diff --git a/src/Mod/Robot/App/AppRobot.cpp b/src/Mod/Robot/App/AppRobot.cpp index 0f961b0f0..999646875 100644 --- a/src/Mod/Robot/App/AppRobot.cpp +++ b/src/Mod/Robot/App/AppRobot.cpp @@ -29,9 +29,12 @@ #include #include +#include +#include #include "Robot6AxisPy.h" #include "Robot6Axis.h" +#include "Simulation.h" #include "TrajectoryPy.h" #include "Trajectory.h" #include "PropertyTrajectory.h" @@ -43,15 +46,50 @@ #include "TrajectoryCompound.h" #include "TrajectoryDressUpObject.h" -extern struct PyMethodDef Robot_methods[]; +namespace Robot { +class Module : public Py::ExtensionModule +{ +public: + Module() : Py::ExtensionModule("Robot") + { + add_varargs_method("simulateToFile",&Module::simulateToFile, + "simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file." + ); + initialize("This module is the Robot module."); // register with Python + } -PyDoc_STRVAR(module_Robot_doc, -"This module is the Robot module."); + virtual ~Module() {} + +private: + Py::Object simulateToFile(const Py::Tuple& args) + { + PyObject *pcRobObj; + PyObject *pcTracObj; + float tick; + char* FileName; + + if (!PyArg_ParseTuple(args.ptr(), "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj, + &(TrajectoryPy::Type), &pcTracObj, + &tick,&FileName)) + throw Py::Exception(); + + try { + Robot::Trajectory &Trac = * static_cast(pcTracObj)->getTrajectoryPtr(); + Robot::Robot6Axis &Rob = * static_cast(pcRobObj)->getRobot6AxisPtr(); + Simulation Sim(Trac,Rob); + } + catch (const Base::Exception& e) { + throw Py::RuntimeError(e.what()); + } + + return Py::Float(0.0); + } +}; +} // namespace Robot /* Python entry */ -extern "C" { -void RobotExport initRobot() +PyMODINIT_FUNC initRobot() { // load dependent module try { @@ -62,10 +100,9 @@ void RobotExport initRobot() return; } - PyObject* robotModule = Py_InitModule3("Robot", Robot_methods, module_Robot_doc); /* mod name, table ptr */ + PyObject* robotModule = (new Robot::Module())->module().ptr(); Base::Console().Log("Loading Robot module... done\n"); - // Add Types to module Base::Interpreter().addType(&Robot::Robot6AxisPy ::Type,robotModule,"Robot6Axis"); Base::Interpreter().addType(&Robot::WaypointPy ::Type,robotModule,"Waypoint"); @@ -75,7 +112,7 @@ void RobotExport initRobot() // NOTE: To finish the initialization of our own type objects we must // call PyType_Ready, otherwise we run into a segmentation fault, later on. // This function is responsible for adding inherited slots from a type's base class. - + Robot::Robot6Axis ::init(); Robot::RobotObject ::init(); Robot::TrajectoryObject ::init(); @@ -86,5 +123,3 @@ void RobotExport initRobot() Robot::TrajectoryCompound ::init(); Robot::TrajectoryDressUpObject ::init(); } - -} // extern "C" diff --git a/src/Mod/Robot/App/AppRobotPy.cpp b/src/Mod/Robot/App/AppRobotPy.cpp deleted file mode 100644 index 6bd8513e4..000000000 --- a/src/Mod/Robot/App/AppRobotPy.cpp +++ /dev/null @@ -1,73 +0,0 @@ -/*************************************************************************** - * Copyright (c) 2008 Jürgen Riegel (juergen.riegel@web.de) * - * * - * This file is part of the FreeCAD CAx development system. * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Library General Public * - * License as published by the Free Software Foundation; either * - * version 2 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * - * GNU Library General Public License for more details. * - * * - * You should have received a copy of the GNU Library General Public * - * License along with this library; see the file COPYING.LIB. If not, * - * write to the Free Software Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307, USA * - * * - ***************************************************************************/ - - -#include "PreCompiled.h" -#ifndef _PreComp_ -# include -#endif - -#include -#include - -#include "TrajectoryPy.h" -#include "Robot6AxisPy.h" -#include "Simulation.h" - -#include "RobotAlgos.h" - -using namespace Robot; - -static PyObject * -simulateToFile(PyObject *self, PyObject *args) -{ - PyObject *pcRobObj; - PyObject *pcTracObj; - float tick; - char* FileName; - - if (!PyArg_ParseTuple(args, "O!O!fs", &(Robot6AxisPy::Type), &pcRobObj, - &(TrajectoryPy::Type), &pcTracObj, - &tick,&FileName - ) ) - return NULL; // NULL triggers exception - - PY_TRY { - Robot::Trajectory &Trac = * static_cast(pcTracObj)->getTrajectoryPtr(); - Robot::Robot6Axis &Rob = * static_cast(pcRobObj)->getRobot6AxisPtr(); - Simulation Sim(Trac,Rob); - - - - } PY_CATCH; - - return Py::new_reference_to(Py::Float(0.0)); - -} - - -/* registration table */ -struct PyMethodDef Robot_methods[] = { - {"simulateToFile" ,simulateToFile ,METH_VARARGS, - "void simulateToFile(Robot,Trajectory,TickSize,FileName) - runs the simulation and write the result to a file."}, - {NULL, NULL} /* end of table marker */ -}; diff --git a/src/Mod/Robot/App/CMakeLists.txt b/src/Mod/Robot/App/CMakeLists.txt index 837482984..ceea3063b 100644 --- a/src/Mod/Robot/App/CMakeLists.txt +++ b/src/Mod/Robot/App/CMakeLists.txt @@ -45,7 +45,6 @@ SET(Python_SRCS SET(Mod_SRCS AppRobot.cpp - AppRobotPy.cpp PreCompiled.cpp PreCompiled.h ) diff --git a/src/Mod/Robot/Gui/AppRobotGui.cpp b/src/Mod/Robot/Gui/AppRobotGui.cpp index 0b9c20c40..9e5e9066c 100644 --- a/src/Mod/Robot/Gui/AppRobotGui.cpp +++ b/src/Mod/Robot/Gui/AppRobotGui.cpp @@ -26,6 +26,9 @@ # include #endif +#include +#include + #include #include #include @@ -50,15 +53,26 @@ void loadRobotResource() Gui::Translator::instance()->refresh(); } -/* registration table */ -extern struct PyMethodDef RobotGui_Import_methods[]; +namespace RobotGui { +class Module : public Py::ExtensionModule +{ +public: + Module() : Py::ExtensionModule("RobotGui") + { + initialize("This module is the RobotGui module."); // register with Python + } + + virtual ~Module() {} + +private: +}; +} // namespace RobotGui /* Python entry */ -extern "C" { -void RobotGuiExport initRobotGui() +PyMODINIT_FUNC initRobotGui() { - if (!Gui::Application::Instance) { + if (!Gui::Application::Instance) { PyErr_SetString(PyExc_ImportError, "Cannot load Gui module in console application."); return; } @@ -82,7 +96,7 @@ void RobotGuiExport initRobotGui() PyErr_SetString(PyExc_ImportError, e.what()); return; } - (void) Py_InitModule("RobotGui", RobotGui_Import_methods); /* mod name, table ptr */ + (void)new RobotGui::Module(); Base::Console().Log("Loading GUI of Robot module... done\n"); // instantiating the commands @@ -93,14 +107,12 @@ void RobotGuiExport initRobotGui() // addition objects RobotGui::Workbench ::init(); - RobotGui::ViewProviderRobotObject ::init(); - RobotGui::ViewProviderTrajectory ::init(); - RobotGui::ViewProviderEdge2TracObject ::init(); - RobotGui::ViewProviderTrajectoryCompound ::init(); - RobotGui::ViewProviderTrajectoryDressUp ::init(); + RobotGui::ViewProviderRobotObject ::init(); + RobotGui::ViewProviderTrajectory ::init(); + RobotGui::ViewProviderEdge2TracObject ::init(); + RobotGui::ViewProviderTrajectoryCompound ::init(); + RobotGui::ViewProviderTrajectoryDressUp ::init(); // add resources and reloads the translators loadRobotResource(); } - -} // extern "C" { diff --git a/src/Mod/Robot/Gui/AppRobotGuiPy.cpp b/src/Mod/Robot/Gui/AppRobotGuiPy.cpp deleted file mode 100644 index c006ecd41..000000000 --- a/src/Mod/Robot/Gui/AppRobotGuiPy.cpp +++ /dev/null @@ -1,33 +0,0 @@ -/*************************************************************************** - * Copyright (c) 2008 Werner Mayer * - * * - * This file is part of the FreeCAD CAx development system. * - * * - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Library General Public * - * License as published by the Free Software Foundation; either * - * version 2 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * - * GNU Library General Public License for more details. * - * * - * You should have received a copy of the GNU Library General Public * - * License along with this library; see the file COPYING.LIB. If not, * - * write to the Free Software Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307, USA * - * * - ***************************************************************************/ - - -#include "PreCompiled.h" -#ifndef _PreComp_ -# include -#endif - - -/* registration table */ -struct PyMethodDef RobotGui_Import_methods[] = { - {NULL, NULL} /* end of table marker */ -}; diff --git a/src/Mod/Robot/Gui/CMakeLists.txt b/src/Mod/Robot/Gui/CMakeLists.txt index 6c17aa893..611c0d546 100644 --- a/src/Mod/Robot/Gui/CMakeLists.txt +++ b/src/Mod/Robot/Gui/CMakeLists.txt @@ -62,7 +62,6 @@ SOURCE_GROUP("Qt" FILES ${PartDesignGui_MOC_SRCS}) SET(RobotGui_SRCS_Module AppRobotGui.cpp - AppRobotGuiPy.cpp Resources/Robot.qrc PreCompiled.cpp PreCompiled.h @@ -94,7 +93,7 @@ SET(RobotGui_SRCS_ViewProvider SOURCE_GROUP("ViewProvider" FILES ${RobotGui_SRCS_ViewProvider}) SET(RobotGui_SRCS_TaskBoxes - TaskRobot6Axis.ui + TaskRobot6Axis.ui TaskRobot6Axis.cpp TaskRobot6Axis.h TaskTrajectory.ui @@ -125,21 +124,21 @@ SET(RobotGui_SRCS_TaskDlg TaskDlgSimulate.cpp TaskDlgEdge2Trac.h TaskDlgEdge2Trac.cpp - TaskDlgTrajectoryCompound.h - TaskDlgTrajectoryCompound.cpp - TaskDlgTrajectoryDressUp.h - TaskDlgTrajectoryDressUp.cpp + TaskDlgTrajectoryCompound.h + TaskDlgTrajectoryCompound.cpp + TaskDlgTrajectoryDressUp.h + TaskDlgTrajectoryDressUp.cpp ) SOURCE_GROUP("Task_Dialogs" FILES ${RobotGui_SRCS_TaskDlg}) SET(RobotGui_SRCS ${RobotGui_UIC_HDRS} ${RobotResource_SRCS} - ${RobotGui_SRCS_Module} - ${RobotGui_SRCS_ViewProvider} - ${RobotGui_SRCS_Commands} - ${RobotGui_SRCS_TaskBoxes} - ${RobotGui_SRCS_TaskDlg} + ${RobotGui_SRCS_Module} + ${RobotGui_SRCS_ViewProvider} + ${RobotGui_SRCS_Commands} + ${RobotGui_SRCS_TaskBoxes} + ${RobotGui_SRCS_TaskDlg} )