From 7e766a228ed361265db02a6968e063770df02091 Mon Sep 17 00:00:00 2001 From: forbes Date: Fri, 20 Feb 2026 11:58:18 -0600 Subject: [PATCH] feat(kcsolve): add to_dict()/from_dict() JSON serialization for all types MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Phase 3a of the solver server integration: add dict/JSON serialization to all KCSolve pybind11 types so SolveContext and SolveResult can be transported as JSON between the Create client, Silo server, and solver runners. Implementation: - Constexpr enum string mapping tables for all 5 enums (BaseJointKind, SolveStatus, DiagnosticKind, MotionKind, LimitKind) with template bidirectional lookup helpers - File-local to_dict/from_dict conversion functions for all 10 types (Transform, Part, Constraint::Limit, Constraint, MotionDef, SimulationParams, SolveContext, ConstraintDiagnostic, SolveResult::PartResult, SolveResult) - .def("to_dict") and .def_static("from_dict") on every py::class_<> binding chain Serialization details per SOLVER.md §3: - SolveContext.to_dict() includes api_version field - SolveContext.from_dict() validates api_version, raises ValueError on mismatch - Enums serialize as strings matching pybind11 .value() names - Transform: {position: [x,y,z], quaternion: [w,x,y,z]} - Optional simulation serializes as None/null - Pure pybind11 py::dict construction, no new dependencies Tests: 16 new tests in TestKCSolveSerialization covering round-trips for all types, all 24 BaseJointKind values, all 4 SolveStatus values, json.dumps/loads stdlib round-trip, and error cases (missing key, invalid enum, bad array length, wrong api_version). --- .../Assembly/AssemblyTests/TestKCSolvePy.py | 283 ++++++++++ .../Assembly/Solver/bindings/kcsolve_py.cpp | 491 +++++++++++++++++- 2 files changed, 764 insertions(+), 10 deletions(-) diff --git a/src/Mod/Assembly/AssemblyTests/TestKCSolvePy.py b/src/Mod/Assembly/AssemblyTests/TestKCSolvePy.py index 6d8406eae8..3073197773 100644 --- a/src/Mod/Assembly/AssemblyTests/TestKCSolvePy.py +++ b/src/Mod/Assembly/AssemblyTests/TestKCSolvePy.py @@ -149,6 +149,289 @@ class TestKCSolveRegistry(unittest.TestCase): self.assertEqual(kcsolve.get_default(), original) +class TestKCSolveSerialization(unittest.TestCase): + """Verify to_dict() / from_dict() round-trip on all KCSolve types.""" + + def test_transform_round_trip(self): + import kcsolve + + t = kcsolve.Transform() + t.position = [1.0, 2.0, 3.0] + t.quaternion = [0.5, 0.5, 0.5, 0.5] + d = t.to_dict() + self.assertEqual(list(d["position"]), [1.0, 2.0, 3.0]) + self.assertEqual(list(d["quaternion"]), [0.5, 0.5, 0.5, 0.5]) + t2 = kcsolve.Transform.from_dict(d) + self.assertEqual(list(t2.position), [1.0, 2.0, 3.0]) + self.assertEqual(list(t2.quaternion), [0.5, 0.5, 0.5, 0.5]) + + def test_transform_identity_round_trip(self): + import kcsolve + + t = kcsolve.Transform.identity() + t2 = kcsolve.Transform.from_dict(t.to_dict()) + self.assertEqual(list(t2.position), [0.0, 0.0, 0.0]) + self.assertEqual(list(t2.quaternion), [1.0, 0.0, 0.0, 0.0]) + + def test_part_round_trip(self): + import kcsolve + + p = kcsolve.Part() + p.id = "box" + p.mass = 2.5 + p.grounded = True + p.placement = kcsolve.Transform.identity() + d = p.to_dict() + self.assertEqual(d["id"], "box") + self.assertAlmostEqual(d["mass"], 2.5) + self.assertTrue(d["grounded"]) + p2 = kcsolve.Part.from_dict(d) + self.assertEqual(p2.id, "box") + self.assertAlmostEqual(p2.mass, 2.5) + self.assertTrue(p2.grounded) + + def test_constraint_with_limits_round_trip(self): + import kcsolve + + c = kcsolve.Constraint() + c.id = "Joint001" + c.part_i = "part1" + c.part_j = "part2" + c.type = kcsolve.BaseJointKind.Revolute + c.params = [1.5, 2.5] + lim = kcsolve.Constraint.Limit() + lim.kind = kcsolve.LimitKind.RotationMin + lim.value = -3.14 + lim.tolerance = 0.01 + c.limits = [lim] + d = c.to_dict() + self.assertEqual(d["type"], "Revolute") + self.assertEqual(len(d["limits"]), 1) + self.assertEqual(d["limits"][0]["kind"], "RotationMin") + c2 = kcsolve.Constraint.from_dict(d) + self.assertEqual(c2.type, kcsolve.BaseJointKind.Revolute) + self.assertEqual(len(c2.limits), 1) + self.assertEqual(c2.limits[0].kind, kcsolve.LimitKind.RotationMin) + self.assertAlmostEqual(c2.limits[0].value, -3.14) + + def test_solve_context_full_round_trip(self): + import kcsolve + + ctx = kcsolve.SolveContext() + p = kcsolve.Part() + p.id = "box" + p.grounded = True + ctx.parts = [p] + + c = kcsolve.Constraint() + c.id = "J1" + c.part_i = "box" + c.part_j = "cyl" + c.type = kcsolve.BaseJointKind.Fixed + ctx.constraints = [c] + ctx.bundle_fixed = True + + d = ctx.to_dict() + self.assertEqual(d["api_version"], kcsolve.API_VERSION_MAJOR) + self.assertEqual(len(d["parts"]), 1) + self.assertEqual(len(d["constraints"]), 1) + self.assertTrue(d["bundle_fixed"]) + + ctx2 = kcsolve.SolveContext.from_dict(d) + self.assertEqual(ctx2.parts[0].id, "box") + self.assertTrue(ctx2.parts[0].grounded) + self.assertEqual(ctx2.constraints[0].type, kcsolve.BaseJointKind.Fixed) + self.assertTrue(ctx2.bundle_fixed) + + def test_solve_context_with_simulation(self): + import kcsolve + + ctx = kcsolve.SolveContext() + ctx.parts = [] + ctx.constraints = [] + sim = kcsolve.SimulationParams() + sim.t_start = 0.0 + sim.t_end = 10.0 + sim.h_out = 0.01 + ctx.simulation = sim + d = ctx.to_dict() + self.assertIsNotNone(d["simulation"]) + self.assertAlmostEqual(d["simulation"]["t_end"], 10.0) + ctx2 = kcsolve.SolveContext.from_dict(d) + self.assertIsNotNone(ctx2.simulation) + self.assertAlmostEqual(ctx2.simulation.t_end, 10.0) + + def test_solve_context_simulation_null(self): + import kcsolve + + ctx = kcsolve.SolveContext() + ctx.parts = [] + ctx.constraints = [] + ctx.simulation = None + d = ctx.to_dict() + self.assertIsNone(d["simulation"]) + ctx2 = kcsolve.SolveContext.from_dict(d) + self.assertIsNone(ctx2.simulation) + + def test_solve_result_round_trip(self): + import kcsolve + + r = kcsolve.SolveResult() + r.status = kcsolve.SolveStatus.Success + r.dof = 6 + pr = kcsolve.SolveResult.PartResult() + pr.id = "box" + pr.placement = kcsolve.Transform.identity() + r.placements = [pr] + diag = kcsolve.ConstraintDiagnostic() + diag.constraint_id = "J1" + diag.kind = kcsolve.DiagnosticKind.Redundant + diag.detail = "over-constrained" + r.diagnostics = [diag] + r.num_frames = 100 + + d = r.to_dict() + self.assertEqual(d["status"], "Success") + self.assertEqual(d["dof"], 6) + self.assertEqual(d["num_frames"], 100) + self.assertEqual(len(d["placements"]), 1) + self.assertEqual(len(d["diagnostics"]), 1) + + r2 = kcsolve.SolveResult.from_dict(d) + self.assertEqual(r2.status, kcsolve.SolveStatus.Success) + self.assertEqual(r2.dof, 6) + self.assertEqual(r2.num_frames, 100) + self.assertEqual(r2.placements[0].id, "box") + self.assertEqual(r2.diagnostics[0].kind, kcsolve.DiagnosticKind.Redundant) + + def test_motion_def_round_trip(self): + import kcsolve + + m = kcsolve.MotionDef() + m.kind = kcsolve.MotionKind.Rotational + m.joint_id = "J1" + m.marker_i = "part1" + m.marker_j = "part2" + m.rotation_expr = "2*pi*time" + m.translation_expr = "" + d = m.to_dict() + self.assertEqual(d["kind"], "Rotational") + self.assertEqual(d["joint_id"], "J1") + m2 = kcsolve.MotionDef.from_dict(d) + self.assertEqual(m2.kind, kcsolve.MotionKind.Rotational) + self.assertEqual(m2.rotation_expr, "2*pi*time") + + def test_all_base_joint_kinds_round_trip(self): + import kcsolve + + all_kinds = [ + "Coincident", + "PointOnLine", + "PointInPlane", + "Concentric", + "Tangent", + "Planar", + "LineInPlane", + "Parallel", + "Perpendicular", + "Angle", + "Fixed", + "Revolute", + "Cylindrical", + "Slider", + "Ball", + "Screw", + "Universal", + "Gear", + "RackPinion", + "Cam", + "Slot", + "DistancePointPoint", + "DistanceCylSph", + "Custom", + ] + for name in all_kinds: + c = kcsolve.Constraint() + c.id = "test" + c.part_i = "a" + c.part_j = "b" + c.type = getattr(kcsolve.BaseJointKind, name) + d = c.to_dict() + self.assertEqual(d["type"], name) + c2 = kcsolve.Constraint.from_dict(d) + self.assertEqual(c2.type, getattr(kcsolve.BaseJointKind, name)) + + def test_all_solve_statuses_round_trip(self): + import kcsolve + + for name in ("Success", "Failed", "InvalidFlip", "NoGroundedParts"): + r = kcsolve.SolveResult() + r.status = getattr(kcsolve.SolveStatus, name) + d = r.to_dict() + self.assertEqual(d["status"], name) + r2 = kcsolve.SolveResult.from_dict(d) + self.assertEqual(r2.status, getattr(kcsolve.SolveStatus, name)) + + def test_json_stdlib_round_trip(self): + import json + + import kcsolve + + ctx = kcsolve.SolveContext() + p = kcsolve.Part() + p.id = "box" + p.grounded = True + ctx.parts = [p] + ctx.constraints = [] + d = ctx.to_dict() + json_str = json.dumps(d) + d2 = json.loads(json_str) + ctx2 = kcsolve.SolveContext.from_dict(d2) + self.assertEqual(ctx2.parts[0].id, "box") + + def test_from_dict_missing_required_key(self): + import kcsolve + + with self.assertRaises(KeyError): + kcsolve.Part.from_dict({"mass": 1.0, "grounded": False}) + + def test_from_dict_invalid_enum_string(self): + import kcsolve + + d = { + "id": "J1", + "part_i": "a", + "part_j": "b", + "type": "Bogus", + "marker_i": {"position": [0, 0, 0], "quaternion": [1, 0, 0, 0]}, + "marker_j": {"position": [0, 0, 0], "quaternion": [1, 0, 0, 0]}, + } + with self.assertRaises(ValueError): + kcsolve.Constraint.from_dict(d) + + def test_from_dict_bad_position_length(self): + import kcsolve + + with self.assertRaises(ValueError): + kcsolve.Transform.from_dict( + { + "position": [1.0, 2.0], + "quaternion": [1, 0, 0, 0], + } + ) + + def test_from_dict_bad_api_version(self): + import kcsolve + + d = { + "api_version": 99, + "parts": [], + "constraints": [], + } + with self.assertRaises(ValueError): + kcsolve.SolveContext.from_dict(d) + + class TestPySolver(unittest.TestCase): """Verify Python IKCSolver subclassing and registration.""" diff --git a/src/Mod/Assembly/Solver/bindings/kcsolve_py.cpp b/src/Mod/Assembly/Solver/bindings/kcsolve_py.cpp index ddc125928b..d93940b362 100644 --- a/src/Mod/Assembly/Solver/bindings/kcsolve_py.cpp +++ b/src/Mod/Assembly/Solver/bindings/kcsolve_py.cpp @@ -31,6 +31,7 @@ #include "PyIKCSolver.h" +#include #include #include @@ -38,6 +39,456 @@ namespace py = pybind11; using namespace KCSolve; +// ── Enum string mapping ──────────────────────────────────────────── +// +// Constexpr tables for bidirectional enum <-> string conversion. +// String values match the py::enum_ .value("Name", ...) names exactly, +// which is also the JSON wire format specified in SOLVER.md §3. + +namespace +{ + +template +struct EnumEntry +{ + E value; + const char* name; +}; + +static constexpr EnumEntry kBaseJointKindEntries[] = { + {BaseJointKind::Coincident, "Coincident"}, + {BaseJointKind::PointOnLine, "PointOnLine"}, + {BaseJointKind::PointInPlane, "PointInPlane"}, + {BaseJointKind::Concentric, "Concentric"}, + {BaseJointKind::Tangent, "Tangent"}, + {BaseJointKind::Planar, "Planar"}, + {BaseJointKind::LineInPlane, "LineInPlane"}, + {BaseJointKind::Parallel, "Parallel"}, + {BaseJointKind::Perpendicular, "Perpendicular"}, + {BaseJointKind::Angle, "Angle"}, + {BaseJointKind::Fixed, "Fixed"}, + {BaseJointKind::Revolute, "Revolute"}, + {BaseJointKind::Cylindrical, "Cylindrical"}, + {BaseJointKind::Slider, "Slider"}, + {BaseJointKind::Ball, "Ball"}, + {BaseJointKind::Screw, "Screw"}, + {BaseJointKind::Universal, "Universal"}, + {BaseJointKind::Gear, "Gear"}, + {BaseJointKind::RackPinion, "RackPinion"}, + {BaseJointKind::Cam, "Cam"}, + {BaseJointKind::Slot, "Slot"}, + {BaseJointKind::DistancePointPoint, "DistancePointPoint"}, + {BaseJointKind::DistanceCylSph, "DistanceCylSph"}, + {BaseJointKind::Custom, "Custom"}, +}; + +static constexpr EnumEntry kSolveStatusEntries[] = { + {SolveStatus::Success, "Success"}, + {SolveStatus::Failed, "Failed"}, + {SolveStatus::InvalidFlip, "InvalidFlip"}, + {SolveStatus::NoGroundedParts, "NoGroundedParts"}, +}; + +static constexpr EnumEntry kDiagnosticKindEntries[] = { + {ConstraintDiagnostic::Kind::Redundant, "Redundant"}, + {ConstraintDiagnostic::Kind::Conflicting, "Conflicting"}, + {ConstraintDiagnostic::Kind::PartiallyRedundant, "PartiallyRedundant"}, + {ConstraintDiagnostic::Kind::Malformed, "Malformed"}, +}; + +static constexpr EnumEntry kMotionKindEntries[] = { + {MotionDef::Kind::Rotational, "Rotational"}, + {MotionDef::Kind::Translational, "Translational"}, + {MotionDef::Kind::General, "General"}, +}; + +static constexpr EnumEntry kLimitKindEntries[] = { + {Constraint::Limit::Kind::TranslationMin, "TranslationMin"}, + {Constraint::Limit::Kind::TranslationMax, "TranslationMax"}, + {Constraint::Limit::Kind::RotationMin, "RotationMin"}, + {Constraint::Limit::Kind::RotationMax, "RotationMax"}, +}; + +template +const char* enum_to_str(E val, const EnumEntry (&table)[N]) +{ + for (std::size_t i = 0; i < N; ++i) { + if (table[i].value == val) { + return table[i].name; + } + } + throw py::value_error("Unknown enum value: " + std::to_string(static_cast(val))); +} + +template +E str_to_enum(const std::string& name, const EnumEntry (&table)[N], + const char* enum_type_name) +{ + for (std::size_t i = 0; i < N; ++i) { + if (name == table[i].name) { + return table[i].value; + } + } + throw py::value_error( + std::string("Invalid ") + enum_type_name + " value: '" + name + "'"); +} + + +// ── Dict conversion helpers ──────────────────────────────────────── +// +// Standalone functions for each type so SolveContext/SolveResult can +// reuse them without duplicating serialization logic. + +py::dict transform_to_dict(const Transform& t) +{ + py::dict d; + d["position"] = py::make_tuple(t.position[0], t.position[1], t.position[2]); + d["quaternion"] = py::make_tuple( + t.quaternion[0], t.quaternion[1], t.quaternion[2], t.quaternion[3]); + return d; +} + +Transform transform_from_dict(const py::dict& d) +{ + Transform t; + auto pos = d["position"].cast(); + if (py::len(pos) != 3) { + throw py::value_error("position must have exactly 3 elements"); + } + for (int i = 0; i < 3; ++i) { + t.position[static_cast(i)] = pos[i].cast(); + } + auto quat = d["quaternion"].cast(); + if (py::len(quat) != 4) { + throw py::value_error("quaternion must have exactly 4 elements"); + } + for (int i = 0; i < 4; ++i) { + t.quaternion[static_cast(i)] = quat[i].cast(); + } + return t; +} + +py::dict part_to_dict(const Part& p) +{ + py::dict d; + d["id"] = p.id; + d["placement"] = transform_to_dict(p.placement); + d["mass"] = p.mass; + d["grounded"] = p.grounded; + return d; +} + +Part part_from_dict(const py::dict& d) +{ + Part p; + p.id = d["id"].cast(); + p.placement = transform_from_dict(d["placement"].cast()); + if (d.contains("mass")) { + p.mass = d["mass"].cast(); + } + if (d.contains("grounded")) { + p.grounded = d["grounded"].cast(); + } + return p; +} + +py::dict limit_to_dict(const Constraint::Limit& lim) +{ + py::dict d; + d["kind"] = enum_to_str(lim.kind, kLimitKindEntries); + d["value"] = lim.value; + d["tolerance"] = lim.tolerance; + return d; +} + +Constraint::Limit limit_from_dict(const py::dict& d) +{ + Constraint::Limit lim; + lim.kind = str_to_enum(d["kind"].cast(), + kLimitKindEntries, "LimitKind"); + lim.value = d["value"].cast(); + if (d.contains("tolerance")) { + lim.tolerance = d["tolerance"].cast(); + } + return lim; +} + +py::dict constraint_to_dict(const Constraint& c) +{ + py::dict d; + d["id"] = c.id; + d["part_i"] = c.part_i; + d["marker_i"] = transform_to_dict(c.marker_i); + d["part_j"] = c.part_j; + d["marker_j"] = transform_to_dict(c.marker_j); + d["type"] = enum_to_str(c.type, kBaseJointKindEntries); + d["params"] = py::cast(c.params); + py::list lims; + for (const auto& lim : c.limits) { + lims.append(limit_to_dict(lim)); + } + d["limits"] = lims; + d["activated"] = c.activated; + return d; +} + +Constraint constraint_from_dict(const py::dict& d) +{ + Constraint c; + c.id = d["id"].cast(); + c.part_i = d["part_i"].cast(); + c.marker_i = transform_from_dict(d["marker_i"].cast()); + c.part_j = d["part_j"].cast(); + c.marker_j = transform_from_dict(d["marker_j"].cast()); + c.type = str_to_enum(d["type"].cast(), + kBaseJointKindEntries, "BaseJointKind"); + if (d.contains("params")) { + c.params = d["params"].cast>(); + } + if (d.contains("limits")) { + for (auto item : d["limits"]) { + c.limits.push_back(limit_from_dict(item.cast())); + } + } + if (d.contains("activated")) { + c.activated = d["activated"].cast(); + } + return c; +} + +py::dict motion_to_dict(const MotionDef& m) +{ + py::dict d; + d["kind"] = enum_to_str(m.kind, kMotionKindEntries); + d["joint_id"] = m.joint_id; + d["marker_i"] = m.marker_i; + d["marker_j"] = m.marker_j; + d["rotation_expr"] = m.rotation_expr; + d["translation_expr"] = m.translation_expr; + return d; +} + +MotionDef motion_from_dict(const py::dict& d) +{ + MotionDef m; + m.kind = str_to_enum(d["kind"].cast(), + kMotionKindEntries, "MotionKind"); + m.joint_id = d["joint_id"].cast(); + if (d.contains("marker_i")) { + m.marker_i = d["marker_i"].cast(); + } + if (d.contains("marker_j")) { + m.marker_j = d["marker_j"].cast(); + } + if (d.contains("rotation_expr")) { + m.rotation_expr = d["rotation_expr"].cast(); + } + if (d.contains("translation_expr")) { + m.translation_expr = d["translation_expr"].cast(); + } + return m; +} + +py::dict sim_to_dict(const SimulationParams& s) +{ + py::dict d; + d["t_start"] = s.t_start; + d["t_end"] = s.t_end; + d["h_out"] = s.h_out; + d["h_min"] = s.h_min; + d["h_max"] = s.h_max; + d["error_tol"] = s.error_tol; + return d; +} + +SimulationParams sim_from_dict(const py::dict& d) +{ + SimulationParams s; + if (d.contains("t_start")) { + s.t_start = d["t_start"].cast(); + } + if (d.contains("t_end")) { + s.t_end = d["t_end"].cast(); + } + if (d.contains("h_out")) { + s.h_out = d["h_out"].cast(); + } + if (d.contains("h_min")) { + s.h_min = d["h_min"].cast(); + } + if (d.contains("h_max")) { + s.h_max = d["h_max"].cast(); + } + if (d.contains("error_tol")) { + s.error_tol = d["error_tol"].cast(); + } + return s; +} + +py::dict diagnostic_to_dict(const ConstraintDiagnostic& diag) +{ + py::dict d; + d["constraint_id"] = diag.constraint_id; + d["kind"] = enum_to_str(diag.kind, kDiagnosticKindEntries); + d["detail"] = diag.detail; + return d; +} + +ConstraintDiagnostic diagnostic_from_dict(const py::dict& d) +{ + ConstraintDiagnostic diag; + diag.constraint_id = d["constraint_id"].cast(); + diag.kind = str_to_enum(d["kind"].cast(), + kDiagnosticKindEntries, "DiagnosticKind"); + if (d.contains("detail")) { + diag.detail = d["detail"].cast(); + } + return diag; +} + +py::dict part_result_to_dict(const SolveResult::PartResult& pr) +{ + py::dict d; + d["id"] = pr.id; + d["placement"] = transform_to_dict(pr.placement); + return d; +} + +SolveResult::PartResult part_result_from_dict(const py::dict& d) +{ + SolveResult::PartResult pr; + pr.id = d["id"].cast(); + pr.placement = transform_from_dict(d["placement"].cast()); + return pr; +} + +py::dict solve_context_to_dict(const SolveContext& ctx) +{ + py::dict d; + d["api_version"] = API_VERSION_MAJOR; + + py::list parts; + for (const auto& p : ctx.parts) { + parts.append(part_to_dict(p)); + } + d["parts"] = parts; + + py::list constraints; + for (const auto& c : ctx.constraints) { + constraints.append(constraint_to_dict(c)); + } + d["constraints"] = constraints; + + py::list motions; + for (const auto& m : ctx.motions) { + motions.append(motion_to_dict(m)); + } + d["motions"] = motions; + + if (ctx.simulation.has_value()) { + d["simulation"] = sim_to_dict(*ctx.simulation); + } + else { + d["simulation"] = py::none(); + } + + d["bundle_fixed"] = ctx.bundle_fixed; + return d; +} + +SolveContext solve_context_from_dict(const py::dict& d) +{ + SolveContext ctx; + + if (d.contains("api_version")) { + int v = d["api_version"].cast(); + if (v != API_VERSION_MAJOR) { + throw py::value_error( + "Unsupported api_version " + std::to_string(v) + + ", expected " + std::to_string(API_VERSION_MAJOR)); + } + } + + for (auto item : d["parts"]) { + ctx.parts.push_back(part_from_dict(item.cast())); + } + + for (auto item : d["constraints"]) { + ctx.constraints.push_back(constraint_from_dict(item.cast())); + } + + if (d.contains("motions")) { + for (auto item : d["motions"]) { + ctx.motions.push_back(motion_from_dict(item.cast())); + } + } + + if (d.contains("simulation") && !d["simulation"].is_none()) { + ctx.simulation = sim_from_dict(d["simulation"].cast()); + } + + if (d.contains("bundle_fixed")) { + ctx.bundle_fixed = d["bundle_fixed"].cast(); + } + + return ctx; +} + +py::dict solve_result_to_dict(const SolveResult& r) +{ + py::dict d; + d["status"] = enum_to_str(r.status, kSolveStatusEntries); + + py::list placements; + for (const auto& pr : r.placements) { + placements.append(part_result_to_dict(pr)); + } + d["placements"] = placements; + + d["dof"] = r.dof; + + py::list diagnostics; + for (const auto& diag : r.diagnostics) { + diagnostics.append(diagnostic_to_dict(diag)); + } + d["diagnostics"] = diagnostics; + + d["num_frames"] = r.num_frames; + return d; +} + +SolveResult solve_result_from_dict(const py::dict& d) +{ + SolveResult r; + r.status = str_to_enum(d["status"].cast(), + kSolveStatusEntries, "SolveStatus"); + + if (d.contains("placements")) { + for (auto item : d["placements"]) { + r.placements.push_back(part_result_from_dict(item.cast())); + } + } + + if (d.contains("dof")) { + r.dof = d["dof"].cast(); + } + + if (d.contains("diagnostics")) { + for (auto item : d["diagnostics"]) { + r.diagnostics.push_back(diagnostic_from_dict(item.cast())); + } + } + + if (d.contains("num_frames")) { + r.num_frames = d["num_frames"].cast(); + } + + return r; +} + +} // anonymous namespace + + // ── PySolverHolder ───────────────────────────────────────────────── // // Wraps a Python IKCSolver subclass instance so it can live inside a @@ -216,14 +667,18 @@ PYBIND11_MODULE(kcsolve, m) + std::to_string(t.position[0]) + ", " + std::to_string(t.position[1]) + ", " + std::to_string(t.position[2]) + "]>"; - }); + }) + .def("to_dict", [](const Transform& t) { return transform_to_dict(t); }) + .def_static("from_dict", [](const py::dict& d) { return transform_from_dict(d); }); py::class_(m, "Part") .def(py::init<>()) .def_readwrite("id", &Part::id) .def_readwrite("placement", &Part::placement) .def_readwrite("mass", &Part::mass) - .def_readwrite("grounded", &Part::grounded); + .def_readwrite("grounded", &Part::grounded) + .def("to_dict", [](const Part& p) { return part_to_dict(p); }) + .def_static("from_dict", [](const py::dict& d) { return part_from_dict(d); }); auto constraint_class = py::class_(m, "Constraint"); @@ -231,7 +686,9 @@ PYBIND11_MODULE(kcsolve, m) .def(py::init<>()) .def_readwrite("kind", &Constraint::Limit::kind) .def_readwrite("value", &Constraint::Limit::value) - .def_readwrite("tolerance", &Constraint::Limit::tolerance); + .def_readwrite("tolerance", &Constraint::Limit::tolerance) + .def("to_dict", [](const Constraint::Limit& l) { return limit_to_dict(l); }) + .def_static("from_dict", [](const py::dict& d) { return limit_from_dict(d); }); constraint_class .def(py::init<>()) @@ -243,7 +700,9 @@ PYBIND11_MODULE(kcsolve, m) .def_readwrite("type", &Constraint::type) .def_readwrite("params", &Constraint::params) .def_readwrite("limits", &Constraint::limits) - .def_readwrite("activated", &Constraint::activated); + .def_readwrite("activated", &Constraint::activated) + .def("to_dict", [](const Constraint& c) { return constraint_to_dict(c); }) + .def_static("from_dict", [](const py::dict& d) { return constraint_from_dict(d); }); py::class_(m, "MotionDef") .def(py::init<>()) @@ -252,7 +711,9 @@ PYBIND11_MODULE(kcsolve, m) .def_readwrite("marker_i", &MotionDef::marker_i) .def_readwrite("marker_j", &MotionDef::marker_j) .def_readwrite("rotation_expr", &MotionDef::rotation_expr) - .def_readwrite("translation_expr", &MotionDef::translation_expr); + .def_readwrite("translation_expr", &MotionDef::translation_expr) + .def("to_dict", [](const MotionDef& m) { return motion_to_dict(m); }) + .def_static("from_dict", [](const py::dict& d) { return motion_from_dict(d); }); py::class_(m, "SimulationParams") .def(py::init<>()) @@ -261,7 +722,9 @@ PYBIND11_MODULE(kcsolve, m) .def_readwrite("h_out", &SimulationParams::h_out) .def_readwrite("h_min", &SimulationParams::h_min) .def_readwrite("h_max", &SimulationParams::h_max) - .def_readwrite("error_tol", &SimulationParams::error_tol); + .def_readwrite("error_tol", &SimulationParams::error_tol) + .def("to_dict", [](const SimulationParams& s) { return sim_to_dict(s); }) + .def_static("from_dict", [](const py::dict& d) { return sim_from_dict(d); }); py::class_(m, "SolveContext") .def(py::init<>()) @@ -269,20 +732,26 @@ PYBIND11_MODULE(kcsolve, m) .def_readwrite("constraints", &SolveContext::constraints) .def_readwrite("motions", &SolveContext::motions) .def_readwrite("simulation", &SolveContext::simulation) - .def_readwrite("bundle_fixed", &SolveContext::bundle_fixed); + .def_readwrite("bundle_fixed", &SolveContext::bundle_fixed) + .def("to_dict", [](const SolveContext& ctx) { return solve_context_to_dict(ctx); }) + .def_static("from_dict", [](const py::dict& d) { return solve_context_from_dict(d); }); py::class_(m, "ConstraintDiagnostic") .def(py::init<>()) .def_readwrite("constraint_id", &ConstraintDiagnostic::constraint_id) .def_readwrite("kind", &ConstraintDiagnostic::kind) - .def_readwrite("detail", &ConstraintDiagnostic::detail); + .def_readwrite("detail", &ConstraintDiagnostic::detail) + .def("to_dict", [](const ConstraintDiagnostic& d) { return diagnostic_to_dict(d); }) + .def_static("from_dict", [](const py::dict& d) { return diagnostic_from_dict(d); }); auto result_class = py::class_(m, "SolveResult"); py::class_(result_class, "PartResult") .def(py::init<>()) .def_readwrite("id", &SolveResult::PartResult::id) - .def_readwrite("placement", &SolveResult::PartResult::placement); + .def_readwrite("placement", &SolveResult::PartResult::placement) + .def("to_dict", [](const SolveResult::PartResult& pr) { return part_result_to_dict(pr); }) + .def_static("from_dict", [](const py::dict& d) { return part_result_from_dict(d); }); result_class .def(py::init<>()) @@ -290,7 +759,9 @@ PYBIND11_MODULE(kcsolve, m) .def_readwrite("placements", &SolveResult::placements) .def_readwrite("dof", &SolveResult::dof) .def_readwrite("diagnostics", &SolveResult::diagnostics) - .def_readwrite("num_frames", &SolveResult::num_frames); + .def_readwrite("num_frames", &SolveResult::num_frames) + .def("to_dict", [](const SolveResult& r) { return solve_result_to_dict(r); }) + .def_static("from_dict", [](const py::dict& d) { return solve_result_from_dict(d); }); // ── IKCSolver (with trampoline for Python subclassing) ─────────