simplify binding of structs

agutenkunst · Jan 29, 2020 · da561cc · da561cc
1 parent deafbf8
commit da561cc
Showing 1 changed file with 13 additions and 97 deletions.
diff --git a/rosbag2_py/src/rosbag2_py/_rosbag2_py.cpp b/rosbag2_py/src/rosbag2_py/_rosbag2_py.cpp
@@ -30,74 +30,6 @@ namespace py = pybind11;
 namespace rosbag2_py
 {
 
-class StorageOptions
-{
-public:
-  StorageOptions() {}
-
-  std::string get_uri()
-  {
-    return storage_options_.uri;
-  }
-
-  void set_uri(const std::string & uri)
-  {
-    storage_options_.uri = uri;
-  }
-
-  std::string get_storage_id()
-  {
-    return storage_options_.storage_id;
-  }
-
-  void set_storage_id(const std::string & id)
-  {
-    storage_options_.storage_id = id;
-  }
-
-  uint64_t get_max_bagfile_size()
-  {
-    return storage_options_.max_bagfile_size;
-  }
-
-  void set_max_bagfile_size(uint64_t size)
-  {
-    storage_options_.max_bagfile_size = size;
-  }
-
-private:
-  rosbag2::StorageOptions storage_options_;
-};
-
-class ConverterOptions
-{
-public:
-  ConverterOptions() {}
-
-  std::string get_input_serialization_format()
-  {
-    return converter_options_.input_serialization_format;
-  }
-
-  void set_input_serialization_format(const std::string & format)
-  {
-    converter_options_.input_serialization_format = format;
-  }
-
-  std::string get_output_serialization_format()
-  {
-    return converter_options_.output_serialization_format;
-  }
-
-  void set_output_serialization_format(const std::string & format)
-  {
-    converter_options_.output_serialization_format = format;
-  }
-
-private:
-  rosbag2::ConverterOptions converter_options_;
-};
-
 class SequentialReader
 {
 public:
@@ -106,19 +38,9 @@ class SequentialReader
   {}
 
   void open(
-    rosbag2_py::StorageOptions & s_opts_py,
-    rosbag2_py::ConverterOptions & c_opts_py)
+    rosbag2::StorageOptions & storage_options,
+    rosbag2::ConverterOptions & converter_options)
   {
-    rosbag2::StorageOptions storage_options{};
-    storage_options.uri = s_opts_py.get_uri();
-    storage_options.storage_id = s_opts_py.get_storage_id();
-
-    rosbag2::ConverterOptions converter_options{};
-    converter_options.input_serialization_format =
-      c_opts_py.get_input_serialization_format();
-    converter_options.output_serialization_format =
-      c_opts_py.get_output_serialization_format();
-
     reader_.open(storage_options, converter_options);
   }
 
@@ -166,23 +88,17 @@ PYBIND11_MODULE(_rosbag2_py, m) {
   .def("has_next", &rosbag2_py::SequentialReader::has_next)
   .def("get_all_topics_and_types", &rosbag2_py::SequentialReader::get_all_topics_and_types);
 
-  pybind11::class_<rosbag2_py::StorageOptions>(m, "StorageOptions")
+  pybind11::class_<rosbag2::StorageOptions>(m, "StorageOptions")
   .def(pybind11::init())
-  .def("get_uri", &rosbag2_py::StorageOptions::get_uri)
-  .def("set_uri", &rosbag2_py::StorageOptions::set_uri)
-  .def("get_storage_id", &rosbag2_py::StorageOptions::get_storage_id)
-  .def("set_storage_id", &rosbag2_py::StorageOptions::set_storage_id)
-  .def("get_max_bagfile_size", &rosbag2_py::StorageOptions::get_max_bagfile_size)
-  .def("set_max_bagfile_size", &rosbag2_py::StorageOptions::set_max_bagfile_size);
-
-  pybind11::class_<rosbag2_py::ConverterOptions>(m, "ConverterOptions")
+  .def_readwrite("uri", &rosbag2::StorageOptions::uri)
+  .def_readwrite("storage_id", &rosbag2::StorageOptions::storage_id)
+  .def_readwrite("max_bagfile_size",
+    &rosbag2::StorageOptions::max_bagfile_size);
+
+  pybind11::class_<rosbag2::ConverterOptions>(m, "ConverterOptions")
   .def(pybind11::init())
-  .def("get_input_serialization_format",
-    &rosbag2_py::ConverterOptions::get_input_serialization_format)
-  .def("set_input_serialization_format",
-    &rosbag2_py::ConverterOptions::set_input_serialization_format)
-  .def("get_output_serialization_format",
-    &rosbag2_py::ConverterOptions::get_input_serialization_format)
-  .def("set_output_serialization_format",
-    &rosbag2_py::ConverterOptions::set_output_serialization_format);
+  .def_readwrite("input_serialization_format",
+    &rosbag2::ConverterOptions::input_serialization_format)
+  .def_readwrite("output_serialization_format",
+    &rosbag2::ConverterOptions::output_serialization_format);
 }