// extenstions to convert C# Xamla.Robotics.Types to Python Xamla.Robotics.Types
public static PyObject ToPython(this JointSet obj)
{
PyObject jointNames = PyConvert.ToPyObject(obj.ToArray());
using (Py.GIL())
{
return(pyXamlaMotionTypes.JointSet(jointNames));
}
}
public static PyObject ToPython(this JointValues obj)
{
PyObject jointSet = obj.JointSet.ToPython();
PyObject values = PyConvert.ToPyObject(obj.Values);
using (Py.GIL())
{
return(pyXamlaMotionTypes.JointValues(jointSet, values));
}
}
public static PyObject ToPython(this JointStates obj)
{
var positions = PyConvert.ToPyObject(obj.Positions);
var velocities = PyConvert.ToPyObject(obj.Velocities);
var efforts = PyConvert.ToPyObject(obj.Efforts);
using (Py.GIL())
{
return(pyXamlaMotionTypes.JointStates(positions, velocities, efforts));
}
}
public static PyObject ToPython(this TimeSpan obj)
{
var days = PyConvert.ToPyObject(obj.Days);
var seconds = PyConvert.ToPyObject(obj.Hours * 3600 + obj.Minutes * 60 + obj.Seconds);
var microseconds = PyConvert.ToPyObject(obj.Milliseconds * 1000);
using (Py.GIL())
{
return(pyDateTime.timedelta(days: days, seconds: seconds, microseconds: microseconds));
}
}
public static PyObject ToPython(this CollisionPrimitive obj)
{
var kindInt = PyConvert.ToPyObject((int)obj.Kind);
var parameters = PyConvert.ToPyObject(obj.Parameters);
var pose = PyConvert.ToPyObject(obj.Pose);
using (Py.GIL())
{
var kind = pyXamlaMotionTypes.CollisionPrimitiveKind(kindInt);
return(pyXamlaMotionTypes.CollisionPrimitive(kind, parameters, pose));
}
}
public static PyObject ToPython(this CartesianPath obj)
{
using (Py.GIL())
{
var poses = new PyList();
foreach (var p in obj)
{
poses.Append(PyConvert.ToPyObject(p));
}
return(pyXamlaMotionTypes.CartesianPath(poses));
}
}
public static PyObject ToPython(this JointTrajectoryPoint obj)
{
var timeFromStart = PyConvert.ToPyObject(obj.TimeFromStart);
var positions = PyConvert.ToPyObject(obj.Positions);
var velocities = PyConvert.ToPyObject(obj.Velocities);
var accelerations = PyConvert.ToPyObject(obj.Accelerations);
var efforts = PyConvert.ToPyObject(obj.Effort);
using (Py.GIL())
{
return(pyXamlaMotionTypes.JointTrajectoryPoint(timeFromStart, positions, velocities, accelerations, efforts));
}
}
public static PyObject ToPython(this CollisionObject obj)
{
var frame = PyConvert.ToPyObject(obj.Frame);
using (Py.GIL())
{
var primitives = new PyList();
foreach (var p in obj.Primitives)
{
primitives.Append(PyConvert.ToPyObject(p));
}
return(pyXamlaMotionTypes.CollisionObject(primitives, frame));
}
}
public static PyObject ToPython(this JointPath obj)
{
var jointSet = PyConvert.ToPyObject(obj.JointSet);
using (Py.GIL())
{
var jointValues = new PyList();
foreach (var v in obj)
{
jointValues.Append(PyConvert.ToPyObject(v));
}
return(pyXamlaMotionTypes.JointPath(jointSet, jointValues));
}
}
public static PyObject ToPython(this JointTrajectory obj)
{
var jointSet = PyConvert.ToPyObject(obj.JointSet);
using (Py.GIL())
{
var points = new PyList();
foreach (var p in obj)
{
points.Append(PyConvert.ToPyObject(p));
}
return(pyXamlaMotionTypes.JointTrajectory(jointSet, points));
}
}
private PyObject[] CreateArguments(object[] inputs, int firstArgIndex)
{
var args = new PyObject[argumentPins.Count];
if (firstArgIndex + args.Length != inputs.Length)
{
throw new Exception("Invalid argument count");
}
for (int i = 0; i < args.Length; i++)
{
var x = inputs[firstArgIndex + i];
args[i] = PyConvert.ToPyObject(x);
}
return(args);
}
public static PyObject ToPython(this PlanParameters obj)
{
var nullObject = new object();
nullObject = null;
var none = nullObject.ToPython();
var moveGroupName = PyConvert.ToPyObject(obj.MoveGroupName);
var jointSet = PyConvert.ToPyObject(obj.JointSet);
var maxVelocity = PyConvert.ToPyObject(obj.MaxVelocity);
var maxAcceleration = PyConvert.ToPyObject(obj.MaxAcceleration);
var sampleResolution = PyConvert.ToPyObject(obj.SampleResolution);
var collisionCheck = PyConvert.ToPyObject(obj.CollisionCheck);
var maxDeviation = PyConvert.ToPyObject(obj.MaxDeviation);
using (Py.GIL())
{
return(pyXamlaMotionTypes.PlanParameters.from_arguments(moveGroupName, jointSet, maxVelocity, maxAcceleration, none, none,
sample_resolution: sampleResolution, collisionCheck: collisionCheck,
max_devitation: maxDeviation));
}
}
public object Run(
[InputPin(Name = "caption", Description = "The caption of this module", PropertyMode = PropertyMode.Always, Editor = WellKnownEditors.SingleLineText)] string caption,
[InputPin(Name = "expression", Description = "The Python expression", PropertyMode = PropertyMode.Always, Editor = WellKnownEditors.SingleLineText)] string expression,
[InputPin(Name = "useMainThread", Description = "Whether to run the code on the Python main thread", PropertyMode = PropertyMode.Always, Editor = WellKnownEditors.CheckBox, DefaultValue = "false")] bool useMainThread,
[InputPin(Name = "input", Description = "These are the inputs for the expression", PropertyMode = PropertyMode.Never)] params object[] inputs
)
{
object evalBlock()
{
using (PyScope ps = Py.CreateScope())
{
int i = 0;
foreach (var inputPin in this.dynamicInputPin.Pins)
{
if (inputPin.Connections.Any())
{
ps.Set(inputPin.Id, PyConvert.ToPyObject(inputs[i]));
}
i++;
}
ps.Set(dynamicInputPin.Alias + "s", inputs);
PyObject evalResult = ps.Eval(expression);
return(PyConvert.ToClrObject(evalResult, typeof(object)));
}
}
if (useMainThread)
{
return(mainThread.EvalSync(evalBlock));
}
else
{
using (Py.GIL())
{
return(evalBlock());
}
}
}
