-ascii user folders * Working camera_auto_focus * PEP8 * camera_recognition working * compass * connector * display * Display sample code * working display * clean-up * camera segmentation * Fixed lookup_table * distance sensor * emitter * gps * Better receiver * GPS & Receiver * Added deprecation message for Receiver.getData * gps * Better emitter * GPS examples * Support for tuples in emitter * gyro * InertialUnit * improved description * fixed restypes * Better parameter naming * Progress with Lidar * Update connector.py * Update connector.py * Update display.py * Update distance_sensor.py * Lidar (preliminary) * Fixed Camera.getImageArray * completed lidar * light sensor * Fixed line ending for lidar_point.py * Fixed PEP8 * Added battery support * motor * Removed python vehicle libraries * Removed Darwin-OP python manager library * motor * pen * position sensor * Propeller example * radar * RangeFinder * receiver * skin * speaker * bumper * force/force3d demos * Added mouse, keyboard and joystick * Fixed mouse * robot * supervisor node and field APIs * supervisor * Vehicle libraries skeleton * fixed line ending * Removed python library for manager * Motion API * Various fixes * Removed duplicates * Supervisor example * Fixed retrival of contact points * Fixed mouse * removed debug statement * Progress with Driver API * Increased robustness of node/field APIs * Progress with driver API * Progress with driver API * Driver API * Car API * replaced marathon Python controller with a C++ controller * battery device example * Coupled motors * display supervisor * encoders * hinge_joint_with_backlash * Removed binary controller: sick_cloud_point * clang-format * pep8 * Cross platform shared library loader * Updated change log * Cross-platform libcar/libdriver * Update driver.py * Added creation of python soft link on macOS installation * Update projects/samples/devices/controllers/altimeter/altimeter.py Co-authored-by: Benjamin Délèze <[email protected]> * Added missing methods * Fixed missing type annotation * Fixed missing setExposure method * Fixed return data type * Fixed Camera.getImageArray * Fixed Camera.getRecognitionSegmentationImageArray * Fixed example to use documented methods instead of getters * Update projects/samples/devices/controllers/compass/compass.py Co-authored-by: Benjamin Délèze <[email protected]> * Update projects/samples/devices/controllers/connector/connector.py Co-authored-by: Benjamin Délèze <[email protected]> * Fixed display polygon methods * Update projects/samples/robotbenchmark/humanoid_marathon/controllers/marathon/marathon.cpp Co-authored-by: Benjamin Délèze <[email protected]> * Update projects/samples/robotbenchmark/humanoid_marathon/controllers/marathon/marathon.cpp Co-authored-by: Benjamin Délèze <[email protected]> * Fixed missing Makefile target (marathon) * Update projects/samples/devices/controllers/emitter_receiver/emitter_receiver.py Co-authored-by: Benjamin Délèze <[email protected]> * Fixed emitter_receiver example * Fixed emitter range * type annotation clean-up * Added missing return type annotation * Add missing camera method to fix nao_demo_python * Remove debug statements in lidar example * Fixed Lidar.getLayerRangeImage * Fixed light sensor lookup table retrieval method * Fixed motor missing return values * Fixed missing PositionSensor.getType method * Update lib/controller/python/controller/range_finder.py Co-authored-by: Benjamin Délèze <[email protected]> * Receiver.getDataSize() * Fixed Lidar.getFrequency() * Fixed lidar example * Added lidar point cloud example * Fixed Lidar.getLayerPointCloud * Fixed setting of PYTHON_HOME path * Fixed PYTHON_PATH in Windows workflows * Fixed mouse state * Fixed Supervisor.getFromProtoDef * Fix LightSensor.getLookupTable * Fixed Camera.get*ImageArray() methods * Added default value for Robot.getUrdf() * Fixed support for Python versions > 10 * Update WbLanguageTools.cpp * Fixed compilation on macOS * Update src/webots/control/WbLanguageTools.cpp Co-authored-by: Yannick Goumaz <[email protected]> * Updated extern controller documentation * Update lib/controller/python/vehicle/driver.py Co-authored-by: Yannick Goumaz <[email protected]> * Update lib/controller/python/vehicle/driver.py Co-authored-by: Yannick Goumaz <[email protected]> * Update lib/controller/python/vehicle/driver.py Co-authored-by: Yannick Goumaz <[email protected]> * Update lib/controller/python/vehicle/driver.py Co-authored-by: Yannick Goumaz <[email protected]> Co-authored-by: Benjamin Délèze <[email protected]> Co-authored-by: Yannick Goumaz <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| # Copyright 1996-2022 Cyberbotics Ltd. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| from controller.field import Field # noqa | ||
| from controller.node import Node # noqa | ||
| from controller.ansi_codes import AnsiCodes # noqa | ||
| from controller.accelerometer import Accelerometer # noqa | ||
| from controller.altimeter import Altimeter # noqa | ||
| from controller.brake import Brake # noqa | ||
| from controller.camera import Camera # noqa | ||
| from controller.compass import Compass # noqa | ||
| from controller.connector import Connector # noqa | ||
| from controller.display import Display # noqa | ||
| from controller.distance_sensor import DistanceSensor # noqa | ||
| from controller.emitter import Emitter # noqa | ||
| from controller.gps import GPS # noqa | ||
| from controller.gyro import Gyro # noqa | ||
| from controller.inertial_unit import InertialUnit # noqa | ||
| from controller.led import LED # noqa | ||
| from controller.lidar import Lidar # noqa | ||
| from controller.light_sensor import LightSensor # noqa | ||
| from controller.motor import Motor # noqa | ||
| from controller.position_sensor import PositionSensor # noqa | ||
| from controller.radar import Radar # noqa | ||
| from controller.range_finder import RangeFinder # noqa | ||
| from controller.receiver import Receiver # noqa | ||
| from controller.robot import Robot # noqa | ||
| from controller.skin import Skin # noqa | ||
| from controller.speaker import Speaker # noqa | ||
| from controller.supervisor import Supervisor # noqa | ||
| from controller.touch_sensor import TouchSensor # noqa | ||
| from controller.keyboard import Keyboard # noqa | ||
| from controller.mouse import Mouse # noqa | ||
| from controller.mouse import MouseState # noqa | ||
| from controller.joystick import Joystick # noqa | ||
| from controller.motion import Motion # noqa |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| # Copyright 1996-2022 Cyberbotics Ltd. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| from controller.sensor import Sensor | ||
| from controller.wb import wb | ||
| import ctypes | ||
| import typing | ||
|
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| class Accelerometer(Sensor): | ||
| wb.wb_accelerometer_get_values.restype = ctypes.POINTER(ctypes.c_double) | ||
| wb.wb_accelerometer_get_lookup_table.restype = ctypes.POINTER(ctypes.c_double) | ||
|
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||
| def __init__(self, name: typing.Union[str, int], sampling_period: int = None): | ||
| self._enable = wb.wb_accelerometer_enable | ||
| self._get_sampling_period = wb.wb_accelerometer_get_sampling_period | ||
| super().__init__(name, sampling_period) | ||
|
|
||
| def getValues(self) -> typing.List[float]: | ||
| return self.value | ||
|
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||
| def getLookupTable(self) -> typing.List[float]: | ||
| return self.lookup_table | ||
|
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| @property | ||
| def lookup_table(self) -> typing.List[float]: | ||
| size = wb.wb_accelerometer_get_lookup_table_size(self._tag) | ||
| return wb.wb_accelerometer_get_lookup_table(self._tag)[: 3 * size] | ||
|
|
||
| @property | ||
| def value(self) -> typing.List[float]: | ||
| return wb.wb_accelerometer_get_values(self._tag)[:3] |
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