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 
9 #include <dynamic_graph_bridge_msgs/RunCommand.h>
10 #include <dynamic_graph_bridge_msgs/RunPythonFile.h>
11 #include <dynamic-graph/python/interpreter.hh>
12 
13 namespace dynamicgraph {
20 class Interpreter {
21  public:
22  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunCommand::Request&,
23  dynamic_graph_bridge_msgs::RunCommand::Response&)>
25 
26  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunPythonFile::Request&,
27  dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
29 
30  explicit Interpreter(ros::NodeHandle& nodeHandle);
31 
34  void runCommand(const std::string& command, std::string& result, std::string& out, std::string& err);
35 
38  void runPythonFile(std::string ifilename);
39 
41  void startRosService();
42 
43  protected:
45  bool runCommandCallback(dynamic_graph_bridge_msgs::RunCommand::Request& req,
46  dynamic_graph_bridge_msgs::RunCommand::Response& res);
47 
49  bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
50  dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
51 
52  private:
53  python::Interpreter interpreter_;
54  ros::NodeHandle& nodeHandle_;
55  ros::ServiceServer runCommandSrv_;
56  ros::ServiceServer runPythonFileSrv_;
57 };
58 } // end of namespace dynamicgraph.
59 
60 #endif
dynamicgraph::Interpreter::runPythonFile
void runPythonFile(std::string ifilename)
Method to parse python scripts.
dynamicgraph
Definition: fwd.hh:14
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:24
dynamicgraph::Interpreter::Interpreter
Interpreter(ros::NodeHandle &nodeHandle)
fwd.hh
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:20
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:28