4552546924

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github

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Commit Message

Merge 1c4b2f056 into 5c45c107c

Pull Request Pull Request #156: Enable 1D gyro heading measurement and drivebase control

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0.0

/pybricks/geometry/pb_module_geometry.c

// SPDX-License-Identifier: MIT
// Copyright (c) 2018-2020 The Pybricks Authors

#include "py/mpconfig.h"

#if PYBRICKS_PY_GEOMETRY

#include "py/mphal.h"
#include "py/runtime.h"

#include <pybricks/geometry.h>

#include <pybricks/util_mp/pb_kwarg_helper.h>
#include <pybricks/util_mp/pb_obj_helper.h>
#include <pybricks/util_pb/pb_error.h>
#include <pybricks/util_mp/pb_type_enum.h>

STATIC const float pb_Axis_x_data[] = {1.0f, 0.0f, 0.0f};

const pb_type_Matrix_obj_t pb_Axis_X_obj = {
    {&pb_type_Matrix},
    .data = (float *)pb_Axis_x_data,
    .scale = 1.0f,
    .m = 3,
    .n = 1,
};

STATIC const float pb_Axis_y_data[] = {0.0f, 1.0f, 0.0f};

const pb_type_Matrix_obj_t pb_Axis_Y_obj = {
    {&pb_type_Matrix},
    .data = (float *)pb_Axis_y_data,
    .scale = 1.0f,
    .m = 3,
    .n = 1,
};

STATIC const float pb_Axis_z_data[] = {0.0f, 0.0f, 1.0f};

const pb_type_Matrix_obj_t pb_Axis_Z_obj = {
    {&pb_type_Matrix},
    .data = (float *)pb_Axis_z_data,
    .scale = 1.0f,
    .m = 3,
    .n = 1,
};

STATIC const float pb_Matrix_identity3_data[] = {
    1.0f, 0.0f, 0.0f,
    0.0f, 1.0f, 0.0f,
    0.0f, 0.0f, 1.0f,
};

const pb_type_Matrix_obj_t pb_Matrix_identity3_obj = {
    {&pb_type_Matrix},
    .data = (float *)pb_Matrix_identity3_data,
    .scale = 1.0f,
    .m = 3,
    .n = 3,
};

STATIC const mp_rom_map_elem_t pb_Axis_table[] = {
    { MP_ROM_QSTR(MP_QSTR_X),     MP_ROM_PTR(&pb_Axis_X_obj)},
    { MP_ROM_QSTR(MP_QSTR_Y),     MP_ROM_PTR(&pb_Axis_Y_obj)},
    { MP_ROM_QSTR(MP_QSTR_Z),     MP_ROM_PTR(&pb_Axis_Z_obj)},
};
STATIC MP_DEFINE_CONST_DICT(pb_type_Axis_locals_dict, pb_Axis_table);

const mp_obj_type_t pb_enum_type_Axis = {
    { &mp_type_type },
    .name = MP_QSTR_Axis,
    .locals_dict = (mp_obj_dict_t *)&(pb_type_Axis_locals_dict),
};

// pybricks.geometry.vector
STATIC mp_obj_t vector(size_t n_args, const mp_obj_t *args) {

    // Convert user object to floats
    float data[3];
    for (size_t i = 0; i < n_args; i++) {
        data[i] = mp_obj_get_float_to_f(args[i]);
    }

    // Create and return Matrix object with vector shape
    return pb_type_Matrix_make_vector(n_args, data, false);
}
MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pb_func_vector_obj, 2, 3, vector);

// pybricks.geometry.cross
STATIC mp_obj_t pb_func_cross(mp_obj_t a_in, mp_obj_t b_in) {

    // Get a and b vectors
    pb_type_Matrix_obj_t *a = MP_OBJ_TO_PTR(a_in);
    pb_type_Matrix_obj_t *b = MP_OBJ_TO_PTR(b_in);

    // Verify matching dimensions else raise error
    if (a->n * a->m != 3 || b->n * b->m != 3) {
        pb_assert(PBIO_ERROR_INVALID_ARG);
    }

    // Create c vector.
    pb_type_Matrix_obj_t *c = mp_obj_malloc(pb_type_Matrix_obj_t, &pb_type_Matrix);
    c->m = 3;
    c->n = 1;
    c->data = m_new(float, 3);

    // Evaluate cross product
    c->data[0] = a->data[1] * b->data[2] - a->data[2] * b->data[1];
    c->data[1] = a->data[2] * b->data[0] - a->data[0] * b->data[2];
    c->data[2] = a->data[0] * b->data[1] - a->data[1] * b->data[0];
    c->scale = a->scale * b->scale;

    return MP_OBJ_FROM_PTR(c);
}
MP_DEFINE_CONST_FUN_OBJ_2(pb_func_cross_obj, pb_func_cross);

STATIC const mp_rom_map_elem_t geometry_globals_table[] = {
    { MP_ROM_QSTR(MP_QSTR_Axis),        MP_ROM_PTR(&pb_enum_type_Axis)     },
    { MP_ROM_QSTR(MP_QSTR_Matrix),      MP_ROM_PTR(&pb_type_Matrix)        },
    { MP_ROM_QSTR(MP_QSTR_vector),      MP_ROM_PTR(&pb_func_vector_obj)    },
    { MP_ROM_QSTR(MP_QSTR_cross),       MP_ROM_PTR(&pb_func_cross_obj)     },
};
STATIC MP_DEFINE_CONST_DICT(pb_module_geometry_globals, geometry_globals_table);

const mp_obj_module_t pb_module_geometry = {
    .base = { &mp_type_module },
    .globals = (mp_obj_dict_t *)&pb_module_geometry_globals,
};

MP_REGISTER_MODULE(MP_QSTR_pybricks_dot_geometry, pb_module_geometry);

#endif // PYBRICKS_PY_GEOMETRY

1	// SPDX-License-Identifier: MIT
2	// Copyright (c) 2018-2020 The Pybricks Authors
3
4	#include "py/mpconfig.h"
5
6	#if PYBRICKS_PY_GEOMETRY
7
8	#include "py/mphal.h"
9	#include "py/runtime.h"
10
11	#include <pybricks/geometry.h>
12
13	#include <pybricks/util_mp/pb_kwarg_helper.h>
14	#include <pybricks/util_mp/pb_obj_helper.h>
15	#include <pybricks/util_pb/pb_error.h>
16	#include <pybricks/util_mp/pb_type_enum.h>
17
18	STATIC const float pb_Axis_x_data[] = {1.0f, 0.0f, 0.0f};
19
20	const pb_type_Matrix_obj_t pb_Axis_X_obj = {
21	{&pb_type_Matrix},
22	.data = (float *)pb_Axis_x_data,
23	.scale = 1.0f,
24	.m = 3,
25	.n = 1,
26	};
27
28	STATIC const float pb_Axis_y_data[] = {0.0f, 1.0f, 0.0f};
29
30	const pb_type_Matrix_obj_t pb_Axis_Y_obj = {
31	{&pb_type_Matrix},
32	.data = (float *)pb_Axis_y_data,
33	.scale = 1.0f,
34	.m = 3,
35	.n = 1,
36	};
37
38	STATIC const float pb_Axis_z_data[] = {0.0f, 0.0f, 1.0f};
39
40	const pb_type_Matrix_obj_t pb_Axis_Z_obj = {
41	{&pb_type_Matrix},
42	.data = (float *)pb_Axis_z_data,
43	.scale = 1.0f,
44	.m = 3,
45	.n = 1,
46	};
47
48	STATIC const float pb_Matrix_identity3_data[] = {
49	1.0f, 0.0f, 0.0f,
50	0.0f, 1.0f, 0.0f,
51	0.0f, 0.0f, 1.0f,
52	};
53
54	const pb_type_Matrix_obj_t pb_Matrix_identity3_obj = {
55	{&pb_type_Matrix},
56	.data = (float *)pb_Matrix_identity3_data,
57	.scale = 1.0f,
58	.m = 3,
59	.n = 3,
60	};
61
62	STATIC const mp_rom_map_elem_t pb_Axis_table[] = {
63	{ MP_ROM_QSTR(MP_QSTR_X), MP_ROM_PTR(&pb_Axis_X_obj)},
64	{ MP_ROM_QSTR(MP_QSTR_Y), MP_ROM_PTR(&pb_Axis_Y_obj)},
65	{ MP_ROM_QSTR(MP_QSTR_Z), MP_ROM_PTR(&pb_Axis_Z_obj)},
66	};
67	STATIC MP_DEFINE_CONST_DICT(pb_type_Axis_locals_dict, pb_Axis_table);
68
69	const mp_obj_type_t pb_enum_type_Axis = {
70	{ &mp_type_type },
71	.name = MP_QSTR_Axis,
72	.locals_dict = (mp_obj_dict_t *)&(pb_type_Axis_locals_dict),
73	};
74
75	// pybricks.geometry.vector
76	STATIC mp_obj_t vector(size_t n_args, const mp_obj_t *args) {	×
77
78	// Convert user object to floats
79	float data[3];	×
80	for (size_t i = 0; i < n_args; i++) {	×
81	data[i] = mp_obj_get_float_to_f(args[i]);	×
82	}
83
84	// Create and return Matrix object with vector shape
85	return pb_type_Matrix_make_vector(n_args, data, false);	×
86	}
87	MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pb_func_vector_obj, 2, 3, vector);
88
89	// pybricks.geometry.cross
NEW 90	STATIC mp_obj_t pb_func_cross(mp_obj_t a_in, mp_obj_t b_in) {	×
91
92	// Get a and b vectors
NEW 93	pb_type_Matrix_obj_t *a = MP_OBJ_TO_PTR(a_in);	×
NEW 94	pb_type_Matrix_obj_t *b = MP_OBJ_TO_PTR(b_in);	×
95
96	// Verify matching dimensions else raise error
NEW 97	if (a->n * a->m != 3 \|\| b->n * b->m != 3) {	×
NEW 98	pb_assert(PBIO_ERROR_INVALID_ARG);	×
99	}
100
101	// Create c vector.
NEW 102	pb_type_Matrix_obj_t *c = mp_obj_malloc(pb_type_Matrix_obj_t, &pb_type_Matrix);	×
NEW 103	c->m = 3;	×
NEW 104	c->n = 1;	×
NEW 105	c->data = m_new(float, 3);	×
106
107	// Evaluate cross product
NEW 108	c->data[0] = a->data[1] * b->data[2] - a->data[2] * b->data[1];	×
NEW 109	c->data[1] = a->data[2] * b->data[0] - a->data[0] * b->data[2];	×
NEW 110	c->data[2] = a->data[0] * b->data[1] - a->data[1] * b->data[0];	×
NEW 111	c->scale = a->scale * b->scale;	×
112
NEW 113	return MP_OBJ_FROM_PTR(c);	×
114	}
115	MP_DEFINE_CONST_FUN_OBJ_2(pb_func_cross_obj, pb_func_cross);
116
117	STATIC const mp_rom_map_elem_t geometry_globals_table[] = {
118	{ MP_ROM_QSTR(MP_QSTR_Axis), MP_ROM_PTR(&pb_enum_type_Axis) },
119	{ MP_ROM_QSTR(MP_QSTR_Matrix), MP_ROM_PTR(&pb_type_Matrix) },
120	{ MP_ROM_QSTR(MP_QSTR_vector), MP_ROM_PTR(&pb_func_vector_obj) },
121	{ MP_ROM_QSTR(MP_QSTR_cross), MP_ROM_PTR(&pb_func_cross_obj) },
122	};
123	STATIC MP_DEFINE_CONST_DICT(pb_module_geometry_globals, geometry_globals_table);
124
125	const mp_obj_module_t pb_module_geometry = {
126	.base = { &mp_type_module },
127	.globals = (mp_obj_dict_t *)&pb_module_geometry_globals,
128	};
129
130	MP_REGISTER_MODULE(MP_QSTR_pybricks_dot_geometry, pb_module_geometry);
131
132	#endif // PYBRICKS_PY_GEOMETRY

pybricks / pybricks-micropython / 4552546924

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