espp/lib/python_bindings/module.cpp at main · esp-cpp/espp · GitHub

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#include <pybind11/pybind11.h>

#define STRINGIFY(x) #x

#define MACRO_STRINGIFY(x) STRINGIFY(x)

namespace py = pybind11;

void py_init_module_espp(py::module &m);

// Hand-written bindings for the `rtps` component (see rtps_bindings.cpp for why they are not

// generated). Must run after py_init_module_espp so shared types (e.g. Logger::Verbosity) and the

// module's classes are already registered. The cdr component has no python bindings: its C++ API

// is template-based, and the python side of a message is a plain pycdr2 dataclass instead (see

// the cdr component README).

void py_init_rtps(py::module &m);

// Hand-written bindings for espp::SocketReactor (litgen cannot parse it; see

// socket_reactor_bindings.cpp). Runs after py_init_module_espp so UdpSocket / Socket::Info /

// Logger::Verbosity are already registered.

void py_init_socket_reactor(py::module &m);

// Hand-written bindings for espp::OdriveNative + the fibre stream framing helpers (std::function

// accessors with std::error_code& and std::span wire APIs; see odrive_native_bindings.cpp). Runs

// after py_init_module_espp so Logger::Verbosity is already registered.

void py_init_odrive_native(py::module &m);

// This builds the native python extension module `espp._espp`, which the

// `espp` python package (python_bindings/espp/__init__.py) re-exports.

PYBIND11_MODULE(_espp, m) {

#ifdef VERSION_INFO

m.attr("__version__") = MACRO_STRINGIFY(VERSION_INFO);

#else

m.attr("__version__") = "dev";

#endif

py_init_module_espp(m);

py_init_rtps(m);

py_init_socket_reactor(m);

py_init_odrive_native(m);

}

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