sot-loader.hh

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/*
 * Copyright 2016,
 * Olivier Stasse,
 *
 * CNRS
 *
 */
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */

#ifndef _SOT_LOADER_HH_
#define _SOT_LOADER_HH_

// STL includes
#include <map>

// Dynamic Graph embeded python interpreter.
#include <dynamic-graph/python/interpreter.hh>

// Sot Framework includes
#include <sot/core/abstract-sot-external-interface.hh>
#include <sot/core/debug.hh>
#include <sot/core/device.hh>

namespace dynamicgraph {
namespace sot {

class SotLoader {
 protected:
  bool dynamic_graph_stopped_;

  AbstractSotExternalInterface *sot_external_interface_;

  std::string sot_dynamic_library_filename_;

  void *sot_dynamic_library_;

  python::Interpreter embeded_python_interpreter_;

  std::map<std::string, SensorValues> sensors_in_;

  std::map<std::string, ControlValues> control_values_;

  std::string device_name_;

 public:
  SotLoader();
  ~SotLoader();

  int parseOptions(int argc, char *argv[]);

  bool initialization();

  void cleanUp();

  inline bool isDynamicGraphStopped() { return dynamic_graph_stopped_; }

  inline void startDG() { dynamic_graph_stopped_ = false; }

  inline void stopDG() { dynamic_graph_stopped_ = true; }

  inline void setDynamicLibraryName(std::string &afilename) {
    sot_dynamic_library_filename_ = afilename;
  }

  void runPythonCommand(const std::string &command, std::string &result,
                        std::string &out, std::string &err);

  inline void runPythonFile(std::string ifilename, std::string &err) {
    embeded_python_interpreter_.runPythonFile(ifilename, err);
  }

  inline void runPythonFile(std::string ifilename) {
    embeded_python_interpreter_.runPythonFile(ifilename);
  }

  void oneIteration(std::map<std::string, SensorValues> &sensors_in,
                    std::map<std::string, ControlValues> &control_values,
                    const double &period);

  void loadDeviceInPython(const std::string &device_name);
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* _SOT_LOADER_HH_ */