Merge pull request #673 from sassy-asjp/feature/667-msg-array-types

Feature/667 Message payload C array types

docs/source/Support/bskReleaseNotes.rst

@@ -38,6 +38,8 @@ Version |release|
   and :ref:`spinningBodyTwoDOFStateEffector` to any number of degrees of freedom.
 - Update the Windows build to automatically include the Math library defines.  This avoids having
   to include them in BSK source code files individually.
+- Added support for arrays and 2D arrays of 16 and 64 bit integers in message definitions
+- Fixed bug where 2D arrays of 32 bit integers would have elements of type ``float`` in python.
 
 
 Version 2.3.0 (April 5, 2024)

src/architecture/_GeneralModuleFiles/swig_conly_data.i

@@ -20,71 +20,8 @@
 %module swig_conly_data
 
 %include "stdint.i"
-%define ARRAYASLIST(type)
-%typemap(in) type [ANY] (type temp[$1_dim0]) {
-    int i;
-    void *blankPtr = 0 ;
-    int resOut = 0 ;
-    if (!PySequence_Check($input)) {
-        PyErr_SetString(PyExc_ValueError,"Expected a sequence");
-        return NULL;
-    }
-    if (PySequence_Length($input) > $1_dim0) {
-        printf("Value: %d\n", $1_dim0);
-        PyErr_SetString(PyExc_ValueError,"Size mismatch. Expected $1_dim0 elements");
-        return NULL;
-    }
-    memset(temp, 0x0, $1_dim0*sizeof(type));
-    for (i = 0; i < PySequence_Length($input); i++) {
-        PyObject *o = PySequence_GetItem($input,i);
-        if (PyNumber_Check(o)) {
-            temp[i] = (type)PyFloat_AsDouble(o);
-        } else {
-            resOut = SWIG_ConvertPtr(o, &blankPtr,$1_descriptor, 0 |  0 );
-            if (!SWIG_IsOK(resOut)) {
-                SWIG_exception_fail(SWIG_ArgError(resOut), "Could not convert that type into a pointer for some reason.  This is an ugly SWIG failure.  Good luck.\n");
-                return NULL;
-            }
-            memcpy(&(temp[i]), blankPtr, sizeof(type));
-        }
-    }
-    $1 = temp;
-}
-
-%typemap(memberin) type [ANY] {
-    int i;
-    for (i = 0; i < $1_dim0; i++) {
-        memcpy(&($1[i]), &($input[i]), sizeof(type));
-    }
-}
 
-%typemap(out) type [ANY] {
-    int i;
-    $result = PyList_New(0);
-    PyObject *locOutObj = 0;
-    for (i = 0; i < $1_dim0; i++) {
-        locOutObj = SWIG_NewPointerObj(SWIG_as_voidptr(&($1[i])), $1_descriptor, 0 |  0 );
-
-        if(PyNumber_Check(locOutObj)){
-            PyObject *outObject = PyFloat_FromDouble((double) $1[i]);
-            PyList_Append($result,outObject);
-            Py_DECREF(outObject);
-            Py_DECREF(locOutObj);
-        }
-        else
-        {
-            PyList_SetItem($result, i, locOutObj);
-        }
-    }
-}
-
-%enddef
-ARRAYASLIST(double)
-ARRAYASLIST(int)
-ARRAYASLIST(float)
-ARRAYASLIST(unsigned int)
-
-%define ARRAYINTASLIST(type)
+%define ARRAYASLIST(type, fromfunc, asfunc)
 %typemap(in) type [ANY] (type temp[$1_dim0]) {
     int i;
     void *blankPtr = 0 ;
@@ -102,15 +39,17 @@ ARRAYASLIST(unsigned int)
     for (i = 0; i < PySequence_Length($input); i++) {
         PyObject *o = PySequence_GetItem($input,i);
         if (PyNumber_Check(o)) {
-            temp[i] = (type)PyInt_AsLong(o);
+            temp[i] = (type)asfunc(o);
         } else {
             resOut = SWIG_ConvertPtr(o, &blankPtr,$1_descriptor, 0 |  0 );
             if (!SWIG_IsOK(resOut)) {
                 SWIG_exception_fail(SWIG_ArgError(resOut), "Could not convert that type into a pointer for some reason.  This is an ugly SWIG failure.  Good luck.\n");
+                Py_DECREF(o);
                 return NULL;
             }
             memcpy(&(temp[i]), blankPtr, sizeof(type));
         }
+        Py_DECREF(o);
     }
     $1 = temp;
 }
@@ -128,25 +67,40 @@ ARRAYASLIST(unsigned int)
     PyObject *locOutObj = 0;
     for (i = 0; i < $1_dim0; i++) {
         locOutObj = SWIG_NewPointerObj(SWIG_as_voidptr(&($1[i])), $1_descriptor, 0 |  0 );
-        
+
         if(PyNumber_Check(locOutObj)){
-            PyObject *outObject = PyInt_FromLong((long) $1[i]);
+            PyObject *outObject = fromfunc($1[i]);
             PyList_Append($result,outObject);
             Py_DECREF(outObject);
             Py_DECREF(locOutObj);
         }
         else
         {
             PyList_SetItem($result, i, locOutObj);
+            // NOTE: SetItem steals the reference, so Py_DECREF is unnecessary
         }
     }
 }
 
 %enddef
-ARRAYINTASLIST(int)
-ARRAYINTASLIST(unsigned int)
+ARRAYASLIST(int, PyLong_FromLong, PyLong_AsLong)
+ARRAYASLIST(unsigned int, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAYASLIST(int32_t, PyLong_FromLong, PyLong_AsLong)
+ARRAYASLIST(uint32_t, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAYASLIST(long long, PyLong_FromLongLong, PyLong_AsLongLong)
+ARRAYASLIST(unsigned long long, PyLong_FromUnsignedLongLong, PyLong_AsUnsignedLongLong)
+ARRAYASLIST(int64_t, PyLong_FromLongLong, PyLong_AsLongLong)
+ARRAYASLIST(uint64_t, PyLong_FromUnsignedLongLong, PyLong_AsUnsignedLongLong)
+ARRAYASLIST(short, PyLong_FromLong, PyLong_AsLong)
+ARRAYASLIST(unsigned short, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAYASLIST(int16_t, PyLong_FromLong, PyLong_AsLong)
+ARRAYASLIST(uint16_t, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAYASLIST(size_t, PyLong_FromSize_t, PyLong_AsSize_t)
+ARRAYASLIST(ssize_t, PyLong_FromSsize_t, PyLong_AsSsize_t)
+ARRAYASLIST(double, PyFloat_FromDouble, PyFloat_AsDouble)
+ARRAYASLIST(float, PyFloat_FromDouble, PyFloat_AsDouble)
 
-%define ARRAY2ASLIST(type)
+%define ARRAY2ASLIST(type, fromfunc, asfunc)
 
 %typemap(in) type [ANY][ANY] (type temp[$1_dim0][$1_dim1]) {
     Py_ssize_t i;
@@ -157,7 +111,7 @@ ARRAYINTASLIST(unsigned int)
     Py_ssize_t rowLength = 0;
     for(i=0; i<PySequence_Length($input); i++){
         PyObject *obj = PySequence_GetItem($input, i);
-        if(!PySequence_Check($input)) {
+        if(!PySequence_Check(obj)) {
             printf("Row bad in matrix: %zd\n", i);
             PyErr_SetString(PyExc_ValueError,"Need a list for each row");
         }
@@ -173,8 +127,11 @@ ARRAYINTASLIST(unsigned int)
         int j;
         for(j=0; j<rowLength; j++)
         {
-            temp[i][j] = PyFloat_AsDouble(PySequence_GetItem(obj, j));
+            PyObject *o = PySequence_GetItem(obj, j);
+            temp[i][j] = (type)asfunc(o);
+            Py_DECREF(o);
         }
+        Py_DECREF(obj);
     }
     $1 = temp;
 }
@@ -196,20 +153,32 @@ ARRAYINTASLIST(unsigned int)
         PyObject *locRow = PyList_New(0);
         for(j=0; j<$1_dim1; j++)
         {
-            PyObject *outObject = PyFloat_FromDouble($1[i][j]);
+            PyObject *outObject = fromfunc($1[i][j]);
             PyList_Append(locRow, outObject);
+            Py_DECREF(outObject);
         }
         PyList_Append($result, locRow);
         Py_DECREF(locRow);
     }
 }
 
 %enddef
-
-ARRAY2ASLIST(double)
-ARRAY2ASLIST(int)
-ARRAY2ASLIST(float)
-ARRAY2ASLIST(unsigned int)
+ARRAY2ASLIST(int, PyLong_FromLong, PyLong_AsLong)
+ARRAY2ASLIST(unsigned int, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAY2ASLIST(int32_t, PyLong_FromLong, PyLong_AsLong)
+ARRAY2ASLIST(uint32_t, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAY2ASLIST(long long, PyLong_FromLongLong, PyLong_AsLongLong)
+ARRAY2ASLIST(unsigned long long, PyLong_FromUnsignedLongLong, PyLong_AsUnsignedLongLong)
+ARRAY2ASLIST(int64_t, PyLong_FromLongLong, PyLong_AsLongLong)
+ARRAY2ASLIST(uint64_t, PyLong_FromUnsignedLongLong, PyLong_AsUnsignedLongLong)
+ARRAY2ASLIST(short, PyLong_FromLong, PyLong_AsLong)
+ARRAY2ASLIST(unsigned short, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAY2ASLIST(int16_t, PyLong_FromLong, PyLong_AsLong)
+ARRAY2ASLIST(uint16_t, PyLong_FromUnsignedLong, PyLong_AsUnsignedLong)
+ARRAY2ASLIST(size_t, PyLong_FromSize_t, PyLong_AsSize_t)
+ARRAY2ASLIST(ssize_t, PyLong_FromSsize_t, PyLong_AsSsize_t)
+ARRAY2ASLIST(double, PyFloat_FromDouble, PyFloat_AsDouble)
+ARRAY2ASLIST(float, PyFloat_FromDouble, PyFloat_AsDouble)
 
 %define STRUCTASLIST(type)
 %typemap(in) type [ANY] (type temp[$1_dim0]) {
@@ -231,10 +200,11 @@ ARRAY2ASLIST(unsigned int)
         resOut = SWIG_ConvertPtr(o, &blankPtr,$1_descriptor, 0 |  0 );
         if (!SWIG_IsOK(resOut)) {
             SWIG_exception_fail(SWIG_ArgError(resOut), "Could not convert that type into a pointer for some reason.  This is an ugly SWIG failur Good luck.\n");
+            Py_DECREF(o);
             return NULL;
         }
         memcpy(&(temp[i]), blankPtr, sizeof(type));
-
+        Py_DECREF(o);
     }
     $1 = temp;
 }
@@ -252,6 +222,7 @@ ARRAY2ASLIST(unsigned int)
     for (i = 0; i < $1_dim0; i++) {
         PyObject *locOutObj = SWIG_NewPointerObj(SWIG_as_voidptr(&($1[i])), $1_descriptor, 0 |  0 );
         PyList_SetItem($result, i, locOutObj);
+        // NOTE: SetItem steals the reference, so Py_DECREF is unnecessary
     }
 }
 %enddef

src/architecture/messaging/_UnitTest/test_CMsgTypes.py

@@ -0,0 +1,88 @@
+#
+#  ISC License
+#
+#  Copyright (c) 2024, Astroscale Japan
+#
+#  Permission to use, copy, modify, and/or distribute this software for any
+#  purpose with or without fee is hereby granted, provided that the above
+#  copyright notice and this permission notice appear in all copies.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+#
+
+#
+# Purpose:  Test the handling of built in types for a C message payload
+# Author:   Sasawat Prankprakma (Astroscale Japan)
+# Creation Date: 2024-04-17
+#
+
+
+from Basilisk.architecture import bskLogging
+from Basilisk.architecture import messaging
+
+
+def test_cMsgTypes():
+    """
+    Test the Python-side types of various message payload C types
+    """
+
+    bskLogging.setDefaultLogLevel(bskLogging.BSK_WARNING)
+
+    test = messaging.TypesTestMsgPayload()
+
+    assert type(test.i8Test) is int
+    assert type(test.ui8Test) is int
+    assert type(test.i16Test) is int
+    assert type(test.ui16Test) is int
+    assert type(test.i32Test) is int
+    assert type(test.ui32Test) is int
+    assert type(test.i64Test) is int
+    assert type(test.ui64Test) is int
+    assert type(test.f32Test) is float
+    assert type(test.f64Test) is float
+
+    assert type(test.i16TestArray[0]) is int
+    assert type(test.ui16TestArray[0]) is int
+    assert type(test.i32TestArray[0]) is int
+    assert type(test.ui32TestArray[0]) is int
+    assert type(test.i64TestArray[0]) is int
+    assert type(test.ui64TestArray[0]) is int
+    assert type(test.f32TestArray[0]) is float
+    assert type(test.f64TestArray[0]) is float
+
+    assert type(test.i16TestArray2[0][0]) is int
+    assert type(test.ui16TestArray2[0][0]) is int
+    assert type(test.i32TestArray2[0][0]) is int
+    assert type(test.ui32TestArray2[0][0]) is int
+    assert type(test.i64TestArray2[0][0]) is int
+    assert type(test.ui64TestArray2[0][0]) is int
+    assert type(test.f32TestArray2[0][0]) is float
+    assert type(test.f64TestArray2[0][0]) is float
+
+    assert len(test.i16TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui16TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.i32TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui32TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.i64TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui64TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.f32TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.f64TestArray) == messaging.TYPES_TEST_ARRAY_SIZE
+
+    assert len(test.i16TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui16TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.i32TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui32TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.i64TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.ui64TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.f32TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+    assert len(test.f64TestArray2[0]) == messaging.TYPES_TEST_ARRAY_SIZE
+
+
+if __name__ == "__main__":
+    test_cMsgTypes()

src/architecture/messaging/msgAutoSource/msgInterfacePy.i.in

@@ -26,7 +26,7 @@
 %include "architecture/utilities/macroDefinitions.h"
 %include "fswAlgorithms/fswUtilities/fswDefinitions.h"
 %include "simulation/dynamics/reactionWheels/reactionWheelSupport.h"
-ARRAYINTASLIST(FSWdeviceAvailability)
+ARRAYASLIST(FSWdeviceAvailability, PyLong_FromLong, PyLong_AsLong)
 STRUCTASLIST(CSSUnitConfigMsgPayload)
 STRUCTASLIST(AccPktDataMsgPayload)
 STRUCTASLIST(RWConfigElementMsgPayload)

src/architecture/msgPayloadDefC/TypesTestMsgPayload.h

@@ -0,0 +1,66 @@
+/*
+ ISC License
+
+ Copyright (c) 2024, Astroscale Japan
+
+ Permission to use, copy, modify, and/or distribute this software for any
+ purpose with or without fee is hereby granted, provided that the above
+ copyright notice and this permission notice appear in all copies.
+
+ THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+ */
+
+#ifndef TYPES_TEST_MESSAGE_H
+#define TYPES_TEST_MESSAGE_H
+
+#include <stdint.h>
+
+#define TYPES_TEST_ARRAY_SIZE 3
+
+/*! @brief Structure used to test the handling of various built-in types in message payloads across SWIG C/Python bridge */
+typedef struct {
+    // Scalars
+    int8_t i8Test;      //!< Test variable of int8_t
+    uint8_t ui8Test;    //!< Test variable of uint8_t
+    int16_t i16Test;    //!< Test variable of int16_t
+    uint16_t ui16Test;  //!< Test variable of uint16_t
+    int32_t i32Test;    //!< Test variable of int32_t
+    uint32_t ui32Test;  //!< Test variable of uint32_t
+    int64_t i64Test;    //!< Test variable of int64_t
+    uint64_t ui64Test;  //!< Test variable of uint64_t
+    float f32Test;      //!< Test variable of float
+    double f64Test;     //!< Test variable of double
+
+    // 1D Arrays, integer
+    int16_t i16TestArray[TYPES_TEST_ARRAY_SIZE];    //!< Test variable of array of int16_t
+    uint16_t ui16TestArray[TYPES_TEST_ARRAY_SIZE];  //!< Test variable of array of uint16_t
+    int32_t i32TestArray[TYPES_TEST_ARRAY_SIZE];    //!< Test variable of array of int32_t
+    uint32_t ui32TestArray[TYPES_TEST_ARRAY_SIZE];  //!< Test variable of array of uint32_t
+    int64_t i64TestArray[TYPES_TEST_ARRAY_SIZE];    //!< Test variable of array of int64_t
+    uint64_t ui64TestArray[TYPES_TEST_ARRAY_SIZE];  //!< Test variable of array of uint64_t
+
+    // 2D Arrays, integer
+    int16_t i16TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];    //!< Test variable of 2D array of int16_t
+    uint16_t ui16TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];  //!< Test variable of 2D array of uint16_t
+    int32_t i32TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];    //!< Test variable of 2D array of int32_t
+    uint32_t ui32TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];  //!< Test variable of 2D array of uint32_t
+    int64_t i64TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];    //!< Test variable of 2D array of int64_t
+    uint64_t ui64TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];  //!< Test variable of 2D array of uint64_t
+
+    // 1D Arrays, floating point
+    float f32TestArray[TYPES_TEST_ARRAY_SIZE];   //!< Test variable of array of float
+    double f64TestArray[TYPES_TEST_ARRAY_SIZE];  //!< Test variable of array of double
+
+    // 2D Arrays, floating point
+    float f32TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];   //!< Test variable of 2D array of float
+    double f64TestArray2[TYPES_TEST_ARRAY_SIZE][TYPES_TEST_ARRAY_SIZE];  //!< Test variable of 2D array of double
+} TypesTestMsgPayload;
+
+#endif