ros_interpreter.hh
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1 #ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
2 #define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
3 #pragma GCC diagnostic push
4 #pragma GCC system_header
5 #include <ros/ros.h>
6 #pragma GCC diagnostic pop
7 
8 #include <dynamic_graph_bridge_msgs/RunCommand.h>
9 #include <dynamic_graph_bridge_msgs/RunPythonFile.h>
10 #include <dynamic-graph/python/interpreter.hh>
11 
12 namespace dynamicgraph {
19 class Interpreter {
20  public:
21  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunCommand::Request&,
22  dynamic_graph_bridge_msgs::RunCommand::Response&)>
24 
25  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunPythonFile::Request&,
26  dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
28 
29  explicit Interpreter(ros::NodeHandle& nodeHandle);
30 
33  void runCommand(const std::string& command, std::string& result, std::string& out, std::string& err);
34 
37  void runPythonFile(std::string ifilename);
38 
40  void startRosService();
41 
42  protected:
44  bool runCommandCallback(dynamic_graph_bridge_msgs::RunCommand::Request& req,
45  dynamic_graph_bridge_msgs::RunCommand::Response& res);
46 
48  bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
49  dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
50 
51  private:
52  python::Interpreter interpreter_;
53  ros::NodeHandle& nodeHandle_;
54  ros::ServiceServer runCommandSrv_;
55  ros::ServiceServer runPythonFileSrv_;
56 };
57 } // end of namespace dynamicgraph.
58 
59 #endif
dynamicgraph::Interpreter::runPythonFile
void runPythonFile(std::string ifilename)
Method to parse python scripts.
dynamicgraph
Definition: ros_init.hh:5
dynamicgraph::Interpreter::runCommandCallback
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.
dynamicgraph::Interpreter::runCommandCallback_t
boost::function< bool(dynamic_graph_bridge_msgs::RunCommand::Request &, dynamic_graph_bridge_msgs::RunCommand::Response &)> runCommandCallback_t
Definition: ros_interpreter.hh:23
dynamicgraph::Interpreter::Interpreter
Interpreter(ros::NodeHandle &nodeHandle)
dynamicgraph::Interpreter::runPythonFileCallback
bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request &req, dynamic_graph_bridge_msgs::RunPythonFile::Response &res)
Run a Python file.
dynamicgraph::Interpreter
This class wraps the implementation of the runCommand service.
Definition: ros_interpreter.hh:19
dynamicgraph::Interpreter::startRosService
void startRosService()
Initialize service run_command.
dynamicgraph::Interpreter::runCommand
void runCommand(const std::string &command, std::string &result, std::string &out, std::string &err)
Method to start python interpreter and deal with messages.
dynamicgraph::Interpreter::runPythonFileCallback_t
boost::function< bool(dynamic_graph_bridge_msgs::RunPythonFile::Request &, dynamic_graph_bridge_msgs::RunPythonFile::Response &)> runPythonFileCallback_t
Definition: ros_interpreter.hh:27