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framework_py.cc
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framework_py.cc
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#include <pybind11/eigen.h>
#include <pybind11/eval.h>
#include <pybind11/functional.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include "drake/common/nice_type_name.h"
#include "drake/systems/framework/abstract_values.h"
#include "drake/systems/framework/basic_vector.h"
#include "drake/systems/framework/context.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_context.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/framework/output_port_value.h"
#include "drake/systems/framework/subvector.h"
#include "drake/systems/framework/supervector.h"
#include "drake/systems/framework/system.h"
namespace py = pybind11;
using std::make_unique;
using std::unique_ptr;
using std::vector;
PYBIND11_MODULE(framework, m) {
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake;
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::systems;
// Aliases for commonly used return value policies.
// `py_ref` is used when `keep_alive` is explicitly used (e.g. for extraction
// methods, like `GetMutableSubsystemState`).
auto py_ref = py::return_value_policy::reference;
// `py_iref` is used when pointers / lvalue references are returned (no need
// for `keep_alive`, as it is implicit.
auto py_iref = py::return_value_policy::reference_internal;
m.doc() = "Bindings for the core Systems framework.";
// TODO(eric.cousineau): At present, we only bind doubles.
// In the future, we will bind more scalar types, and enable scalar
// conversion.
using T = double;
// TODO(eric.cousineau): Resolve `str_py` workaround.
auto str_py = py::eval("str");
py::setattr(m, "kAutoSize", py::cast(kAutoSize));
py::enum_<PortDataType>(m, "PortDataType")
.value("kVectorValued", kVectorValued)
.value("kAbstractValued", kAbstractValued);
class PySystem : public py::wrapper<System<T>> {
public:
using Base = py::wrapper<System<T>>;
using Base::Base;
// Expose protected methods.
using Base::DeclareInputPort;
};
// TODO(eric.cousineau): Show constructor, but somehow make sure `pybind11`
// knows this is abstract?
py::class_<System<T>, PySystem>(m, "System")
.def("set_name", &System<T>::set_name)
// Topology.
.def("get_input_port", &System<T>::get_input_port, py_iref)
.def("get_output_port", &System<T>::get_output_port, py_iref)
.def(
"DeclareInputPort",
[](PySystem* self, PortDataType arg1, int arg2) -> auto&& {
return self->DeclareInputPort(arg1, arg2);
}, py_iref)
// Context.
.def("CreateDefaultContext", &System<T>::CreateDefaultContext)
.def("AllocateOutput", &System<T>::AllocateOutput)
.def(
"EvalVectorInput",
[](const System<T>* self, const Context<T>& arg1, int arg2) {
return self->EvalVectorInput(arg1, arg2);
}, py_iref)
.def("CalcOutput", &System<T>::CalcOutput)
// Sugar.
.def(
"GetGraphvizString",
[str_py](const System<T>* self) {
// @note This is a workaround; for some reason,
// casting this using `py::str` does not work, but directly
// calling the Python function (`str_py`) does.
return str_py(self->GetGraphvizString());
});
class PyLeafSystem : public py::wrapper<LeafSystem<T>> {
public:
using Base = py::wrapper<LeafSystem<T>>;
using Base::Base;
// Expose protected methods.
using Base::DeclareVectorOutputPort;
};
// Don't use a const-rvalue, as pybind11 wants to copy it???
using CalcVectorPtrCallback =
std::function<void(const Context<T>*, BasicVector<T>*)>;
py::class_<LeafSystem<T>, PyLeafSystem, System<T>>(m, "LeafSystem")
.def(py::init<>())
.def(
"DeclareVectorOutputPort",
[](PyLeafSystem* self, const BasicVector<T>& arg1,
CalcVectorPtrCallback arg2) -> auto&& {
typename LeafOutputPort<T>::CalcVectorCallback wrapped =
[arg2](const Context<T>& nest_arg1, BasicVector<T>* nest_arg2) {
return arg2(&nest_arg1, nest_arg2);
};
return self->DeclareVectorOutputPort(arg1, wrapped);
}, py_iref);
py::class_<Context<T>>(m, "Context")
.def("get_num_input_ports", &Context<T>::get_num_input_ports)
.def("FixInputPort",
py::overload_cast<int, unique_ptr<BasicVector<T>>>(
&Context<T>::FixInputPort))
.def("get_time", &Context<T>::get_time)
.def("Clone", &Context<T>::Clone)
.def("__copy__", &Context<T>::Clone)
.def("get_state", &Context<T>::get_state, py_iref)
.def("get_mutable_state", &Context<T>::get_mutable_state, py_iref);
py::class_<LeafContext<T>, Context<T>>(m, "LeafContext");
py::class_<Diagram<T>, System<T>>(m, "Diagram")
.def("GetMutableSubsystemState",
[](Diagram<T>* self, const System<T>& arg1, Context<T>* arg2)
-> auto&& {
// @note Use `auto&&` to get perfect forwarding.
// @note Compiler does not like `py::overload_cast` with this setup?
return self->GetMutableSubsystemState(arg1, arg2);
}, py_ref, py::keep_alive<0, 3>());
// Glue mechanisms.
py::class_<DiagramBuilder<T>>(m, "DiagramBuilder")
.def(py::init<>())
.def(
"AddSystem",
[](DiagramBuilder<T>* self, unique_ptr<System<T>> arg1) {
return self->AddSystem(std::move(arg1));
})
.def("Connect",
py::overload_cast<const OutputPort<T>&, const InputPortDescriptor<T>&>(
&DiagramBuilder<T>::Connect))
.def("ExportInput", &DiagramBuilder<T>::ExportInput)
.def("ExportOutput", &DiagramBuilder<T>::ExportOutput)
.def("Build", &DiagramBuilder<T>::Build)
.def("BuildInto", &DiagramBuilder<T>::BuildInto);
py::class_<OutputPort<T>>(m, "OutputPort");
py::class_<SystemOutput<T>>(m, "SystemOutput")
.def("get_num_ports", &SystemOutput<T>::get_num_ports)
.def("get_vector_data", &SystemOutput<T>::get_vector_data, py_iref);
py::class_<InputPortDescriptor<T>>(m, "InputPortDescriptor");
// Value types.
py::class_<VectorBase<T>>(m, "VectorBase")
.def("CopyToVector", &VectorBase<T>::CopyToVector)
.def("SetFromVector", &VectorBase<T>::SetFromVector);
py::class_<BasicVector<T>, VectorBase<T>>(m, "BasicVector")
.def(py::init<int>())
.def(py::init<VectorX<T>>())
.def("get_value", &BasicVector<T>::get_value)
.def("get_mutable_value", &BasicVector<T>::get_mutable_value);
py::class_<Supervector<T>, VectorBase<T>>(m, "Supervector");
py::class_<Subvector<T>, VectorBase<T>>(m, "Subvector");
// TODO(eric.cousineau): Interfacing with the C++ abstract value types may be
// a tad challenging. This should be more straightforward once
// scalar-type conversion is supported, as the template-exposure mechanisms
// should be relatively similar.
py::class_<AbstractValue>(m, "AbstractValue");
// Parameters.
// TODO(eric.cousineau): Fill this out.
py::class_<Parameters<T>>(m, "Parameters");
// State.
py::class_<State<T>>(m, "State")
.def(py::init<>())
.def("get_continuous_state",
&State<T>::get_continuous_state, py_iref)
.def("get_mutable_continuous_state",
&State<T>::get_mutable_continuous_state, py_iref)
.def("get_discrete_state",
&State<T>::get_discrete_state, py_iref);
// - Constituents.
py::class_<ContinuousState<T>>(m, "ContinuousState")
.def(py::init<>())
.def("get_vector", &ContinuousState<T>::get_vector, py_iref)
.def("get_mutable_vector",
&ContinuousState<T>::get_mutable_vector, py_iref);
py::class_<DiscreteValues<T>>(m, "DiscreteValues")
.def("num_groups", &DiscreteValues<T>::num_groups)
.def("get_data", &DiscreteValues<T>::get_data, py_iref);
py::class_<AbstractValues>(m, "AbstractValues");
}