started switching to pybind

braincorp · Jun 7, 2019 · 445a1f4 · 445a1f4
1 parent eefbda7
commit 445a1f4
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Showing 19 changed files with 624 additions and 154 deletions.
diff --git a/.gitignore b/.gitignore
@@ -5,4 +5,7 @@
 **.cache
 **build
 **bin
-**.egg-info
+**.egg-info
+**lib
+**.so
+**.a
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "deps/pybind11"]
+	path = deps/pybind11
+	url = https://github.com/pybind/pybind11.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(bc_exploration)
+
+set(CMAKE_BUILD_TYPE RELEASE)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bc_exploration)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1y -O3 -Wall -fpic")
+
+# find current version of python 2.7
+execute_process(
+        COMMAND "python2.7" -c "from distutils import sysconfig; print(sysconfig.get_python_inc())"
+        OUTPUT_VARIABLE PYTHON_INCLUDE_DIRS
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+include_directories(
+    ${PYTHON_INCLUDE_DIRS}
+    "${PROJECT_SOURCE_DIR}/bc_exploration/cpp/inc/"
+    "${PROJECT_SOURCE_DIR}/deps/pybind11/include"
+)
+
+set(SOURCE_FILES
+        bc_exploration/cpp/src/exploration/astar.cpp
+        bc_exploration/cpp/src/exploration/collision.cpp
+        bc_exploration/cpp/src/exploration/util.cpp
+        )
+
+#add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES})
+
+add_library(exploration_module SHARED ${PROJECT_SOURCE_DIR} ${SOURCE_FILES} bc_exploration/cpp/src/exploration/python.cpp)
+target_link_libraries(exploration_module ${PYTHON_LIBRARIES})
+set_target_properties(exploration_module PROPERTIES SUFFIX ".so" PREFIX "_")
diff --git a/bc_exploration/cpp/CMakeLists.txt b/bc_exploration/cpp/CMakeLists.txt
@@ -1,10 +1,31 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(astar_cpp)
+project(bc_exploration)
+
 set(CMAKE_BUILD_TYPE RELEASE)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -Wall -shared -fpic")
-set(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/../)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1y -O3 -Wall -fpic")
+
+# find current version of python 2.7
+execute_process(
+        COMMAND "python2.7" -c "from distutils import sysconfig; print(sysconfig.get_python_inc())"
+        OUTPUT_VARIABLE PYTHON_INCLUDE_DIRS
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+include_directories(
+        ${PYTHON_INCLUDE_DIRS}
+        "${PROJECT_SOURCE_DIR}/inc/"
+        "${PROJECT_SOURCE_DIR}../../deps/pybind11/include"
+)
+
+set(SOURCE_FILES
+        src/exploration/astar.cpp
+        src/exploration/collision.cpp
+        src/exploration/util.cpp
+        )
 
-file(GLOB all_files "inc/exploration/*.h" "src/exploration/*.cpp")
+#add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES})
 
-add_library(exploration SHARED ${all_files})
-set_target_properties(exploration PROPERTIES SUFFIX ".so" PREFIX "")
+add_library(exploration_module SHARED ${PROJECT_SOURCE_DIR} ${SOURCE_FILES} src/exploration/python.cpp)
+target_link_libraries(exploration_module ${PYTHON_LIBRARIES})
+set_target_properties(exploration_module PROPERTIES SUFFIX ".so" PREFIX "_")
diff --git a/bc_exploration/cpp/inc/exploration/astar.h b/bc_exploration/cpp/inc/exploration/astar.h
@@ -6,6 +6,12 @@
 #include <cmath>
 #include <stack>
 #include <vector>
+#include <stdexcept>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/numpy.h>
+#include <pybind11/stl.h>
+#include <pybind11/functional.h>
 
 #include "collision.h"
 
@@ -16,22 +22,19 @@ struct Node {
   Node(const float f, const int idx) : f(f), idx(idx) {}
 };
 
-bool operator>(const Node &n1, const Node &n2) {
-  return n1.f > n2.f;
-}
+bool operator>(const Node &n1, const Node &n2);
 
 extern "C" bool astar(const int* start, const int* goal,
                       const uint8_t* occupancy_map, const int* map_shape, int planning_scale,
                       const uint8_t* obstacle_values, int num_obstacle_values,
                       float delta, float epsilon, bool allow_diagonal,
                       int* path);
 
-extern "C" void get_astar_angles(float* angles);
+std::vector<float> get_astar_angles();
 
-extern "C" bool oriented_astar(const int* start, const int* goal,
-                               const uint8_t* occupancy_map, const int* map_shape, int costmap_scale,
-                               const bool* footprint_masks, const float* mask_angles, int mask_radius,
-                               const int* outline_coords, int num_coords,
-                               const uint8_t* obstacle_values, int num_obstacle_values,
-                               float delta, float epsilon, bool allow_diagonal,
-                               int* path_idxs, float* path_angles);
+std::tuple<bool, std::vector<int>, std::vector<float>> oriented_astar(const int* start, const int* goal,
+                                              const uint8_t* occupancy_map, const int* map_shape,  int planning_scale,
+                                              const bool* footprint_masks, const float* mask_angles, int mask_radius,
+                                              const int* outline_coords, int num_coords,
+                                              const uint8_t* obstacle_values, int num_obstacle_values,
+                                              float delta, float epsilon, bool allow_diagonal);
diff --git a/bc_exploration/cpp/inc/exploration/collision.h b/bc_exploration/cpp/inc/exploration/collision.h
@@ -2,7 +2,20 @@
 
 #include <iostream>
 
+#include <pybind11/pybind11.h>
+#include <pybind11/numpy.h>
+#include <pybind11/stl.h>
+#include <pybind11/functional.h>
+#include "safe_array.h"
+
 extern "C" bool check_for_collision(const int* position, const uint8_t* occupancy_map, const int* map_shape,
                                     const bool* footprint_mask, int mask_radius,
                                     const int* outline_coords, int num_coords,
-                                    const uint8_t* obstacle_values, int num_obstacle_values);
+                                    const uint8_t* obstacle_values, int num_obstacle_values);
+
+
+bool check_for_collision2(pybind11::safe_array<int, 1> position,
+                         pybind11::safe_array<uint8_t, 2> occupancy_map,
+                         pybind11::safe_array<bool, 2> footprint_mask,
+                         pybind11::safe_array<int, 2> outline_coords,
+                         pybind11::safe_array<uint8_t, 1> obstacle_values);