ros_interpreter.hh

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#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
#define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH

#include <dynamic_graph_manager/RunCommand.h>
#include <dynamic_graph_manager/RunPythonFile.h>
#include <ros/ros.h>
#include <dynamic-graph/python/interpreter.hh>

namespace dynamic_graph
{
class RosPythonInterpreter
{
public:
    typedef boost::function<bool(dynamic_graph_manager::RunCommand::Request&,
                                 dynamic_graph_manager::RunCommand::Response&)>
        run_python_command_callback_t;

    typedef boost::function<bool(
        dynamic_graph_manager::RunPythonFile::Request&,
        dynamic_graph_manager::RunPythonFile::Response&)>
        run_python_file_callback_t;

    explicit RosPythonInterpreter(ros::NodeHandle& node_handle);

    ~RosPythonInterpreter();

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

    void run_python_file(const std::string ifilename,
                         std::string& standard_error);

    void start_ros_service();

protected:
    bool runCommandCallback(dynamic_graph_manager::RunCommand::Request& req,
                            dynamic_graph_manager::RunCommand::Response& res);

    bool runPythonFileCallback(
        dynamic_graph_manager::RunPythonFile::Request& req,
        dynamic_graph_manager::RunPythonFile::Response& res);

private:
    dynamicgraph::python::Interpreter interpreter_;
    ros::NodeHandle& ros_node_handle_;
    ros::ServiceServer run_python_command_srv_;
    ros::ServiceServer run_python_file_srv_;
};
}  // namespace dynamic_graph

#endif