Python bindings

.gitignore

@@ -1 +1,2 @@
-build/
+build/
+*.pyc

CMakeLists.txt

@@ -115,3 +115,4 @@ add_subdirectory(camera/gst-camera)
 add_subdirectory(camera/v4l2-console)
 add_subdirectory(camera/v4l2-display)
 add_subdirectory(display/gl-display-test)
+add_subdirectory(python)

python/CMakeLists.txt

@@ -0,0 +1,14 @@
+
+#
+# This list contains the versions of Python that will be detected 
+# and the bindings built against (if that version is installed).
+#
+# If you want to support another version of Python, add it here.
+#
+set(PYTHON_BINDING_VERSIONS 2.7 3.6 3.7)
+
+message("-- trying to build Python bindings for Python versions:  ${PYTHON_BINDING_VERSIONS}")
+
+foreach(PYTHON_BINDING_VERSION ${PYTHON_BINDING_VERSIONS})
+	add_subdirectory(bindings bindings_python_${PYTHON_BINDING_VERSION})
+endforeach()

python/bindings/CMakeLists.txt

@@ -0,0 +1,58 @@
+# clear CMakeCache of Python version
+unset(PYTHONINTERP_FOUND CACHE)
+unset(PYTHON_EXECUTABLE CACHE)
+unset(PYTHON_VERSION_STRING CACHE)
+unset(PYTHON_VERSION_MAJOR CACHE)
+unset(PYTHON_VERSION_MINOR CACHE)
+unset(PYTHON_VERSION_PATCH CACHE)
+
+unset(PYTHON_INCLUDE_PATH CACHE)
+unset(PYTHON_INCLUDE_DIRS CACHE)
+unset(PYTHON_INCLUDE_DIR CACHE)
+unset(PYTHON_LIBRARY CACHE)
+unset(PYTHON_LIBRARIES CACHE)
+unset(PYTHON_DEBUG_LIBRARIES CACHE)
+unset(PYTHON_MODULE_PREFIX CACHE)
+unset(PYTHON_MODULE_EXTENSION CACHE)
+
+unset(PYTHONLIBS_FOUND CACHE)
+unset(PYTHONLIBS_VERSION_STRING CACHE)
+
+# locate requested python version
+message("-- detecting Python ${PYTHON_BINDING_VERSION}...")
+
+find_package(PythonInterp ${PYTHON_BINDING_VERSION} QUIET)
+find_package(PythonLibs ${PYTHON_BINDING_VERSION} QUIET)
+
+if(NOT ${PYTHONLIBS_FOUND})
+	message("-- Python ${PYTHON_BINDING_VERSION} wasn't found")
+	return()
+endif()
+
+message("-- found Python version:  ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} (${PYTHONLIBS_VERSION_STRING})")
+message("-- found Python include:  ${PYTHON_INCLUDE_DIRS}")
+message("-- found Python library:  ${PYTHON_LIBRARIES}") 
+
+include_directories(${PYTHON_INCLUDE_DIRS})
+
+# build the bindings
+file(GLOB pythonUtilsSources *.cpp)
+
+cuda_add_library(jetson-utils-python-${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} SHARED ${pythonUtilsSources})
+
+target_link_libraries(jetson-utils-python-${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} jetson-utils ${PYTHON_LIBRARIES})
+
+set_target_properties(jetson-utils-python-${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}
+				  PROPERTIES
+					PREFIX ""
+					OUTPUT_NAME "jetson_utils_python"
+					LIBRARY_OUTPUT_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/python/${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+
+# install to /usr/pythonX.X/dist-packages
+set(PYTHON_BINDING_INSTALL_DIR /usr/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages)
+
+install(TARGETS jetson-utils-python-${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} DESTINATION ${PYTHON_BINDING_INSTALL_DIR})
+
+install(DIRECTORY ../python/Jetson DESTINATION ${PYTHON_BINDING_INSTALL_DIR})
+install(DIRECTORY ../python/jetson DESTINATION ${PYTHON_BINDING_INSTALL_DIR})
+

python/bindings/PyCUDA.cpp

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#include "PyCUDA.h"
+
+
+
+// Test function
+PyObject* PyCUDA_Test( PyObject* self, PyObject* args )
+{
+	//PyErr_SetString(PyExc_Exception, "PyCUDA -- invalid object instance");
+		//return NULL;
+
+	printf("PyCUDA -- test\n");
+
+	return Py_BuildValue("s", "test string"); //Py_RETURN_NONE;
+}
+
+
+//-------------------------------------------------------------------------------
+
+static PyMethodDef pyCUDA_Functions[] = 
+{
+	{ "Test", (PyCFunction)PyCUDA_Test, METH_NOARGS, "Test function"},
+	{NULL}  /* Sentinel */
+};
+
+// Register functions
+PyMethodDef* PyCUDA_RegisterFunctions()
+{
+	return pyCUDA_Functions;
+}
+
+// Register types
+bool PyCUDA_RegisterTypes( PyObject* module )
+{
+	if( !module )
+		return false;
+
+	return true;
+}

python/bindings/PyCUDA.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef __PYTHON_BINDINGS_CUDA__
+#define __PYTHON_BINDINGS_CUDA__
+
+#include "PyUtils.h"
+
+
+// Register functions
+PyMethodDef* PyCUDA_RegisterFunctions();
+
+// Register types
+bool PyCUDA_RegisterTypes( PyObject* module );
+
+
+#endif

python/bindings/PyUtils.cpp

@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#include "PyUtils.h"
+#include "PyCUDA.h"
+
+
+
+const uint32_t pyUtilsMaxFunctions = 128;
+      uint32_t pyUtilsNumFunctions = 0;
+
+static PyMethodDef pyUtilsFunctions[pyUtilsMaxFunctions];
+
+
+// add functions
+void PyUtils_AddFunctions( PyMethodDef* functions )
+{
+	uint32_t count = 0;
+
+	if( !functions )
+		return;
+
+	while(true)
+	{
+		if( !functions[count].ml_name || !functions[count].ml_meth )
+			break;
+
+		if( pyUtilsNumFunctions >= pyUtilsMaxFunctions - 1 )
+		{
+			printf("jetson.utils -- exceeded max number of functions to register (%u)\n", pyUtilsMaxFunctions);
+			return;
+		}
+
+		memcpy(pyUtilsFunctions + pyUtilsNumFunctions, functions + count, sizeof(PyMethodDef));
+
+		pyUtilsNumFunctions++;
+		count++;
+	}
+}
+
+
+// register functions
+bool PyUtils_RegisterFunctions()
+{
+	printf("jetson.utils -- registering module functions...\n");
+
+	// zero the master list of functions, so it end with NULL sentinel
+	memset(pyUtilsFunctions, 0, sizeof(PyMethodDef) * pyUtilsMaxFunctions);
+
+	// add functions to the master list
+	PyUtils_AddFunctions(PyCUDA_RegisterFunctions());
+
+	printf("jetson.utils -- done registering module functions\n");
+	return true;
+}
+
+
+// register object types
+bool PyUtils_RegisterTypes( PyObject* module )
+{
+	printf("jetson.utils -- registering module types...\n");
+
+	if( !PyCUDA_RegisterTypes(module) )
+		printf("jetson.utils -- failed to register CUDA types\n");
+
+	printf("jetson.utils -- done registering module types\n");
+	return true;
+}
+
+#ifdef PYTHON_3
+static struct PyModuleDef pyUtilsModuleDef = {
+        PyModuleDef_HEAD_INIT,
+        "jetson_utils_python",
+        NULL,
+        -1,
+        pyUtilsFunctions
+};
+
+PyMODINIT_FUNC
+PyInit_jetson_utils_python(void)
+{
+	printf("jetson.utils -- initializing Python %i.%i bindings...\n", PY_MAJOR_VERSION, PY_MINOR_VERSION);
+
+	// register functions
+	if( !PyUtils_RegisterFunctions() )
+		printf("jetson.utils -- failed to register module functions\n");
+
+	// create the module
+	PyObject* module = PyModule_Create(&pyUtilsModuleDef);
+
+	if( !module )
+	{
+		printf("jetson.utils -- PyModule_Create() failed\n");
+		return NULL;
+	}
+
+	// register types
+	if( !PyUtils_RegisterTypes(module) )
+		printf("jetson.utils -- failed to register module types\n");
+
+	printf("jetson.utils -- done Python %i.%i binding initialization\n", PY_MAJOR_VERSION, PY_MINOR_VERSION);
+	return module;
+}
+
+#else
+PyMODINIT_FUNC
+initjetson_utils_python(void)
+{
+	printf("jetson.utils -- initializing Python %i.%i bindings...\n", PY_MAJOR_VERSION, PY_MINOR_VERSION);
+
+	// register functions
+	if( !PyUtils_RegisterFunctions() )
+		printf("jetson.utils -- failed to register module functions\n");
+
+	// create the module
+	PyObject* module = Py_InitModule("jetson_utils_python", pyUtilsFunctions);
+
+	if( !module )
+	{
+		printf("jetson.utils -- Py_InitModule() failed\n");
+		return;
+	}
+
+	// register types
+	if( !PyUtils_RegisterTypes(module) )
+		printf("jetson.utils -- failed to register module types\n");
+
+	printf("jetson.utils -- done Python %i.%i binding initialization\n", PY_MAJOR_VERSION, PY_MINOR_VERSION);
+}
+#endif
+
+

python/bindings/PyUtils.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef __PYTHON_BINDINGS_UTILS__
+#define __PYTHON_BINDINGS_UTILS__
+
+#include <Python.h>
+
+// check Python version
+#if PY_MAJOR_VERSION >= 3
+	#define PYTHON_3
+#elif PY_MAJOR_VERSION >= 2
+	#define PYTHON_2
+#endif
+
+#endif

python/python/Jetson/Utils/__init__.py

@@ -0,0 +1,6 @@
+
+print("Jetson.Utils.__init__.py")
+
+from jetson_utils_python import *
+
+VERSION = '1.0.0'

python/python/jetson/utils/__init__.py

@@ -0,0 +1,6 @@
+
+print("jetson.utils.__init__.py")
+
+from jetson_utils_python import *
+
+VERSION = '1.0.0'