Feature/bsk 200 python modules #239
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Tagging @joaogvcarneiro and @schaubh for review |
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The SWIG interface makes use of the director feature. The test file ensures python modules run like C++ modules, respecting priority and supporting messaging from/to them.
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Description
A SWIG file was created for
sys_model.iso that the type is available for subclassing on the Python layer. The "director" feature was used so that polymorphism is two-directional: not only can Python objects call C++ methods, but C++ calls can be redirected to Python implementations. This means that one simply needs to overload the ´Reset´ and ´UpdateState´ methods in the Python layer and C++ will call the overloaded methods.Verification
An automatic test was added, which checks that the ´Reset´ and ´UpdateState´ Python methods are called, that they are called in the appropriate order (respecting priority), and that messages can be linked as expected.
Documentation
scenarioAttitudePointingPywas updated to reflect the new Python module architecture./Learn/makingModules/pyModules.rstwas also updated to remove a warning that no longer applies with the new system.Future work
DynamicEffectorandStateEffector.