Merge pull request #54 from ihsrobotics/bt-bind

Bt bind

Author: chrehall68

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0)
-project(ihs_boost VERSION 1.6.0)
+project(ihs_boost VERSION 1.6.1)
 
 # options
 option(build_tests "build_tests" OFF)

modules/bindings/include/ihs_bindings.pyi

@@ -61,6 +61,21 @@ class SysVCommunicator(CommunicatorBase):
             @param max_msg_size - the maximum size for messages
         """
 
+class BluetoothServer(CommunicatorBase):
+    def __init__(self, max_msg_size: int = ...) -> None:
+        """
+        Construct a new Bluetooth Server object
+            @param max_msg_size - the maximum size of your messages
+        """
+
+class BluetoothClient(CommunicatorBase):
+    def __init__(self, target_addr: str, max_msg_size: int = ...) -> None:
+        """
+        Construct a new Bluetooth Client object
+            @param target_addr - the bluetooth address to connect to
+            @param max_msg_size - the maximum size of your messages
+        """
+
 class Speed:
     def __init__(self, left_speed: int, right_speed: int) -> None:
         """

modules/bindings/src/communicate_bindings.cpp

@@ -3,6 +3,7 @@
 #ifdef build_communicate
 #include "communicate.hpp"
 #include <boost/python.hpp>
+#include <string>
 
 namespace communicate_export
 {
@@ -111,15 +112,18 @@ void export_communicate()
 {
     using namespace communicate_export;
     using namespace boost::python;
+    using std::string;
 
     // communicate section
     // classes
     class_<Communicator, boost::noncopyable>("CommunicatorBase", no_init);
     class_<SocketServer, bases<Communicator>>("SocketServer", init<int, optional<int>>((arg("port"), arg("max_msg_size"))));
-    class_<SocketClient, bases<Communicator>>("SocketClient", init<const char *, int, optional<int>>((arg("ip"), arg("max_msg_size"))));
+    class_<SocketClient, bases<Communicator>>("SocketClient", init<string, int, optional<int>>((arg("ip"), arg("max_msg_size"))));
     class_<SHMCommunicator, bases<Communicator>>("SHMCommunicator", init<int, optional<int>>((arg("id"), arg("max_msg_size"))));
-    class_<PosixQCommunicator, bases<Communicator>>("PosixQCommunicator", init<const char *, optional<int, int>>((arg("name"), arg("max_msgs"), arg("max_msg_size"))));
+    class_<PosixQCommunicator, bases<Communicator>>("PosixQCommunicator", init<string, optional<int, int>>((arg("name"), arg("max_msgs"), arg("max_msg_size"))));
     class_<SysVCommunicator, bases<Communicator>>("SysVCommunicator", init<int, optional<int>>((arg("id"), arg("max_msg_size"))));
+    class_<BluetoothClient, bases<Communicator>>("BluetoothClient", init<string, optional<int>>((arg("bluetooth_addr"), arg("max_msg_size"))));
+    class_<BluetoothServer, bases<Communicator>>("BluetoothServer", init<optional<int>>((arg("max_msg_size"))));
 
     // ints
     def("receive_ints", receive_ints);

modules/communicate/include/btcommunicator.hpp

@@ -49,6 +49,7 @@ class BluetoothServer : public Communicator
      *
      */
     virtual void open();
+
     /**
      * @brief Close the communicator.
      * @details This should be called automatically in the deconstructor.
@@ -91,7 +92,7 @@ class BluetoothClient : public Communicator
      * @brief Construct a new Bluetooth Client object
      *
      * @param target_addr the bluetooth address to connect to
-     * @param max_msg_size the maximum size of your messages
+     * @param max_msg_size The maximum size of your messages
      */
     BluetoothClient(std::string target_addr, uint32_t max_msg_size);
 
@@ -114,6 +115,7 @@ class BluetoothClient : public Communicator
      *
      */
     virtual void open();
+
     /**
      * @brief Close the communicator.
      * @details This should be called automatically in the deconstructor.