From abb0733d8d5cbb6b49e39ec7e7f35ad3ec875b4c Mon Sep 17 00:00:00 2001
From: simondlevy <simon.d.levy@gmail.com>
Date: Thu, 26 Jul 2018 02:07:43 -0400
Subject: [PATCH] Fixed slam.setmap()

---
 python/breezyslam/algorithms.py |  2 +-
 python/pybreezyslam.c           | 23 +++++++++++++++++++++++
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/python/breezyslam/algorithms.py b/python/breezyslam/algorithms.py
index bb77f22..f48288d 100644
--- a/python/breezyslam/algorithms.py
+++ b/python/breezyslam/algorithms.py
@@ -122,7 +122,7 @@ class CoreSLAM(object):
         Sets current map pixels to values in bytearray, where bytearray length is square of map size passed
         to CoreSLAM.__init__().
         '''
-        self.map.__init__(mapbytes)
+        self.map.set(mapbytes)
 
     def __str__(self):
         
diff --git a/python/pybreezyslam.c b/python/pybreezyslam.c
index ca66f9f..680c14a 100644
--- a/python/pybreezyslam.c
+++ b/python/pybreezyslam.c
@@ -537,6 +537,26 @@ Map_get(Map * self, PyObject * args, PyObject * kwds)
     Py_RETURN_NONE;
 }
 
+static PyObject *
+Map_set(Map * self, PyObject * args, PyObject * kwds)
+{        
+    PyObject * py_mapbytes = NULL;
+
+    if (!PyArg_ParseTuple(args, "O", &py_mapbytes))
+    {
+        return null_on_raise_argument_exception("Map", "get");
+    }
+    
+    if (bad_mapbytes(py_mapbytes, self->map.size_pixels, "get"))
+    {
+        Py_RETURN_NONE;
+    }
+    
+    map_set(&self->map, PyByteArray_AsString(py_mapbytes));
+    
+    Py_RETURN_NONE;
+}
+
 static PyObject *
 Map_update(Map *self, PyObject *args, PyObject *kwds)
 {   
@@ -584,6 +604,9 @@ static PyMethodDef Map_methods[] =
     {"get", (PyCFunction)Map_get, METH_VARARGS,
     "Map.get(bytearray) fills byte array with map pixels, where bytearray length is square of size of map."
     },
+    {"set", (PyCFunction)Map_set, METH_VARARGS,
+    "Map.set(bytearray) fills current map with pixels in bytearray, where bytearray length is square of size of map."
+    },
     {NULL}  // Sentinel 
 };