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_ */