New Python API

lib/controller/python/WB_CONSTANTS.py

@@ -0,0 +1,158 @@
+# Webots constants without WB_prefixes
+
+_WB_STDOUT=0
+_WB_STDERR=1
+_WB_CHANNEL_BROADCAST=-1
+_WB_IMAGE_RGB=3
+_WB_IMAGE_RGBA=4
+_WB_IMAGE_ARGB=5
+_WB_IMAGE_BGRA=6
+_WB_IMAGE_ABGR=7
+_WB_KEYBOARD_KEY=65535
+_WB_KEYBOARD_SHIFT=65536
+_WB_KEYBOARD_CONTROL=131072
+_WB_KEYBOARD_ALT=262144
+_WB_KEYBOARD_LEFT=314
+_WB_KEYBOARD_UP=315
+_WB_KEYBOARD_RIGHT=316
+_WB_KEYBOARD_DOWN=317
+_WB_KEYBOARD_PAGEUP=366
+_WB_KEYBOARD_PAGEDOWN=367
+_WB_KEYBOARD_HOME=313
+_WB_KEYBOARD_END=312
+_WB_KEYBOARD_NUMPAD_UP=377
+_WB_KEYBOARD_NUMPAD_DOWN=379
+_WB_KEYBOARD_NUMPAD_LEFT=376
+_WB_KEYBOARD_NUMPAD_RIGHT=378
+_WB_KEYBOARD_NUMPAD_HOME=375
+_WB_KEYBOARD_NUMPAD_END=382
+_WB_NO_FIELD=0
+_WB_SF_BOOL=1
+_WB_SF_INT32=2
+_WB_SF_FLOAT=3
+_WB_SF_VEC2F=4
+_WB_SF_VEC3F=5
+_WB_SF_ROTATION=6
+_WB_SF_COLOR=7
+_WB_SF_STRING=8
+_WB_SF_NODE=9
+_WB_MF=16
+_WB_MF_BOOL=17
+_WB_MF_INT32=18
+_WB_MF_FLOAT=19
+_WB_MF_VEC2F=20
+_WB_MF_VEC3F=21
+_WB_MF_ROTATION=22
+_WB_MF_COLOR=23
+_WB_MF_STRING=24
+_WB_MF_NODE=25
+_WB_EVENT_QUIT=-1
+_WB_EVENT_NO_EVENT=0
+_WB_EVENT_MOUSE_CLICK=1
+_WB_EVENT_MOUSE_MOVE=2
+_WB_EVENT_KEYBOARD=4
+_WB_EVENT_JOYSTICK_BUTTON=8
+_WB_EVENT_JOYSTICK_AXIS=16
+_WB_EVENT_JOYSTICK_POV=32
+_WB_DISTANCE_SENSOR_GENERIC=0
+_WB_DISTANCE_SENSOR_INFRA_RED=1
+_WB_DISTANCE_SENSOR_SONAR=2
+_WB_DISTANCE_SENSOR_LASER=3
+_WB_GPS_LOCAL_COORDINATE=0
+_WB_GPS_WGS84_COORDINATE=1
+_WB_MODE_SIMULATION=0
+_WB_MODE_CROSS_COMPILATION=1
+_WB_MODE_REMOTE_CONTROL=2
+_WB_NODE_NO_NODE=0
+_WB_NODE_APPEARANCE=1
+_WB_NODE_BACKGROUND=2
+_WB_NODE_BILLBOARD=3
+_WB_NODE_BOX=4
+_WB_NODE_CAPSULE=5
+_WB_NODE_COLOR=6
+_WB_NODE_CONE=7
+_WB_NODE_COORDINATE=8
+_WB_NODE_CYLINDER=9
+_WB_NODE_DIRECTIONAL_LIGHT=10
+_WB_NODE_ELEVATION_GRID=11
+_WB_NODE_FOG=12
+_WB_NODE_GROUP=13
+_WB_NODE_IMAGE_TEXTURE=14
+_WB_NODE_INDEXED_FACE_SET=15
+_WB_NODE_INDEXED_LINE_SET=16
+_WB_NODE_MATERIAL=17
+_WB_NODE_MESH=18
+_WB_NODE_MUSCLE=19
+_WB_NODE_NORMAL=20
+_WB_NODE_PBR_APPEARANCE=21
+_WB_NODE_PLANE=22
+_WB_NODE_POINT_LIGHT=23
+_WB_NODE_POINT_SET=24
+_WB_NODE_SHAPE=25
+_WB_NODE_SPHERE=26
+_WB_NODE_SPOT_LIGHT=27
+_WB_NODE_TEXTURE_COORDINATE=28
+_WB_NODE_TEXTURE_TRANSFORM=29
+_WB_NODE_TRANSFORM=30
+_WB_NODE_VIEWPOINT=31
+_WB_NODE_ROBOT=32
+_WB_NODE_ACCELEROMETER=33
+_WB_NODE_ALTIMETER=34
+_WB_NODE_BRAKE=35
+_WB_NODE_CAMERA=36
+_WB_NODE_COMPASS=37
+_WB_NODE_CONNECTOR=38
+_WB_NODE_DISPLAY=39
+_WB_NODE_DISTANCE_SENSOR=40
+_WB_NODE_EMITTER=41
+_WB_NODE_GPS=42
+_WB_NODE_GYRO=43
+_WB_NODE_INERTIAL_UNIT=44
+_WB_NODE_LED=45
+_WB_NODE_LIDAR=46
+_WB_NODE_LIGHT_SENSOR=47
+_WB_NODE_LINEAR_MOTOR=48
+_WB_NODE_PEN=49
+_WB_NODE_POSITION_SENSOR=50
+_WB_NODE_PROPELLER=51
+_WB_NODE_RADAR=52
+_WB_NODE_RANGE_FINDER=53
+_WB_NODE_RECEIVER=54
+_WB_NODE_ROTATIONAL_MOTOR=55
+_WB_NODE_SPEAKER=56
+_WB_NODE_TOUCH_SENSOR=57
+_WB_NODE_BALL_JOINT=58
+_WB_NODE_BALL_JOINT_PARAMETERS=59
+_WB_NODE_CHARGER=60
+_WB_NODE_CONTACT_PROPERTIES=61
+_WB_NODE_DAMPING=62
+_WB_NODE_FLUID=63
+_WB_NODE_FOCUS=64
+_WB_NODE_HINGE_JOINT=65
+_WB_NODE_HINGE_JOINT_PARAMETERS=66
+_WB_NODE_HINGE_2_JOINT=67
+_WB_NODE_IMMERSION_PROPERTIES=68
+_WB_NODE_JOINT_PARAMETERS=69
+_WB_NODE_LENS=70
+_WB_NODE_LENS_FLARE=71
+_WB_NODE_PHYSICS=72
+_WB_NODE_RECOGNITION=73
+_WB_NODE_SLIDER_JOINT=74
+_WB_NODE_SLOT=75
+_WB_NODE_SOLID=76
+_WB_NODE_SOLID_REFERENCE=77
+_WB_NODE_TRACK=78
+_WB_NODE_TRACK_WHEEL=79
+_WB_NODE_WORLD_INFO=80
+_WB_NODE_ZOOM=81
+_WB_NODE_MICROPHONE=82
+_WB_NODE_RADIO=83
+_WB_NODE_SKIN=84
+_WB_SUPERVISOR_SIMULATION_MODE_PAUSE=0
+_WB_SUPERVISOR_SIMULATION_MODE_REAL_TIME=1
+_WB_SUPERVISOR_SIMULATION_MODE_FAST=2
+_WB_ROTATIONAL=0
+_WB_LINEAR=1
+_WB_TOUCH_SENSOR_BUMPER=0
+_WB_TOUCH_SENSOR_FORCE=1
+_WB_TOUCH_SENSOR_FORCE3D=2

lib/controller/python/webots/__init__.py

@@ -0,0 +1,25 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+from webots.ansi_codes import AnsiCodes            # noqa
+from webots.camera import Camera                   # noqa
+from webots.distance_sensor import DistanceSensor  # noqa
+from webots.emitter import Emitter                 # noqa
+from webots.field import Field                     # noqa
+from webots.keyboard import Keyboard               # noqa
+from webots.motor import Motor                     # noqa
+from webots.node import Node                       # noqa
+from webots.receiver import Receiver               # noqa
+from webots.robot import Robot                     # noqa
+from webots.supervisor import Supervisor           # noqa

lib/controller/python/webots/ansi_codes.py

@@ -0,0 +1,38 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+from webots.constants import constant
+
+
+class AnsiCodes:
+    RESET = constant('ANSI_RESET', type=str)
+    BOLD = constant('ANSI_BOLD', type=str)
+    UNDERLINE = constant('ANSI_UNDERLINE', type=str)
+    BLACK_BACKGROUND = constant('ANSI_BLACK_BACKGROUND', type=str)
+    RED_BACKGROUND = constant('ANSI_RED_BACKGROUND', type=str)
+    GREEN_BACKGROUND = constant('ANSI_GREEN_BACKGROUND', type=str)
+    YELLOW_BACKGROUND = constant('ANSI_YELLOW_BACKGROUND', type=str)
+    BLUE_BACKGROUND = constant('ANSI_BLUE_BACKGROUND', type=str)
+    MAGENTA_BACKGROUND = constant('ANSI_MAGENTA_BACKGROUND', type=str)
+    CYAN_BACKGROUND = constant('ANSI_CYAN_BACKGROUND', type=str)
+    WHITE_BACKGROUND = constant('ANSI_WHITE_BACKGROUND', type=str)
+    BLACK_FOREGROUND = constant('ANSI_BLACK_FOREGROUND', type=str)
+    RED_FOREGROUND = constant('ANSI_RED_FOREGROUND', type=str)
+    GREEN_FOREGROUND = constant('ANSI_GREEN_FOREGROUND', type=str)
+    YELLOW_FOREGROUND = constant('ANSI_YELLOW_FOREGROUND', type=str)
+    BLUE_FOREGROUND = constant('ANSI_BLUE_FOREGROUND', type=str)
+    MAGENTA_FOREGROUND = constant('ANSI_MAGENTA_FOREGROUND', type=str)
+    CYAN_FOREGROUND = constant('ANSI_CYAN_FOREGROUND', type=str)
+    WHITE_FOREGROUND = constant('ANSI_WHITE_FOREGROUND', type=str)
+    CLEAR_SCREEN = constant('ANSI_CLEAR_SCREEN', type=str)

lib/controller/python/webots/camera.py

@@ -0,0 +1,23 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+from webots.sensor import Sensor
+from webots.wb import wb
+
+
+class Camera(Sensor):
+    def __init__(self, name: str, sampling_period: int = None):
+        self._enable = wb.wb_camera_enable
+        self._get_sampling_period = wb.wb_camera_get_sampling_period
+        super().__init__(name, sampling_period)

lib/controller/python/webots/constants.py

@@ -0,0 +1,23 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+import ctypes
+from webots.wb import wb
+
+
+def constant(name, type=int):
+    if type == int:
+        return ctypes.c_int.in_dll(wb, 'wb_' + name).value
+    if type == str:
+        return ctypes.c_char_p.in_dll(wb, 'wb_' + name).value.decode()

lib/controller/python/webots/distance_sensor.py

@@ -0,0 +1,30 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+import ctypes
+from webots.wb import wb
+from webots.sensor import Sensor
+
+
+class DistanceSensor(Sensor):
+    def __init__(self, name: str, sampling_period: int = None):
+        self._enable = wb.wb_distance_sensor_enable
+        self._get_sampling_period = wb.wb_distance_sensor_get_sampling_period
+        super().__init__(name, sampling_period)
+
+    wb.wb_distance_sensor_get_value.restype = ctypes.c_double
+
+    @property
+    def value(self) -> float:
+        return wb.wb_distance_sensor_get_value(self._tag)

lib/controller/python/webots/emitter.py

@@ -0,0 +1,33 @@
+# Copyright 1996-2022 Cyberbotics Ltd.
+#
+# 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.
+
+import sys
+import typing
+from webots.wb import wb
+
+
+class Emitter:
+    def __init__(self, name: str):
+        self._tag = wb.wb_robot_get_device(str.encode(name))
+
+    def send(self, message: typing.Union[str, bytes], length: int = None):
+        if isinstance(message, str):
+            wb.wb_emitter_send(self._tag, str.encode(message), len(message) + 1)
+        elif isinstance(message, bytes):
+            if length is None:
+                print('Emitter.send(): missing byte buffer length', file=sys.stderr)
+            else:
+                wb.wb_emitter_send(self._tag, message, length)
+        else:
+            print('Emitter.send(): unsupported data type', file=sys.stderr)