Merge pull request #70 from liufang-robot/master

fix: 修正python不能捕获异常的问题

CMakeLists.txt

@@ -11,7 +11,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
 
-project(lebai VERSION 1.1.16 LANGUAGES CXX)
+project(lebai VERSION 1.1.17 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.16
+PROJECT_NUMBER         = 1.1.17
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

doc/changelog.md

@@ -1,5 +1,9 @@
 # ChangeLog
 
+## 1.1.17
+
+修正python不能捕获异常的问题。
+
 ## 1.1.16
 
 添加接口`get_claw_data`返回数据结构而不是tuple。

requirements.txt

@@ -1,4 +1,4 @@
 swig==4.0.2
 cmake==3.18.2
 readme-renderer==34.0
-markdown
+markdown==2.6.11

sdk/python/l_master.i

@@ -10,6 +10,18 @@
 #include "lebai/lua_robot.hh"
 %}
 
+%exception {
+    try {
+        $action
+    } catch (const std::exception &e) {
+        PyErr_SetString(PyExc_Exception, e.what());
+        return NULL;
+    } catch (...) {
+        PyErr_SetString(PyExc_Exception, "An unknown exception occurred");
+        return NULL;
+    }
+}
+
 %extend lebai::l_master::KinematicsForwardResp {
   std::string __repr__() {
     std::string repr = "{pose: {{x: ";