From d6d310fdd13c11382f37faca6a0c20b361ae9c40 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Wed, 4 Apr 2018 10:42:51 -0600
Subject: Added python binding

---
 bindings/python/Makefile      |  7 ++++
 bindings/python/example.py    | 13 +++++++
 bindings/python/libsurvive.py | 83 +++++++++++++++++++++++++++++++++++++++++++
 3 files changed, 103 insertions(+)
 create mode 100644 bindings/python/Makefile
 create mode 100644 bindings/python/example.py
 create mode 100644 bindings/python/libsurvive.py

(limited to 'bindings')

diff --git a/bindings/python/Makefile b/bindings/python/Makefile
new file mode 100644
index 0000000..d3f846e
--- /dev/null
+++ b/bindings/python/Makefile
@@ -0,0 +1,7 @@
+_libsurvive.so: ../../lib/libsurvive.so
+	cp ../../lib/libsurvive.so _libsurvive.so
+
+../../lib/libsurvive.so: .always
+	cd ../.. && make clean all 
+
+.always:
diff --git a/bindings/python/example.py b/bindings/python/example.py
new file mode 100644
index 0000000..5454fbc
--- /dev/null
+++ b/bindings/python/example.py
@@ -0,0 +1,13 @@
+import libsurvive
+import sys
+
+actx = libsurvive.AsyncContext(sys.argv)
+
+for obj in actx.Objects():
+    print(obj.Name())
+
+while actx.Running():
+    updated = actx.NextUpdated()
+    if updated:
+        print(updated.Name(), updated.Pose())
+
diff --git a/bindings/python/libsurvive.py b/bindings/python/libsurvive.py
new file mode 100644
index 0000000..1cf9b67
--- /dev/null
+++ b/bindings/python/libsurvive.py
@@ -0,0 +1,83 @@
+import ctypes
+
+_libsurvive = ctypes.CDLL('./_libsurvive.so')
+LP_c_char = ctypes.POINTER(ctypes.c_char)
+LP_LP_c_char = ctypes.POINTER(LP_c_char)
+
+_libsurvive.survive_async_init.argtypes = (ctypes.c_int, LP_LP_c_char) # argc, argv
+_libsurvive.survive_async_init.restype = ctypes.c_void_p
+
+_libsurvive.survive_async_get_next_tracked.argtypes = [ctypes.c_void_p, ctypes.c_void_p]
+_libsurvive.survive_async_get_next_tracked.restype = ctypes.c_void_p
+
+_libsurvive.survive_async_get_first_tracked.argtypes = [ctypes.c_void_p]
+_libsurvive.survive_async_get_first_tracked.restype = ctypes.c_void_p
+
+_libsurvive.survive_async_get_next_updated.argtypes = [ctypes.c_void_p]
+_libsurvive.survive_async_get_next_updated.restype = ctypes.c_void_p
+
+_libsurvive.survive_async_object_name.argtypes = [ ctypes.c_void_p ]
+_libsurvive.survive_async_object_name.restype = ctypes.c_char_p
+
+_libsurvive.survive_async_is_running.argtypes = [ctypes.c_void_p]
+_libsurvive.survive_async_is_running.restype = ctypes.c_bool
+
+_libsurvive.survive_async_start_thread.argtypes = [ctypes.c_void_p]
+_libsurvive.survive_async_start_thread.restype = None
+
+class SurvivePose(ctypes.Structure):
+    _fields_ = [
+        ('Pos', ctypes.c_double * 3),
+        ('Rot', ctypes.c_double * 4)
+    ]
+    def __repr__(self):
+        return '[{0} {1} {2}], [{3} {4} {5} {6}]'.format(self.Pos[0],self.Pos[1],self.Pos[2],self.Rot[0],self.Rot[1],self.Rot[2],self.Rot[3])
+
+    
+_libsurvive.survive_async_object_get_latest_pose.argtypes = [ctypes.c_void_p, ctypes.POINTER(SurvivePose)]
+_libsurvive.survive_async_object_get_latest_pose.restype = ctypes.c_uint
+
+class AsyncObject:
+    ptr = 0
+    def __init__(self, ptr):
+        self.ptr = ptr
+        
+    def Name(self):
+        return _libsurvive.survive_async_object_name(self.ptr)
+
+    def Pose(self):
+        pose = SurvivePose()
+        time = _libsurvive.survive_async_object_get_latest_pose(self.ptr, pose)
+        return (pose, time)
+    
+class AsyncContext:
+    ptr = 0
+    objects = []
+    
+    def __init__(self, args):
+        argc = len(args)
+        argv = (LP_c_char * (argc + 1))()
+        for i, arg in enumerate(args):
+            enc_arg = arg.encode('utf-8')
+            argv[i] = ctypes.create_string_buffer(enc_arg)
+        self.ptr = _libsurvive.survive_async_init(argc, argv)
+        
+        self.objects = []
+        curr = _libsurvive.survive_async_get_first_tracked(self.ptr);
+        while curr:
+            self.objects.append(AsyncObject(curr))
+            curr = _libsurvive.survive_async_get_next_tracked(self.ptr, curr);
+        _libsurvive.survive_async_start_thread(self.ptr)
+            
+    def Objects(self):
+        return self.objects
+
+    def Running(self):
+        return _libsurvive.survive_async_is_running(self.ptr)
+
+    def NextUpdated(self):
+        ptr = _libsurvive.survive_async_get_next_updated(self.ptr)
+        if ptr:
+            return AsyncObject(ptr)
+        return None
+
-- 
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