PythonInterface.cpp

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/*
 * PythonSingleTon.h
 *
 *  Created on: Jan. 14, 2021
 *      Author: mathieu
 */
 
#include <rtabmap/core/PythonInterface.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UThread.h>
#include <pybind11/embed.h>
 
namespace rtabmap {
 
PythonInterface::PythonInterface()
{
        UINFO("Initialize python interpreter");
        guard_ = new pybind11::scoped_interpreter();
        pybind11::module::import("threading");
        release_ = new pybind11::gil_scoped_release();
}
 
PythonInterface::~PythonInterface()
{
        UINFO("Finalize python interpreter");
        delete release_;
        delete guard_;
}
 
std::string getPythonTraceback()
{
        // Author: https://stackoverflow.com/questions/41268061/c-c-python-exception-traceback-not-being-generated
 
        PyObject* type;
        PyObject* value;
        PyObject* traceback;
 
        PyErr_Fetch(&type, &value, &traceback);
        PyErr_NormalizeException(&type, &value, &traceback);
 
        std::string fcn = "";
        fcn += "def get_pretty_traceback(exc_type, exc_value, exc_tb):\n";
        fcn += "    import sys, traceback\n";
        fcn += "    lines = []\n";
        fcn += "    lines = traceback.format_exception(exc_type, exc_value, exc_tb)\n";
        fcn += "    output = '\\n'.join(lines)\n";
        fcn += "    return output\n";
 
        PyRun_SimpleString(fcn.c_str());
        PyObject* mod = PyImport_ImportModule("__main__");
        UASSERT(mod);
        PyObject* method = PyObject_GetAttrString(mod, "get_pretty_traceback");
        UASSERT(method);
        PyObject* outStr = PyObject_CallObject(method, Py_BuildValue("OOO", type, value, traceback));
        std::string pretty;
        if(outStr)
                pretty = PyBytes_AsString(PyUnicode_AsASCIIString(outStr));
 
        Py_DECREF(method);
        Py_DECREF(outStr);
        Py_DECREF(mod);
 
        return pretty;
}
 
}