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framework_py_semantics.cc
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#include "drake/bindings/pydrake/systems/framework_py_semantics.h"
#include "drake/bindings/pydrake/common/cpp_template_pybind.h"
#include "drake/bindings/pydrake/common/default_scalars_pybind.h"
#include "drake/bindings/pydrake/common/eigen_pybind.h"
#include "drake/bindings/pydrake/common/ref_cycle_pybind.h"
#include "drake/bindings/pydrake/common/type_safe_index_pybind.h"
#include "drake/bindings/pydrake/common/wrap_pybind.h"
#include "drake/bindings/pydrake/documentation_pybind.h"
#include "drake/bindings/pydrake/pydrake_pybind.h"
#include "drake/systems/framework/context.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/event.h"
#include "drake/systems/framework/leaf_context.h"
#include "drake/systems/framework/leaf_output_port.h"
#include "drake/systems/framework/system_output.h"
using std::string;
using std::unique_ptr;
using std::vector;
namespace drake {
namespace pydrake {
namespace {
using AbstractValuePtrList = vector<unique_ptr<AbstractValue>>;
// NOLINTNEXTLINE(build/namespaces): Emulate placement in namespace.
using namespace drake::systems;
constexpr auto& doc = pydrake_doc.drake.systems;
// Given an InputPort or OutputPort as self, return self.Eval(context). In
// python, always returns either a numpy.ndarray (when vector-valued) or the
// unwrapped T in a Value<T> (when abstract-valued).
template <typename SomeObject, typename T>
py::object DoEval(const SomeObject* self, const systems::Context<T>& context) {
switch (self->get_data_type()) {
case systems::kVectorValued: {
const VectorX<T> eigen_copy = self->Eval(context);
return py::cast(eigen_copy);
}
case systems::kAbstractValued: {
const auto& abstract = self->template Eval<AbstractValue>(context);
// The storage for the abstract value is owned by the context, so we need
// to inform pybind that the abstract value reference should keep the
// entire context alive. Note that `abstract_value_ref` itself will be
// immediately released (it's a local variable, and we don't return it)
// but in certain cases the return from `get_value` is an internal
// reference into the `abstract_value_ref`, and so will need to
// transitively keep the entire context alive as well.
py::object abstract_value_ref =
py::cast(&abstract, py_rvp::reference_internal, py::cast(&context));
return abstract_value_ref.attr("get_value")();
}
}
DRAKE_UNREACHABLE();
}
void DoScalarIndependentDefinitions(py::module m) {
{
using Class = UseDefaultName;
py::class_<Class>(m, "UseDefaultName", doc.UseDefaultName.doc)
.def("__repr__", [](const Class&) { return "kUseDefaultName"; });
}
m.attr("kUseDefaultName") = kUseDefaultName;
py::enum_<PortDataType>(m, "PortDataType")
.value("kVectorValued", kVectorValued)
.value("kAbstractValued", kAbstractValued);
py::enum_<InputPortSelection>(m, "InputPortSelection")
.value("kNoInput", InputPortSelection::kNoInput)
.value("kUseFirstInputIfItExists",
InputPortSelection::kUseFirstInputIfItExists);
py::enum_<OutputPortSelection>(m, "OutputPortSelection")
.value("kNoOutput", OutputPortSelection::kNoOutput)
.value("kUseFirstOutputIfItExists",
OutputPortSelection::kUseFirstOutputIfItExists);
BindTypeSafeIndex<DependencyTicket>(m, "DependencyTicket");
BindTypeSafeIndex<CacheIndex>(m, "CacheIndex");
BindTypeSafeIndex<SubsystemIndex>(m, "SubsystemIndex");
BindTypeSafeIndex<InputPortIndex>(m, "InputPortIndex");
BindTypeSafeIndex<OutputPortIndex>(m, "OutputPortIndex");
BindTypeSafeIndex<ContinuousStateIndex>(m, "ContinuousStateIndex");
BindTypeSafeIndex<DiscreteStateIndex>(m, "DiscreteStateIndex");
BindTypeSafeIndex<AbstractStateIndex>(m, "AbstractStateIndex");
BindTypeSafeIndex<NumericParameterIndex>(m, "NumericParameterIndex");
BindTypeSafeIndex<AbstractParameterIndex>(m, "AbstractParameterIndex");
py::class_<FixedInputPortValue>(
m, "FixedInputPortValue", doc.FixedInputPortValue.doc)
.def("GetMutableData", &FixedInputPortValue::GetMutableData,
py_rvp::reference_internal,
doc.FixedInputPortValue.GetMutableData.doc);
// N.B. `AbstractValues` provides the ability to reference non-owned values,
// without copying them. For consistency with other model-value Python
// bindings, only the ownership variant is exposed.
py::class_<AbstractValues> abstract_values(
m, "AbstractValues", doc.AbstractValues.doc);
DefClone(&abstract_values);
abstract_values // BR
.def(py::init<>(), doc.AbstractValues.ctor.doc_0args)
.def(py::init<AbstractValuePtrList>(), doc.AbstractValues.ctor.doc_1args)
.def("size", &AbstractValues::size, doc.AbstractValues.size.doc)
.def("get_value", &AbstractValues::get_value, py::arg("index"),
py_rvp::reference_internal, doc.AbstractValues.get_value.doc)
.def("get_mutable_value", &AbstractValues::get_mutable_value,
py::arg("index"), py_rvp::reference_internal,
doc.AbstractValues.get_mutable_value.doc)
.def("SetFrom", &AbstractValues::SetFrom, doc.AbstractValues.SetFrom.doc);
{
using Class = TriggerType;
constexpr auto& cls_doc = doc.TriggerType;
py::enum_<TriggerType>(m, "TriggerType", cls_doc.doc)
.value("kUnknown", Class::kUnknown, cls_doc.kUnknown.doc)
.value("kInitialization", Class::kInitialization,
cls_doc.kInitialization.doc)
.value("kForced", Class::kForced, cls_doc.kForced.doc)
.value("kTimed", Class::kTimed, cls_doc.kTimed.doc)
.value("kPeriodic", Class::kPeriodic, cls_doc.kPeriodic.doc)
.value("kPerStep", Class::kPerStep, cls_doc.kPerStep.doc)
.value("kWitness", Class::kWitness, cls_doc.kWitness.doc);
}
py::enum_<WitnessFunctionDirection>(
m, "WitnessFunctionDirection", doc.WitnessFunctionDirection.doc)
.value("kNone", WitnessFunctionDirection::kNone,
doc.WitnessFunctionDirection.kNone.doc)
.value("kPositiveThenNonPositive",
WitnessFunctionDirection::kPositiveThenNonPositive,
doc.WitnessFunctionDirection.kPositiveThenNonPositive.doc)
.value("kNegativeThenNonNegative",
WitnessFunctionDirection::kNegativeThenNonNegative,
doc.WitnessFunctionDirection.kNegativeThenNonNegative.doc)
.value("kCrossesZero", WitnessFunctionDirection::kCrossesZero,
doc.WitnessFunctionDirection.kCrossesZero.doc);
{
py::class_<PeriodicEventData> cls(
m, "PeriodicEventData", doc.PeriodicEventData.doc);
DefCopyAndDeepCopy(&cls);
cls // BR
.def("period_sec", &PeriodicEventData::period_sec,
doc.PeriodicEventData.period_sec.doc)
.def("offset_sec", &PeriodicEventData::offset_sec,
doc.PeriodicEventData.offset_sec.doc);
}
{
using Class = EventStatus;
constexpr auto& cls_doc = doc.EventStatus;
py::class_<Class> cls(m, "EventStatus", cls_doc.doc);
using Enum = Class::Severity;
constexpr auto& enum_doc = cls_doc.Severity;
py::enum_<Enum>(cls, "Severity", enum_doc.doc)
.value("kDidNothing", Enum::kDidNothing, enum_doc.kDidNothing.doc)
.value("kSucceeded", Enum::kSucceeded, enum_doc.kSucceeded.doc)
.value("kReachedTermination", Enum::kReachedTermination,
enum_doc.kReachedTermination.doc)
.value("kFailed", Enum::kFailed, enum_doc.kFailed.doc);
DefCopyAndDeepCopy(&cls);
cls // BR
.def_static("DidNothing", &Class::DidNothing, cls_doc.DidNothing.doc)
.def_static("Succeeded", &Class::Succeeded, cls_doc.Succeeded.doc)
.def_static("ReachedTermination", &Class::ReachedTermination,
py::arg("system"), py::arg("message"),
cls_doc.ReachedTermination.doc)
.def_static("Failed", &Class::Failed, py::arg("system"),
py::arg("message"), cls_doc.Failed.doc)
.def("severity", &Class::severity, cls_doc.severity.doc)
.def("system", &Class::system, py_rvp::reference, cls_doc.system.doc)
.def("message", &Class::message, cls_doc.message.doc)
.def("KeepMoreSevere", &Class::KeepMoreSevere, py::arg("candidate"),
cls_doc.KeepMoreSevere.doc);
}
py::class_<ContextBase>(m, "ContextBase", doc.ContextBase.doc)
.def("num_input_ports", &ContextBase::num_input_ports,
doc.ContextBase.num_input_ports.doc)
.def("num_output_ports", &ContextBase::num_output_ports,
doc.ContextBase.num_output_ports.doc)
.def("DisableCaching", &ContextBase::DisableCaching,
doc.ContextBase.DisableCaching.doc)
.def("EnableCaching", &ContextBase::EnableCaching,
doc.ContextBase.EnableCaching.doc)
.def("SetAllCacheEntriesOutOfDate",
&ContextBase::SetAllCacheEntriesOutOfDate,
doc.ContextBase.SetAllCacheEntriesOutOfDate.doc)
.def("FreezeCache", &ContextBase::FreezeCache,
doc.ContextBase.FreezeCache.doc)
.def("UnfreezeCache", &ContextBase::UnfreezeCache,
doc.ContextBase.UnfreezeCache.doc)
.def("is_cache_frozen", &ContextBase::is_cache_frozen,
doc.ContextBase.is_cache_frozen.doc);
// TODO(russt, eric.cousineau): Add remaining methods from ContextBase here.
{
using Class = ValueProducer;
constexpr auto& cls_doc = doc.ValueProducer;
py::class_<Class>(m, "ValueProducer", cls_doc.doc)
.def(py::init(WrapCallbacks([](ValueProducer::AllocateCallback allocate,
ValueProducer::CalcCallback calc) {
return Class(allocate, calc);
})),
py::arg("allocate"), py::arg("calc"), cls_doc.ctor.doc_overload_5d)
.def_static("NoopCalc", &Class::NoopCalc, cls_doc.NoopCalc.doc);
}
{
using Class = CacheEntryValue;
constexpr auto& cls_doc = doc.CacheEntryValue;
py::class_<Class>(m, "CacheEntryValue", cls_doc.doc)
.def(
"GetValueOrThrow",
[](const Class& self) {
py::object value = py::cast<const AbstractValue*>(
&self.GetAbstractValueOrThrow());
return value.attr("get_value")();
},
py_rvp::reference_internal, cls_doc.GetValueOrThrow.doc)
.def(
"GetMutableValueOrThrow",
[](Class* self) {
py::object value = py::cast<AbstractValue*>(
&self->GetMutableAbstractValueOrThrow());
return value.attr("get_mutable_value")();
},
py_rvp::reference_internal, cls_doc.GetMutableValueOrThrow.doc);
}
{
using Class = CacheEntry;
constexpr auto& cls_doc = doc.CacheEntry;
py::class_<Class>(m, "CacheEntry", cls_doc.doc)
.def("prerequisites", &Class::prerequisites, cls_doc.prerequisites.doc)
.def("EvalAbstract", &Class::EvalAbstract, py::arg("context"),
py_rvp::reference_internal, cls_doc.EvalAbstract.doc)
.def(
"Eval",
[](const Class& self, const ContextBase& context) {
const auto& abstract = self.EvalAbstract(context);
// See above comments in `DoEval`.
py::object context_ref = py::cast(&context);
py::object abstract_value_ref =
py::cast(&abstract, py_rvp::reference_internal, context_ref);
return abstract_value_ref.attr("get_value")();
},
py::arg("context"), cls_doc.Eval.doc)
.def("is_out_of_date", &Class::is_out_of_date, py::arg("context"),
cls_doc.is_out_of_date.doc)
.def("is_cache_entry_disabled", &Class::is_cache_entry_disabled,
py::arg("context"), cls_doc.is_cache_entry_disabled.doc)
.def("disable_caching", &Class::disable_caching, py::arg("context"),
cls_doc.disable_caching.doc)
.def("enable_caching", &Class::enable_caching, py::arg("context"),
cls_doc.enable_caching.doc)
.def("disable_caching_by_default", &Class::disable_caching_by_default,
cls_doc.disable_caching_by_default.doc)
.def("is_disabled_by_default", &Class::is_disabled_by_default,
cls_doc.is_disabled_by_default.doc)
.def("description", &Class::description, cls_doc.description.doc)
.def("get_cache_entry_value", &Class::get_cache_entry_value,
py::arg("context"),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), py_rvp::reference,
cls_doc.get_cache_entry_value.doc)
.def("get_mutable_cache_entry_value",
&Class::get_mutable_cache_entry_value, py::arg("context"),
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), py_rvp::reference,
cls_doc.get_mutable_cache_entry_value.doc)
.def("cache_index", &Class::cache_index, cls_doc.cache_index.doc)
.def("ticket", &Class::ticket, cls_doc.ticket.doc)
.def("has_default_prerequisites", &Class::has_default_prerequisites,
cls_doc.has_default_prerequisites.doc);
}
}
template <typename T>
py::class_<Context<T>, ContextBase> DefineContext(py::module m) {
auto context_cls = DefineTemplateClassWithDefault<Context<T>, ContextBase>(
m, "Context", GetPyParam<T>(), doc.Context.doc);
context_cls
// Bindings for the Context methods in the Doxygen group titled
// "Accessors for locally-stored values", placed in the same order
// as the header file.
.def("get_time", &Context<T>::get_time, doc.Context.get_time.doc)
.def("get_state", &Context<T>::get_state, py_rvp::reference_internal,
doc.Context.get_state.doc)
.def("is_stateless", &Context<T>::is_stateless,
doc.Context.is_stateless.doc)
.def("has_only_continuous_state", &Context<T>::has_only_continuous_state,
doc.Context.has_only_continuous_state.doc)
.def("has_only_discrete_state", &Context<T>::has_only_discrete_state,
doc.Context.has_only_discrete_state.doc)
.def("num_total_states", &Context<T>::num_total_states,
doc.Context.num_total_states.doc)
.def("num_continuous_states", &Context<T>::num_continuous_states,
doc.Context.num_continuous_states.doc)
.def("get_continuous_state", &Context<T>::get_continuous_state,
py_rvp::reference_internal, doc.Context.get_continuous_state.doc)
.def("get_continuous_state_vector",
&Context<T>::get_continuous_state_vector, py_rvp::reference_internal,
doc.Context.get_continuous_state_vector.doc)
.def("num_discrete_state_groups", &Context<T>::num_discrete_state_groups,
doc.Context.num_discrete_state_groups.doc)
.def("get_discrete_state",
overload_cast_explicit<const DiscreteValues<T>&>(
&Context<T>::get_discrete_state),
py_rvp::reference_internal, doc.Context.get_discrete_state.doc_0args)
.def("get_discrete_state_vector", &Context<T>::get_discrete_state_vector,
py_rvp::reference_internal, doc.Context.get_discrete_state_vector.doc)
.def("get_discrete_state",
overload_cast_explicit<const BasicVector<T>&, int>(
&Context<T>::get_discrete_state),
py_rvp::reference_internal, doc.Context.get_discrete_state.doc_1args)
.def("num_abstract_states", &Context<T>::num_abstract_states,
doc.Context.num_abstract_states.doc)
.def("get_abstract_state",
static_cast<const AbstractValues& (Context<T>::*)() const>(
&Context<T>::get_abstract_state),
py_rvp::reference_internal, doc.Context.get_abstract_state.doc_0args)
.def(
"get_abstract_state", [](const Context<T>* self, int index) -> auto& {
return self->get_abstract_state().get_value(index);
},
py::arg("index"), py_rvp::reference_internal,
doc.Context.get_abstract_state.doc_1args)
.def("get_accuracy", &Context<T>::get_accuracy,
doc.Context.get_accuracy.doc)
.def("get_parameters", &Context<T>::get_parameters,
py_rvp::reference_internal, doc.Context.get_parameters.doc)
.def("num_numeric_parameter_groups",
&Context<T>::num_numeric_parameter_groups,
doc.Context.num_numeric_parameter_groups.doc)
.def("get_numeric_parameter", &Context<T>::get_numeric_parameter,
py::arg("index"), py_rvp::reference_internal,
doc.Context.get_numeric_parameter.doc)
.def("num_abstract_parameters", &Context<T>::num_abstract_parameters,
doc.Context.num_abstract_parameters.doc)
.def("get_abstract_parameter", &Context<T>::get_abstract_parameter,
py::arg("index"), py_rvp::reference_internal,
doc.Context.get_numeric_parameter.doc)
// Bindings for the Context methods in the Doxygen group titled
// "Methods for changing locally-stored values", placed in the same
// order as the header file.
.def("SetTime", &Context<T>::SetTime, py::arg("time_sec"),
doc.Context.SetTime.doc)
.def("SetContinuousState", &Context<T>::SetContinuousState,
doc.Context.SetContinuousState.doc)
.def("SetTimeAndContinuousState", &Context<T>::SetTimeAndContinuousState,
doc.Context.SetTimeAndContinuousState.doc)
.def("SetDiscreteState",
overload_cast_explicit<void, const Eigen::Ref<const VectorX<T>>&>(
&Context<T>::SetDiscreteState),
py::arg("xd"), doc.Context.SetDiscreteState.doc_single_group)
.def("SetDiscreteState",
overload_cast_explicit<void, int,
const Eigen::Ref<const VectorX<T>>&>(
&Context<T>::SetDiscreteState),
py::arg("group_index"), py::arg("xd"),
doc.Context.SetDiscreteState.doc_select_one_group)
.def("SetDiscreteState",
overload_cast_explicit<void, const DiscreteValues<T>&>(
&Context<T>::SetDiscreteState),
py::arg("xd"), doc.Context.SetDiscreteState.doc_set_everything)
.def(
"SetAbstractState",
[](py::object self, int index, py::object value) {
// Use type erasure from Python bindings of Value[T].set_value.
py::object abstract_value =
self.attr("get_mutable_abstract_state")(index);
abstract_value.attr("set_value")(value);
},
py::arg("index"), py::arg("value"), doc.Context.SetAbstractState.doc)
// NOTE: SetTimeStateAndParametersFrom is bound below in
// bind_context_methods_templated_on_a_secondary_scalar
.def("SetAccuracy", &Context<T>::SetAccuracy, py::arg("accuracy"),
doc.Context.SetAccuracy.doc)
// Bindings for the Context methods in the Doxygen group titled
// "Dangerous methods for changing locally-stored values", placed in the
// same order as the header file.
.def("get_mutable_state", &Context<T>::get_mutable_state,
py_rvp::reference_internal, doc.Context.get_mutable_state.doc)
.def("get_mutable_continuous_state",
&Context<T>::get_mutable_continuous_state, py_rvp::reference_internal,
doc.Context.get_mutable_continuous_state.doc)
.def("get_mutable_continuous_state_vector",
&Context<T>::get_mutable_continuous_state_vector,
py_rvp::reference_internal,
doc.Context.get_mutable_continuous_state_vector.doc)
.def("get_mutable_discrete_state",
overload_cast_explicit<DiscreteValues<T>&>(
&Context<T>::get_mutable_discrete_state),
py_rvp::reference_internal,
doc.Context.get_mutable_discrete_state.doc_0args)
.def("get_mutable_discrete_state_vector",
&Context<T>::get_mutable_discrete_state_vector,
py_rvp::reference_internal,
doc.Context.get_mutable_discrete_state_vector.doc)
.def("get_mutable_discrete_state",
overload_cast_explicit<BasicVector<T>&, int>(
&Context<T>::get_mutable_discrete_state),
py_rvp::reference_internal,
doc.Context.get_mutable_discrete_state.doc_1args)
.def(
"get_mutable_abstract_state",
[](Context<T>* self) -> AbstractValues& {
return self->get_mutable_abstract_state();
},
py_rvp::reference_internal,
doc.Context.get_mutable_abstract_state.doc_0args)
.def(
"get_mutable_abstract_state",
[](Context<T>* self, int index) -> AbstractValue& {
return self->get_mutable_abstract_state().get_mutable_value(index);
},
py::arg("index"), py_rvp::reference_internal,
doc.Context.get_mutable_abstract_state.doc_1args)
.def("get_mutable_parameters", &Context<T>::get_mutable_parameters,
py_rvp::reference_internal, doc.Context.get_mutable_parameters.doc)
.def("get_mutable_numeric_parameter",
&Context<T>::get_mutable_numeric_parameter, py::arg("index"),
py_rvp::reference_internal,
doc.Context.get_mutable_numeric_parameter.doc)
.def("get_mutable_abstract_parameter",
&Context<T>::get_mutable_abstract_parameter, py::arg("index"),
py_rvp::reference_internal,
doc.Context.get_mutable_abstract_parameter.doc)
// Note: No bindings yet for "Advanced methods for changing
// locally-stored values"
//
// Bindings for the Context methods in the Doxygen group titled
// "Miscellaneous public methods", placed in the same order as the
// header file.
// TODO(EricCousineau-TRI): Replace these with DefClone.
.def("Clone", &Context<T>::Clone, doc.Context.Clone.doc)
.def("__copy__", &Context<T>::Clone)
.def("__deepcopy__", [](const Context<T>* self,
py::dict /* memo */) { return self->Clone(); })
.def("__str__", &Context<T>::to_string, doc.Context.to_string.doc);
return context_cls;
}
template <typename T, typename PyClass>
void DefineContextMethodsTemplatedOnASecondaryScalar(PyClass* context_cls) {
PyClass& cls = *context_cls;
type_visit(
[&cls](auto dummy_u) {
using U = decltype(dummy_u);
cls // BR
.def(
"SetStateAndParametersFrom",
[](Context<T>* self, const Context<U>& source) {
self->SetStateAndParametersFrom(source);
},
py::arg("source"), doc.Context.SetStateAndParametersFrom.doc)
.def(
"SetTimeStateAndParametersFrom",
[](Context<T>* self, const Context<U>& source) {
self->SetTimeStateAndParametersFrom(source);
},
py::arg("source"),
doc.Context.SetTimeStateAndParametersFrom.doc);
},
CommonScalarPack{});
}
template <typename T>
void DefineLeafContext(py::module m) {
DefineTemplateClassWithDefault<LeafContext<T>, Context<T>>(
m, "LeafContext", GetPyParam<T>(), doc.LeafContext.doc);
}
template <typename T>
void DefineEventAndEventSubclasses(py::module m) {
// Event mechanisms.
DefineTemplateClassWithDefault<Event<T>>(
m, "Event", GetPyParam<T>(), doc.Event.doc)
.def("get_trigger_type", &Event<T>::get_trigger_type,
doc.Event.get_trigger_type.doc);
{
auto cls = DefineTemplateClassWithDefault<PublishEvent<T>, Event<T>>(
m, "PublishEvent", GetPyParam<T>(), doc.PublishEvent.doc);
// Because Python doesn't offer static type checking to help remind the user
// to return an EventStatus from an event handler function, we'll bind the
// callback as optional<> to allow the user to omit a return statement.
//
// We'll also keep around both callbacks (with and without a System) because
// the C++ rationale for injecting the System doesn't apply to Python so we
// might as well not disturb any existing Python users of events.
using Callback = std::function<std::optional<EventStatus>(
const Context<T>&, const PublishEvent<T>&)>;
using SystemCallback = std::function<std::optional<EventStatus>(
const System<T>&, const Context<T>&, const PublishEvent<T>&)>;
cls // BR
.def(py::init(WrapCallbacks([](const Callback& callback) {
return std::make_unique<PublishEvent<T>>(
[callback](const System<T>&, const Context<T>& context,
const PublishEvent<T>& event) {
return callback(context, event)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("callback"),
"Constructs a PublishEvent with the given callback function.")
.def(py::init(WrapCallbacks([](const SystemCallback& system_callback) {
return std::make_unique<PublishEvent<T>>(
[system_callback](const System<T>& system,
const Context<T>& context, const PublishEvent<T>& event) {
return system_callback(system, context, event)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("system_callback"),
"Constructs a PublishEvent with the given callback function.")
.def(py::init(WrapCallbacks(
[](const TriggerType& trigger_type, const Callback& callback) {
return std::make_unique<PublishEvent<T>>(trigger_type,
[callback](const System<T>&, const Context<T>& context,
const PublishEvent<T>& event) {
return callback(context, event)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("trigger_type"), py::arg("callback"),
"Users should not be calling these")
.def(py::init(WrapCallbacks([](const TriggerType& trigger_type,
const SystemCallback& system_callback) {
return std::make_unique<PublishEvent<T>>(trigger_type,
[system_callback](const System<T>& system,
const Context<T>& context, const PublishEvent<T>& event) {
return system_callback(system, context, event)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("trigger_type"), py::arg("system_callback"),
"Users should not be calling these");
}
DefineTemplateClassWithDefault<DiscreteUpdateEvent<T>, Event<T>>(
m, "DiscreteUpdateEvent", GetPyParam<T>(), doc.DiscreteUpdateEvent.doc);
{
auto cls =
DefineTemplateClassWithDefault<UnrestrictedUpdateEvent<T>, Event<T>>(m,
"UnrestrictedUpdateEvent", GetPyParam<T>(),
doc.UnrestrictedUpdateEvent.doc);
// Because Python doesn't offer static type checking to help remind the user
// to return an EventStatus from an event handler function, we'll bind the
// callback as optional<> to allow the user to omit a return statement.
//
// We'll also keep around both callbacks (with and without a System) because
// the C++ rationale for injecting the System doesn't apply to Python so we
// might as well not disturb any existing Python users of events.
using Callback = std::function<std::optional<EventStatus>(
const Context<T>&, const UnrestrictedUpdateEvent<T>&, State<T>*)>;
using SystemCallback =
std::function<std::optional<EventStatus>(const System<T>&,
const Context<T>&, const UnrestrictedUpdateEvent<T>&, State<T>*)>;
cls // BR
.def(py::init(WrapCallbacks([](const Callback& callback) {
return std::make_unique<UnrestrictedUpdateEvent<T>>(
[callback](const System<T>&, const Context<T>& context,
const UnrestrictedUpdateEvent<T>& event, State<T>* state) {
return callback(context, event, state)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("callback"),
"Constructs an UnrestrictedUpdateEvent with the given callback "
"function.")
.def(py::init(WrapCallbacks([](const SystemCallback& system_callback) {
return std::make_unique<UnrestrictedUpdateEvent<T>>(
[system_callback](const System<T>& system,
const Context<T>& context,
const UnrestrictedUpdateEvent<T>& event, State<T>* state) {
return system_callback(system, context, event, state)
.value_or(EventStatus::Succeeded());
});
})),
py::arg("system_callback"),
"Constructs an UnrestrictedUpdateEvent with the given callback "
"function.");
}
}
template <typename T>
struct BuilderLifeSupport {
static constexpr char kKey[] = "_pydrake_internal_life_support";
static void smuggle(DiagramBuilder<T>* builder) {
BuilderLifeSupport<T>::props(builder).emplace(kKey, py::cast(builder));
};
static void abandon(DiagramBuilder<T>* builder) {
BuilderLifeSupport<T>::props(builder).erase(kKey);
};
static systems::internal::DiagramProperties& props(
DiagramBuilder<T>* builder) {
return systems::internal::get_mutable_properties(builder);
}
};
template <typename T>
void DoDefineFrameworkDiagramBuilder(py::module m) {
DefineTemplateClassWithDefault<DiagramBuilder<T>>(m, "DiagramBuilder",
GetPyParam<T>(), doc.DiagramBuilder.doc, std::nullopt, py::dynamic_attr())
.def(py::init<>(), doc.DiagramBuilder.ctor.doc)
.def(
"AddSystem",
[](DiagramBuilder<T>* self, unique_ptr<System<T>> system) {
BuilderLifeSupport<T>::smuggle(self);
return self->AddSystem(std::move(system));
},
py::arg("system"), internal::ref_cycle<1, 2>(),
doc.DiagramBuilder.AddSystem.doc)
.def(
"AddNamedSystem",
[](DiagramBuilder<T>* self, std::string& name,
unique_ptr<System<T>> system) {
BuilderLifeSupport<T>::smuggle(self);
return self->AddNamedSystem(name, std::move(system));
},
py::arg("name"), py::arg("system"), internal::ref_cycle<1, 3>(),
doc.DiagramBuilder.AddNamedSystem.doc)
.def("RemoveSystem", &DiagramBuilder<T>::RemoveSystem, py::arg("system"),
doc.DiagramBuilder.RemoveSystem.doc)
.def("empty", &DiagramBuilder<T>::empty, doc.DiagramBuilder.empty.doc)
.def("already_built", &DiagramBuilder<T>::already_built,
doc.DiagramBuilder.already_built.doc)
.def("GetSystems", &DiagramBuilder<T>::GetSystems,
py_rvp::reference_internal, doc.DiagramBuilder.GetSystems.doc)
.def("GetMutableSystems", &DiagramBuilder<T>::GetMutableSystems,
py_rvp::reference_internal, doc.DiagramBuilder.GetMutableSystems.doc)
.def("HasSubsystemNamed", &DiagramBuilder<T>::HasSubsystemNamed,
py::arg("name"), doc.DiagramBuilder.HasSubsystemNamed.doc)
.def("GetSubsystemByName", &DiagramBuilder<T>::GetSubsystemByName,
py::arg("name"), py_rvp::reference_internal,
doc.DiagramBuilder.GetSubsystemByName.doc)
.def("GetMutableSubsystemByName",
&DiagramBuilder<T>::GetMutableSubsystemByName, py::arg("name"),
py_rvp::reference_internal,
doc.DiagramBuilder.GetMutableSubsystemByName.doc)
.def(
"connection_map",
[](DiagramBuilder<T>* self) {
// N.B. This code is duplicated with Diagram's same-named function.
// Keep the two copies in sync. The detailed unit test is written
// against the Diagram copy of this function, not this one.
py::dict out;
py::object self_py = py::cast(self, py_rvp::reference);
for (auto& [input_locator, output_locator] :
self->connection_map()) {
// Keep alive, ownership: `input_system_py` keeps `self` alive.
py::object input_system_py = py::cast(
input_locator.first, py_rvp::reference_internal, self_py);
py::object input_port_index_py = py::cast(input_locator.second);
py::tuple input_locator_py(2);
input_locator_py[0] = input_system_py;
input_locator_py[1] = input_port_index_py;
// Keep alive, ownership: `output_system_py` keeps `self` alive.
py::object output_system_py = py::cast(
output_locator.first, py_rvp::reference_internal, self_py);
py::object output_port_index_py = py::cast(output_locator.second);
py::tuple output_locator_py(2);
output_locator_py[0] = output_system_py;
output_locator_py[1] = output_port_index_py;
out[input_locator_py] = output_locator_py;
}
return out;
},
doc.DiagramBuilder.connection_map.doc)
.def("Connect",
py::overload_cast<const OutputPort<T>&, const InputPort<T>&>(
&DiagramBuilder<T>::Connect),
doc.DiagramBuilder.Connect.doc)
.def("ExportInput", &DiagramBuilder<T>::ExportInput, py::arg("input"),
py::arg("name") = kUseDefaultName, py_rvp::reference_internal,
doc.DiagramBuilder.ExportInput.doc)
.def("ConnectInput",
py::overload_cast<std::string_view, const InputPort<T>&>(
&DiagramBuilder<T>::ConnectInput),
py::arg("diagram_port_name"), py::arg("input"),
doc.DiagramBuilder.ConnectInput.doc_2args_diagram_port_name_input)
.def("ConnectInput",
py::overload_cast<InputPortIndex, const InputPort<T>&>(
&DiagramBuilder<T>::ConnectInput),
py::arg("diagram_port_index"), py::arg("input"),
doc.DiagramBuilder.ConnectInput.doc_2args_diagram_port_index_input)
.def("ConnectToSame", &DiagramBuilder<T>::ConnectToSame,
py::arg("exemplar"), py::arg("dest"),
doc.DiagramBuilder.ConnectToSame.doc)
.def("ExportOutput", &DiagramBuilder<T>::ExportOutput, py::arg("output"),
py::arg("name") = kUseDefaultName, py_rvp::reference_internal,
doc.DiagramBuilder.ExportOutput.doc)
.def(
"Build",
[](DiagramBuilder<T>* self) {
BuilderLifeSupport<T>::abandon(self);
return self->Build();
},
internal::ref_cycle<0, 1>(), doc.DiagramBuilder.Build.doc)
.def(
"BuildInto",
[](DiagramBuilder<T>* self, Diagram<T>* target) {
BuilderLifeSupport<T>::abandon(self);
self->BuildInto(target);
},
internal::ref_cycle<1, 2>(), py::arg("target"),
doc.DiagramBuilder.BuildInto.doc)
.def("IsConnectedOrExported", &DiagramBuilder<T>::IsConnectedOrExported,
py::arg("port"), doc.DiagramBuilder.IsConnectedOrExported.doc)
.def("num_input_ports", &DiagramBuilder<T>::num_input_ports,
doc.DiagramBuilder.num_input_ports.doc)
.def("num_output_ports", &DiagramBuilder<T>::num_output_ports,
doc.DiagramBuilder.num_output_ports.doc);
}
// TODO(jwnimmer-tri) This function is just a grab-bag of several classes. We
// should split it up into smaller pieces.
template <typename T>
void DefineRemainingScalarDependentDefinitions(py::module m) {
DefineTemplateClassWithDefault<OutputPort<T>>(
m, "OutputPort", GetPyParam<T>(), doc.OutputPort.doc)
.def("size", &OutputPort<T>::size, doc.PortBase.size.doc)
.def("get_data_type", &OutputPort<T>::get_data_type,
doc.PortBase.get_data_type.doc)
.def("get_index", &OutputPort<T>::get_index,
doc.OutputPortBase.get_index.doc)
.def("get_name", &OutputPort<T>::get_name, doc.PortBase.get_name.doc)
.def(
"Eval",
[](const OutputPort<T>* self, const Context<T>& context) {
return DoEval(self, context);
},
doc.OutputPort.Eval.doc)
.def(
"EvalAbstract",
[](const OutputPort<T>* self, const Context<T>& c) {
const auto& abstract = self->template Eval<AbstractValue>(c);
return py::cast(&abstract);
},
py::arg("context"),
"(Advanced.) Returns the value of this output port, typed "
"as an AbstractValue. Most users should call Eval() instead. "
"This method is only needed when the result will be passed "
"into some other API that only accepts an AbstractValue.",
py_rvp::reference_internal)
.def(
"EvalBasicVector",
[](const OutputPort<T>* self, const Context<T>& c) {
const auto& basic = self->template Eval<BasicVector<T>>(c);
return py::cast(&basic);
},
py::arg("context"),
"(Advanced.) Returns the value of this output port, typed "
"as a BasicVector. Most users should call Eval() instead. "
"This method is only needed when the result will be passed "
"into some other API that only accepts a BasicVector.",
py_rvp::reference_internal)
.def("Allocate", &OutputPort<T>::Allocate, doc.OutputPort.Allocate.doc)
.def("get_system", &OutputPort<T>::get_system, py_rvp::reference,
doc.OutputPort.get_system.doc);
DefineTemplateClassWithDefault<LeafOutputPort<T>, OutputPort<T>>(
m, "LeafOutputPort", GetPyParam<T>(), doc.LeafOutputPort.doc)
.def("cache_entry", &LeafOutputPort<T>::cache_entry,
py_rvp::reference_internal, doc.LeafOutputPort.cache_entry.doc)
.def("disable_caching_by_default",
&LeafOutputPort<T>::disable_caching_by_default,
doc.LeafOutputPort.disable_caching_by_default.doc);
auto system_output = DefineTemplateClassWithDefault<SystemOutput<T>>(
m, "SystemOutput", GetPyParam<T>(), doc.SystemOutput.doc);
system_output
.def("num_ports", &SystemOutput<T>::num_ports,
doc.SystemOutput.num_ports.doc)
.def("get_data", &SystemOutput<T>::get_data, py_rvp::reference_internal,
doc.SystemOutput.get_data.doc)
.def("get_vector_data", &SystemOutput<T>::get_vector_data,
py_rvp::reference_internal, doc.SystemOutput.get_vector_data.doc);
DefineTemplateClassWithDefault<InputPort<T>>(
m, "InputPort", GetPyParam<T>(), doc.InputPort.doc)
.def("get_name", &InputPort<T>::get_name, doc.PortBase.get_name.doc)
.def("GetFullDescription", &InputPort<T>::GetFullDescription,
doc.PortBase.GetFullDescription.doc)
.def("get_index", &InputPort<T>::get_index,
doc.InputPortBase.get_index.doc)
.def("get_data_type", &InputPort<T>::get_data_type,
doc.PortBase.get_data_type.doc)
.def("size", &InputPort<T>::size, doc.PortBase.size.doc)
.def("ticket", &InputPort<T>::ticket, doc.PortBase.ticket.doc)
.def(
"Eval",
[](const InputPort<T>* self, const Context<T>& context) {
return DoEval(self, context);
DRAKE_UNREACHABLE();
},
doc.InputPort.Eval.doc)
.def("EvalAbstract", &InputPort<T>::template Eval<AbstractValue>,
py::arg("context"),
"(Advanced.) Returns the value of this input port, typed "
"as an AbstractValue. Most users should call Eval() instead. "
"This method is only needed when the result will be passed "
"into some other API that only accepts an AbstractValue.",
py_rvp::reference_internal)
.def(
"EvalBasicVector",
[](const InputPort<T>* self, const Context<T>& c) {
const auto& basic = self->template Eval<BasicVector<T>>(c);
return py::cast(&basic);
},
py::arg("context"),
"(Advanced.) Returns the value of this input port, typed "
"as a BasicVector. Most users should call Eval() instead. "
"This method is only needed when the result will be passed "
"into some other API that only accepts a BasicVector.",
py_rvp::reference_internal)
// For FixValue, treat an already-erased AbstractValue specially ...
.def(
"FixValue",
[](const InputPort<T>* self, Context<T>* context,
const AbstractValue& value) {
FixedInputPortValue& result = self->FixValue(context, value);
return &result;
},
py::arg("context"), py::arg("value"), py_rvp::reference,
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), doc.InputPort.FixValue.doc)
// ... but then for anything not yet erased, use set_value to copy.
.def(
"FixValue",
[](const InputPort<T>* self, Context<T>* context,
const py::object& value) {
const auto& system = self->get_system();
// Allocate is a bit wasteful, but FixValue is already expensive.
std::unique_ptr<AbstractValue> storage =
system.AllocateInputAbstract(*self);
py::cast(storage.get(), py_rvp::reference).attr("set_value")(value);
FixedInputPortValue& result = self->FixValue(context, *storage);
return &result;
},
py::arg("context"), py::arg("value"), py_rvp::reference,
// Keep alive, ownership: `return` keeps `context` alive.
py::keep_alive<0, 2>(), doc.InputPort.FixValue.doc)
.def("HasValue", &InputPort<T>::HasValue, py::arg("context"),
doc.InputPort.HasValue.doc)
.def("Allocate", &InputPort<T>::Allocate, doc.InputPortBase.Allocate.doc)
.def("get_system", &InputPort<T>::get_system, py_rvp::reference,
doc.InputPort.get_system.doc);
// TODO(russt): Bind relevant WitnessFunction methods. This is the
// minimal binding required to support DeclareWitnessFunction.
DefineTemplateClassWithDefault<WitnessFunction<T>>(
m, "WitnessFunction", GetPyParam<T>(), doc.WitnessFunction.doc);
} // NOLINT(readability/fn_size)
template <typename T>
void DefineParameters(py::module m) {
auto parameters = DefineTemplateClassWithDefault<Parameters<T>>(
m, "Parameters", GetPyParam<T>(), doc.Parameters.doc);
DefClone(¶meters);
using BasicVectorPtrList = vector<unique_ptr<BasicVector<T>>>;
parameters
.def(py::init<>(), doc.Parameters.ctor.doc_0args)
// TODO(eric.cousineau): Ensure that we can respect keep alive behavior
// with lists of pointers.
.def(py::init<BasicVectorPtrList, AbstractValuePtrList>(),
py::arg("numeric"), py::arg("abstract"),
doc.Parameters.ctor.doc_2args_numeric_abstract)
.def(py::init<BasicVectorPtrList>(), py::arg("numeric"),
doc.Parameters.ctor.doc_1args_numeric)
.def(py::init<AbstractValuePtrList>(), py::arg("abstract"),
doc.Parameters.ctor.doc_1args_abstract)
.def(py::init<unique_ptr<BasicVector<T>>>(), py::arg("vec"),
// Keep alive, ownership: `vec` keeps `self` alive.
py::keep_alive<2, 1>(), doc.Parameters.ctor.doc_1args_vec)
.def(py::init<unique_ptr<AbstractValue>>(), py::arg("value"),
// Keep alive, ownership: `value` keeps `self` alive.
py::keep_alive<2, 1>(), doc.Parameters.ctor.doc_1args_value)
.def("num_numeric_parameter_groups",
&Parameters<T>::num_numeric_parameter_groups,
doc.Parameters.num_numeric_parameter_groups.doc)
.def("num_abstract_parameters", &Parameters<T>::num_abstract_parameters,
doc.Parameters.num_abstract_parameters.doc)
.def("get_numeric_parameter", &Parameters<T>::get_numeric_parameter,
py_rvp::reference_internal, py::arg("index"),
doc.Parameters.get_numeric_parameter.doc)
.def("get_mutable_numeric_parameter",
&Parameters<T>::get_mutable_numeric_parameter,
py_rvp::reference_internal, py::arg("index"),
doc.Parameters.get_mutable_numeric_parameter.doc)
.def("get_numeric_parameters", &Parameters<T>::get_numeric_parameters,
py_rvp::reference_internal, doc.Parameters.get_numeric_parameters.doc)
// TODO(eric.cousineau): Should this C++ code constrain the number of
// parameters???
.def("set_numeric_parameters", &Parameters<T>::set_numeric_parameters,
// WARNING: This will DELETE the existing parameters. See C++
// `AddValueInstantiation` for more information.
// Keep alive, ownership: `value` keeps `self` alive.
py::keep_alive<2, 1>(), py::arg("numeric_params"),
doc.Parameters.set_numeric_parameters.doc)
.def(
"get_abstract_parameter",
[](const Parameters<T>* self, int index) -> auto& {
return self->get_abstract_parameter(index);
},
py_rvp::reference_internal, py::arg("index"),
doc.Parameters.get_abstract_parameter.doc_1args_index)
.def(
"get_mutable_abstract_parameter",
[](Parameters<T>* self, int index) -> AbstractValue& {
return self->get_mutable_abstract_parameter(index);
},
py_rvp::reference_internal, py::arg("index"),
doc.Parameters.get_mutable_abstract_parameter.doc_1args_index)
.def("get_abstract_parameters", &Parameters<T>::get_abstract_parameters,
py_rvp::reference_internal,
doc.Parameters.get_abstract_parameters.doc)
.def("set_abstract_parameters", &Parameters<T>::set_abstract_parameters,
// WARNING: This will DELETE the existing parameters. See C++
// `AddValueInstantiation` for more information.
// Keep alive, ownership: `value` keeps `self` alive.
py::keep_alive<2, 1>(), py::arg("abstract_params"),
doc.Parameters.set_abstract_parameters.doc)
.def(
"SetFrom",
[](Parameters<T>* self, const Parameters<double>& other) {
self->SetFrom(other);
},
doc.Parameters.SetFrom.doc);
}
template <typename T>
void DefineState(py::module m) {
DefineTemplateClassWithDefault<State<T>>(
m, "State", GetPyParam<T>(), doc.State.doc)
.def(py::init<>(), doc.State.ctor.doc)
.def("get_continuous_state", &State<T>::get_continuous_state,
py_rvp::reference_internal, doc.State.get_continuous_state.doc)
.def("get_mutable_continuous_state",
&State<T>::get_mutable_continuous_state, py_rvp::reference_internal,
doc.State.get_mutable_continuous_state.doc)
.def("get_discrete_state",
overload_cast_explicit<const DiscreteValues<T>&>(
&State<T>::get_discrete_state),
py_rvp::reference_internal, doc.State.get_discrete_state.doc)
.def("get_mutable_discrete_state",
overload_cast_explicit<DiscreteValues<T>&>(
&State<T>::get_mutable_discrete_state),
py_rvp::reference_internal, doc.State.get_mutable_discrete_state.doc)
.def("get_mutable_discrete_state",
overload_cast_explicit<BasicVector<T>&, int>(
&State<T>::get_mutable_discrete_state),
py::arg("index"), py_rvp::reference_internal,
doc.State.get_mutable_discrete_state.doc)
.def("get_abstract_state",
static_cast<const AbstractValues& (State<T>::*)() const>(
&State<T>::get_abstract_state),
py_rvp::reference_internal, doc.State.get_abstract_state.doc)
.def(
"get_abstract_state",
[](State<T>* self, int index) -> const AbstractValue& {
return self->get_abstract_state().get_value(index);
},
py::arg("index"), py_rvp::reference_internal,
doc.State.get_abstract_state.doc)
.def(
"get_mutable_abstract_state",
[](State<T>* self) -> AbstractValues& {
return self->get_mutable_abstract_state();
},
py_rvp::reference_internal,
doc.State.get_mutable_abstract_state.doc_0args)
.def(
"get_mutable_abstract_state",
[](State<T>* self, int index) -> AbstractValue& {
return self->get_mutable_abstract_state().get_mutable_value(index);
},
py::arg("index"), py_rvp::reference_internal,
doc.State.get_mutable_abstract_state.doc_1args);
}
template <typename T>
void DefineContinuousState(py::module m) {
auto continuous_state = DefineTemplateClassWithDefault<ContinuousState<T>>(
m, "ContinuousState", GetPyParam<T>(), doc.ContinuousState.doc);
DefClone(&continuous_state);
continuous_state