Merge branch 'feature/pcicCommand_trampoline_class' into 'main'

pybind11: add PCICCommand trampoline for Python command overrides

See merge request syntron/support/csr/ifm3d/ifm3d!563

Author: Patil, Suraj

ChangeLog.md

@@ -5,6 +5,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+### Added
+- Add `PCICCommand` trampoline for Python command overrides
 
 ## 2.0.5 - 2026-08-10
 ### Changed

modules/pybind11/include/ifm3d/pybind11/bindings/o3r.h

@@ -17,6 +17,21 @@
 
 namespace py = pybind11;
 
+class PyPCICCommand : public ifm3d::PCICCommand
+{
+public:
+  using ifm3d::PCICCommand::PCICCommand;
+
+  std::vector<std::uint8_t>
+  SerializeData() const override
+  {
+    PYBIND11_OVERRIDE_PURE_NAME(std::vector<std::uint8_t>,
+                                ifm3d::PCICCommand,
+                                "serialize_data",
+                                SerializeData);
+  }
+};
+
 inline void
 bind_o3r(pybind11::module_& m)
 {
@@ -99,12 +114,24 @@ bind_o3r(pybind11::module_& m)
                        self->type);
   });
 
-  py::class_<ifm3d::PCICCommand>(m,
-                                 "PCICCommand",
-                                 R"(
-      Base class for the commands which can be sent to a device over PCIC.
+  py::class_<ifm3d::PCICCommand, PyPCICCommand>(m,
+                                                "PCICCommand",
+                                                R"(
+      Base class for PCIC commands.
 
-      See :class:`SetTemporaryApplicationParameter` for a concrete command.
+      Use this class as a Python base type when implementing custom
+      command payloads for framegrabber communication.
+    )")
+    .def(py::init<>())
+    .def("serialize_data",
+         &ifm3d::PCICCommand::SerializeData,
+         R"(
+      Serialize this command into the byte payload sent over PCIC.
+
+      Returns
+      -------
+      list[int]
+          Serialized payload as byte values.
     )");
 
   py::class_<ifm3d::O3R::SetTemporaryApplicationParameter, ifm3d::PCICCommand>(
@@ -128,8 +155,8 @@ bind_o3r(pybind11::module_& m)
         parameter : Parameter
             The parameter to set
 
-        data : bytes
-            The data to set the parameter to
+        data : list[int], tuple[int], or bytearray
+            The data to set the parameter to.
       )");
 
   py::native_enum<ifm3d::O3R::SetTemporaryApplicationParameter::Parameter>(

modules/pybind11/test/test_ifm3d_pcic_command.py

@@ -0,0 +1,70 @@
+#
+# Copyright 2026-present ifm electronic, gmbh
+# SPDX-License-Identifier: Apache-2.0
+#
+
+import pytest
+from ifm3dpy.device import PCICCommand, Parameter, SetTemporaryApplicationParameter
+
+
+def _command_from_payload(payload):
+    class Command(PCICCommand):
+        def serialize_data(self):
+            return payload
+
+    return Command()
+
+
+@pytest.mark.parametrize(
+    "payload",
+    [
+        [0x66, 0x30, 0x31],
+        (0x66, 0x30, 0x31),
+        bytearray(b"f01"),
+    ],
+)
+def test_pcic_command_python_override_payload_types(payload):
+    command = _command_from_payload(payload)
+    assert PCICCommand.serialize_data(command) == [0x66, 0x30, 0x31]
+
+
+def test_pcic_command_override_bytes_payload_rejected():
+    command = _command_from_payload(b"f01")
+    with pytest.raises((RuntimeError, TypeError)):
+        PCICCommand.serialize_data(command)
+
+
+def test_pcic_command_override_invalid_payload_raises_type_error():
+    command = _command_from_payload("f01")
+    with pytest.raises((RuntimeError, TypeError)):
+        PCICCommand.serialize_data(command)
+
+
+def test_pcic_command_without_override_raises():
+    class IncompleteCommand(PCICCommand):
+        pass
+
+    command = IncompleteCommand()
+    with pytest.raises(RuntimeError):
+        PCICCommand.serialize_data(command)
+
+
+def test_set_temporary_application_parameter_serialization_layout():
+    payload = [0x01, 0x02, 0x03]
+    command = SetTemporaryApplicationParameter(Parameter.ODS_MOTION_DATA,
+                                               payload)
+
+    serialized = PCICCommand.serialize_data(command)
+
+    # Layout: 'f' + 5-digit parameter + '#00000' + payload bytes.
+    assert bytes(serialized[:12]).decode("ascii") == "f02103#00000"
+    assert serialized[12:] == payload
+
+
+def test_set_temporary_application_parameter_ods_motion_data_prefix_encoding():
+    command = SetTemporaryApplicationParameter(Parameter.ODS_MOTION_DATA,
+                                               [0xAA, 0xBB])
+    serialized = PCICCommand.serialize_data(command)
+
+    assert bytes(serialized[:12]).decode("ascii") == "f02103#00000"
+    assert serialized[-2:] == [0xAA, 0xBB]