Cyber: Add parameter_py3 wrapper.

cyber/python/cyber_py/parameter.py

@@ -56,7 +56,7 @@ def __init__(self, name, value=None):
         elif isinstance(value, str):
             self.param = _CYBER_PARAM.new_PyParameter_string(name, value)
         else:
-            print "type is not supported: ", type(value)
+            print("type is not supported: ", type(value))
 
     def __del__(self):
         _CYBER_PARAM.delete_PyParameter(self.param)

cyber/python/cyber_py/parameter_py3.py

@@ -0,0 +1,186 @@
+#!/usr/bin/env python3
+
+# ****************************************************************************
+# Copyright 2019 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ****************************************************************************
+# -*- coding: utf-8 -*-
+"""Module for init environment."""
+
+import sys
+import os
+import importlib
+
+# init vars
+CYBER_PATH = os.environ['CYBER_PATH']
+CYBER_DIR = os.path.split(CYBER_PATH)[0]
+sys.path.append(CYBER_PATH + "/third_party/")
+sys.path.append(CYBER_PATH + "/lib/")
+sys.path.append(CYBER_PATH + "/python/cyber")
+sys.path.append(CYBER_PATH + "/python/cyber_py")
+
+sys.path.append(CYBER_PATH + "/lib/python/")
+
+sys.path.append(CYBER_DIR + "/python/")
+sys.path.append(CYBER_DIR + "/cyber/")
+
+_CYBER_PARAM = importlib.import_module('_cyber_parameter_py3')
+
+
+class Parameter(object):
+
+    """
+    Class for Parameter wrapper.
+    """
+
+    def __init__(self, name, value=None):
+        if (name is not None and value is None):
+            self.param = name
+        elif (name is None and value is None):
+            self.param = _CYBER_PARAM.new_PyParameter_noparam()
+        elif isinstance(value, int):
+            self.param = _CYBER_PARAM.new_PyParameter_int(name, value)
+        elif isinstance(value, float):
+            self.param = _CYBER_PARAM.new_PyParameter_double(name, value)
+        elif isinstance(value, str):
+            self.param = _CYBER_PARAM.new_PyParameter_string(name, value)
+        else:
+            print("type is not supported: ", type(value))
+
+    def __del__(self):
+        _CYBER_PARAM.delete_PyParameter(self.param)
+
+    def type_name(self):
+        """
+        return Parameter typename
+        """
+        return _CYBER_PARAM.PyParameter_type_name(self.param)
+
+    def descriptor(self):
+        """
+        return Parameter descriptor
+        """
+        return _CYBER_PARAM.PyParameter_descriptor(self.param)
+
+    def name(self):
+        """
+        return Parameter name
+        """
+        return _CYBER_PARAM.PyParameter_name(self.param)
+
+    def debug_string(self):
+        """
+        return Parameter debug string
+        """
+        return _CYBER_PARAM.PyParameter_debug_string(self.param)
+
+    def as_string(self):
+        """
+        return native value
+        """
+        return _CYBER_PARAM.PyParameter_as_string(self.param)
+
+    def as_double(self):
+        """
+        return native value
+        """
+        return _CYBER_PARAM.PyParameter_as_double(self.param)
+
+    def as_int64(self):
+        """
+        return native value
+        """
+        return _CYBER_PARAM.PyParameter_as_int64(self.param)
+
+
+class ParameterClient(object):
+
+    """
+    Class for ParameterClient wrapper.
+    """
+
+    ##
+    # @brief constructor the ParameterClient by a node and the parameter server node name.
+    #
+    # @param node a node to create client.
+    # @param server_node_name the parameter server's node name.
+    def __init__(self, node, server_node_name):
+        self.param_clt = _CYBER_PARAM.new_PyParameterClient(
+            node.node, server_node_name)
+
+    def __del__(self):
+        _CYBER_PARAM.delete_PyParameterClient(self.param_clt)
+
+    def set_parameter(self, param):
+        """
+        set parameter, param is Parameter.
+        """
+        return _CYBER_PARAM.PyParameter_clt_set_parameter(self.param_clt, param.param)
+
+    def get_parameter(self, param_name):
+        """
+        get Parameter by param name param_name.
+        """
+        return Parameter(_CYBER_PARAM.PyParameter_clt_get_parameter(self.param_clt, param_name))
+
+    def get_paramslist(self):
+        """
+        get all params of the server_node_name parameterserver.
+        """
+        pycapsulelist = _CYBER_PARAM.PyParameter_clt_get_parameter_list(
+            self.param_clt)
+        param_list = []
+        for capsuleobj in pycapsulelist:
+            param_list.append(Parameter(capsuleobj))
+        return param_list
+
+
+class ParameterServer(object):
+
+    """
+    Class for ParameterServer wrapper.
+    """
+
+    ##
+    # @brief constructor the ParameterServer by the node object.
+    #
+    # @param node the node to support the parameter server.
+    def __init__(self, node):
+        self.param_srv = _CYBER_PARAM.new_PyParameterServer(node.node)
+
+    def __del__(self):
+        _CYBER_PARAM.delete_PyParameterServer(self.param_srv)
+
+    def set_parameter(self, param):
+        """
+        set parameter, param is Parameter.
+        """
+        return _CYBER_PARAM.PyParameter_srv_set_parameter(self.param_srv, param.param)
+
+    def get_parameter(self, param_name):
+        """
+        get Parameter by param name param_name.
+        """
+        return Parameter(_CYBER_PARAM.PyParameter_srv_get_parameter(self.param_srv, param_name))
+
+    def get_paramslist(self):
+        """
+        get all params of this parameterserver.
+        """
+        pycapsulelist = _CYBER_PARAM.PyParameter_srv_get_parameter_list(
+            self.param_srv)
+        param_list = []
+        for capsuleobj in pycapsulelist:
+            param_list.append(Parameter(capsuleobj))
+        return param_list