fix #87

toppers · Jan 11, 2025 · 3b9a10c · 3b9a10c
1 parent 021a323
commit 3b9a10c
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Showing 5 changed files with 37 additions and 1 deletion.
diff --git a/bindings/python/hako_asset_python.cpp b/bindings/python/hako_asset_python.cpp
@@ -210,6 +210,23 @@ static PyObject* py_hako_asset_pdu_write(PyObject*, PyObject* args) {
         return Py_BuildValue("O", Py_False);
     }
 }
+static PyObject* py_hako_asset_pdu_create(PyObject*, PyObject* args) {
+    const char* robo_name;
+    HakoPduChannelIdType lchannel;
+    size_t pdu_size;
+
+    if (!PyArg_ParseTuple(args, "siL", &robo_name, &lchannel, &pdu_size)) {
+        return NULL;
+    }
+
+    int result = hako_asset_pdu_create(robo_name, lchannel, pdu_size);
+
+    if (result == 0) {
+        Py_RETURN_TRUE;
+    } else {
+        Py_RETURN_FALSE;
+    }
+}
 static PyObject* py_hako_conductor_start(PyObject*, PyObject* args) {
     hako_time_t delta_usec, max_delay_usec;
 
@@ -241,6 +258,7 @@ static PyObject* py_init_for_external(PyObject*, PyObject*) {
 static PyMethodDef hako_asset_python_methods[] = {
     {"asset_register", asset_register, METH_VARARGS, "Register asset"},
     {"init_for_external", py_init_for_external, METH_NOARGS, "Initialize for external"},
+    {"pdu_create", py_hako_asset_pdu_create, METH_VARARGS, "Create PDU data for the specified robot name and channel ID."},
     {"start", py_hako_asset_start, METH_VARARGS, "Start the asset."},
     {"simulation_time", py_hako_asset_simulation_time, METH_NOARGS, "Get the current simulation time."},
     {"usleep", py_hako_asset_usleep, METH_VARARGS, "Sleep for the specified time in microseconds."},

diff --git a/src/assets/src/hako_asset.cpp b/src/assets/src/hako_asset.cpp
@@ -45,6 +45,10 @@ int hako_initialize_for_external(void)
     std::cout << "INFO: Success for external initialization." << std::endl;
     return 0;
 }
+int hako_asset_pdu_create(const char *robo_name, HakoPduChannelIdType lchannel, size_t pdu_size)
+{
+    return hako_asset_impl_pdu_create(robo_name, lchannel, pdu_size);
+}
 int hako_asset_start(void) {
     if (hako_asset_instance.is_initialized == false) {
         std::cerr << "Error: not initialized." << std::endl;

diff --git a/src/assets/src/hako_asset_impl.cpp b/src/assets/src/hako_asset_impl.cpp
@@ -198,7 +198,19 @@ bool hako_asset_impl_initialize_for_external()
     hako_asset_instance.is_initialized = true;
     return true;
 }
-
+int hako_asset_impl_pdu_create(const char *robo_name, HakoPduChannelIdType lchannel, size_t pdu_size)
+{
+    if (!hako_asset_instance.is_initialized) {
+        return false;
+    }
+    std::string robotName = robo_name;
+    bool err = hako_asset_instance.hako_asset->create_pdu_lchannel(robotName, lchannel, pdu_size);
+    if (err == false) {
+        std::cerr << "ERROR: Can not create_pdu_channel()" << std::endl;
+        return false;
+    }    
+    return true;
+}
 bool hako_asset_impl_register_callback(const hako_asset_callbacks_t* callback)
 {
     if (hako_asset_instance.external_use) {

diff --git a/src/assets/src/hako_asset_impl.hpp b/src/assets/src/hako_asset_impl.hpp
@@ -53,6 +53,7 @@ extern bool hako_asset_impl_pdu_read(const char* robo_name, HakoPduChannelIdType
 extern bool hako_asset_impl_pdu_write(const char* robo_name, HakoPduChannelIdType lchannel, const char* buffer, size_t buffer_len);
 
 extern bool hako_asset_impl_initialize_for_external();
+extern int hako_asset_impl_pdu_create(const char *robo_name, HakoPduChannelIdType lchannel, size_t pdu_size);
 
 /*
  * for master api for test

diff --git a/src/include/hako_asset.h b/src/include/hako_asset.h
@@ -29,6 +29,7 @@ extern hako_time_t hako_asset_simulation_time(void);
 extern int hako_asset_usleep(hako_time_t sleep_time_usec);
 
 extern int hako_initialize_for_external(void);
+extern int hako_asset_pdu_create(const char *robo_name, HakoPduChannelIdType lchannel, size_t pdu_size);
 
 #ifdef __cplusplus
 }