#include <dynamic-graph/python/module.hh>
#include "ros_queued_subscribe.hh"

namespace dg = dynamicgraph;


BOOST_PYTHON_MODULE(wrap)
{
  bp::import("dynamic_graph");

  dg::python::exposeEntity<dg::RosQueuedSubscribe, bp::bases<dg::Entity>, dg::python::AddCommands>()
    .def("clear", &dg::RosQueuedSubscribe::clear, "Remove all signals reading data from a ROS topic")
    .def("rm", &dg::RosQueuedSubscribe::rm, "Remove a signal reading data from a ROS topic",
        bp::args("signal_name"))
    .def("list", &dg::RosQueuedSubscribe::list, "List signals reading data from a ROS topic")
    .def("listTopics", &dg::RosQueuedSubscribe::listTopics, "List subscribed topics from ROS in the same order as list command")
    .def("clearQueue", &dg::RosQueuedSubscribe::clearQueue,
        "Empty the queue of a given signal", bp::args("signal_name"))
    .def("queueSize", &dg::RosQueuedSubscribe::queueSize,
        "Return the queue size of a given signal", bp::args("signal_name"))
    .def("readQueue", &dg::RosQueuedSubscribe::readQueue,
        "Whether signals should read values from the queues, and when.",
        bp::args("start_time"))
    ;
}