1#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
2#define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
3#pragma GCC diagnostic push
4#pragma GCC system_header
6#pragma GCC diagnostic pop
8#include <dynamic_graph_bridge_msgs/RunCommand.h>
9#include <dynamic_graph_bridge_msgs/RunPythonFile.h>
11#include <dynamic-graph/python/interpreter.hh>
23 typedef boost::function<bool(
24 dynamic_graph_bridge_msgs::RunCommand::Request&,
25 dynamic_graph_bridge_msgs::RunCommand::Response&)>
28 typedef boost::function<bool(
29 dynamic_graph_bridge_msgs::RunPythonFile::Request&,
30 dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
37 void runCommand(
const std::string& command, std::string& result,
38 std::string& out, std::string& err);
50 dynamic_graph_bridge_msgs::RunCommand::Response& res);
54 dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
55 dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
58 python::Interpreter interpreter_;
59 ros::NodeHandle& nodeHandle_;
60 ros::ServiceServer runCommandSrv_;
61 ros::ServiceServer runPythonFileSrv_;
This class wraps the implementation of the runCommand service.
Definition ros_interpreter.hh:21
void startRosService()
Initialize service run_command.
void runPythonFile(std::string ifilename)
Method to parse python scripts.
bool runCommandCallback(dynamic_graph_bridge_msgs::RunCommand::Request &req, dynamic_graph_bridge_msgs::RunCommand::Response &res)
Run a Python command and return result, stderr and stdout.
boost::function< bool(dynamic_graph_bridge_msgs::RunCommand::Request &, dynamic_graph_bridge_msgs::RunCommand::Response &) runCommandCallback_t)
Definition ros_interpreter.hh:26
void runCommand(const std::string &command, std::string &result, std::string &out, std::string &err)
Method to start python interpreter and deal with messages.
bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request &req, dynamic_graph_bridge_msgs::RunPythonFile::Response &res)
Run a Python file.
boost::function< bool(dynamic_graph_bridge_msgs::RunPythonFile::Request &, dynamic_graph_bridge_msgs::RunPythonFile::Response &) runPythonFileCallback_t)
Definition ros_interpreter.hh:31
Interpreter(ros::NodeHandle &nodeHandle)