From 8fca0b1a7053beeb48eac0287ae2d62f0261bc87 Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Mon, 10 Jan 2011 15:48:33 +0100
Subject: [PATCH] Add method to interprete a string as a python command in
class Interpreter.
* include/dynamic-graph/interpreter.h,
* src/CMakeLists.txt,
* src/dgraph/interpreter.cpp,
* tests/CMakeLists.txt,
* tools/dg-python.cpp: new,
* tools/CMakeLists.txt: this adds a dependency to python in dynamic-graph.
---
include/dynamic-graph/interpreter.h | 17 +++-
src/CMakeLists.txt | 19 ++++
src/dgraph/interpreter.cpp | 57 ++++++++++-
tests/CMakeLists.txt | 11 +++
tools/CMakeLists.txt | 14 ++-
tools/dg-python.cpp | 140 ++++++++++++++++++++++++++++
6 files changed, 255 insertions(+), 3 deletions(-)
create mode 100644 tools/dg-python.cpp
diff --git a/include/dynamic-graph/interpreter.h b/include/dynamic-graph/interpreter.h
index 95866c0..7d07543 100644
--- a/include/dynamic-graph/interpreter.h
+++ b/include/dynamic-graph/interpreter.h
@@ -168,7 +168,22 @@ namespace dynamicgraph
\par[in] prompt: The prompt to be displayed.
*/
- void shell( std::istream& sin, std::ostream& sout, const std::string& prompt="" );
+ void shell( std::istream& sin, std::ostream& sout,
+ const std::string& prompt="");
+ /*! \brief Method to start python interperter.
+ \par[in] sin: The input stream from which the command will be extracted.
+ \par[out] sout: The output stream to which the result will be displayed.
+ \par[in] prompt: The prompt to be displayed.
+
+ */
+ void python( std::istream& sin, std::ostream& sout,
+ const std::string& prompt="" );
+
+ /*! \brief Method to exectue a python script.
+ \par[in] sin: The filename
+ */
+ void runPythonFile( std::string filename );
+
void writeCompletionList(std::ostream& os);
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 5554891..c211f47 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -93,3 +93,22 @@ FOREACH(plugin_file ${plugins_list})
INSTALL(TARGETS ${plugin} DESTINATION ${PLUGINDIR})
ENDFOREACH(plugin_file)
+
+#
+# Python
+#
+INCLUDE(FindPythonLibs)
+IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+ MESSAGE(FATAL_ERROR "Python has not been found.")
+ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+
+INCLUDE(FindPythonInterp)
+IF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
+ MESSAGE(FATAL_ERROR "Python executable has not been found.")
+ENDIF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
+
+# provide path to library libdynamic-graph.so
+LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
+ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
+
+INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
diff --git a/src/dgraph/interpreter.cpp b/src/dgraph/interpreter.cpp
index 64a7ee0..1cf1a09 100644
--- a/src/dgraph/interpreter.cpp
+++ b/src/dgraph/interpreter.cpp
@@ -22,6 +22,9 @@
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
+/* PYTHON */
+#include <Python.h>
+
#include <boost/format.hpp>
/* DYNAMIC-GRAPH */
@@ -38,7 +41,13 @@ using namespace dynamicgraph;
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
-const std::string Interpreter::PROMPT_DEFAULT = "> ";
+namespace dynamicgraph {
+ const std::string Interpreter::PROMPT_DEFAULT = "> ";
+ static const std::string pythonPrefix[2] = {
+ "import sys",
+ "if '' not in sys.path: sys.path.append('')"
+ };
+}
Interpreter::
Interpreter( PluginLoader* dl__ )
@@ -503,6 +512,52 @@ shell( std::istream& sin, std::ostream& sout, const std::string& promptUser )
}
}
+void Interpreter::
+python( std::istream& sin, std::ostream& sout, const std::string& promptUser )
+{
+ Py_Initialize();
+ PyRun_SimpleString(pythonPrefix[0].c_str());
+ PyRun_SimpleString(pythonPrefix[1].c_str());
+ while( 1 )
+ {
+ if( promptUser.length() ) sout << promptUser; else sout << prompt;
+ const int SIZE = 16384;
+ char pythonLine[SIZE];
+ if( sin.eof() ) break;
+
+ sin.getline( pythonLine,SIZE-1 );
+
+ if( sin.gcount () >= SIZE-2 )
+ {
+ sout << "!! Line size exceeded" << endl;
+ do{
+ sin.getline( pythonLine,SIZE-1 );
+ }
+ while ( sin.gcount () >= SIZE-2 );
+ }
+ else
+ {
+ try{
+ PyRun_SimpleString(pythonLine);
+ }
+ catch( exception& e ) { dgDEBUG(1) << e.what(); throw; }
+ catch(...) { dgDEBUG(1) << "!! unknow!." <<endl; throw; }
+ }
+ }
+ Py_Finalize();
+ sout << std::endl;
+}
+
+void Interpreter::
+runPythonFile( std::string filename )
+{
+ Py_Initialize();
+ PyRun_SimpleString(pythonPrefix[0].c_str());
+ PyRun_SimpleString(pythonPrefix[1].c_str());
+ PyRun_SimpleFile(NULL, filename.c_str());
+ Py_Finalize();
+}
+
ShellFunctionRegisterer::
ShellFunctionRegisterer( const std::string& funName,
const Interpreter::ShellBasicFunction& f)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index d6dc7a1..862998d 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -15,6 +15,16 @@
ADD_DEFINITIONS(-DDEBUG=2)
+#
+# Python
+#
+INCLUDE(FindPythonLibs)
+IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+ MESSAGE(FATAL_ERROR "Python has not been found.")
+ELSE (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+ MESSAGE(STATUS "PYTHON_LIBRARY="${PYTHON_LIBRARY})
+ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+
# Add Boost path to include directories.
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
@@ -37,6 +47,7 @@ MACRO(DYNAMIC_GRAPH_TEST NAME)
ADD_TEST(${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/${NAME})
TARGET_LINK_LIBRARIES(${NAME} ${PROJECT_NAME})
+ TARGET_LINK_LIBRARIES(${NAME} ${PYTHON_LIBRARY})
ADD_DEPENDENCIES(${NAME} ${PROJECT_NAME})
# Link against Boost.
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 5c7f989..f930695 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -13,7 +13,17 @@
# received a copy of the GNU Lesser General Public License along with
# dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-SET(tools dg-shell)
+SET(tools dg-shell dg-python)
+
+#
+# Python
+#
+INCLUDE(FindPythonLibs)
+IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+ MESSAGE(FATAL_ERROR "Python has not been found.")
+ELSE (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+ MESSAGE(STATUS "PYTHON_LIBRARY="${PYTHON_LIBRARY})
+ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
include_directories(${Boost_INCLUDE_DIRS})
@@ -38,12 +48,14 @@ FOREACH(tool_name ${tools})
INCLUDE_DIRECTORIES(
${CMAKE_CURRENT_SOURCE_DIR}/../include
+ ${PYTHON_INCLUDE_PATH}
)
LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/lib)
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
${PROJECT_NAME})
+ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${PYTHON_LIBRARY})
IF(UNIX)
TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} dl)
diff --git a/tools/dg-python.cpp b/tools/dg-python.cpp
new file mode 100644
index 0000000..c6fccd9
--- /dev/null
+++ b/tools/dg-python.cpp
@@ -0,0 +1,140 @@
+// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
+// JRL, CNRS/AIST.
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+//
+// dynamic-graph is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include <boost/filesystem.hpp>
+#include <boost/foreach.hpp>
+#include <boost/format.hpp>
+#include <boost/program_options.hpp>
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/plugin-loader.h>
+#include <dynamic-graph/interpreter.h>
+#include <dynamic-graph/debug.h>
+
+extern std::ofstream debugfile;
+
+// Factorize exception catching code.
+#define CATCH_EXCEPTIONS() \
+ catch (std::exception& e) \
+ { \
+ std::cout \
+ << errorPrefix \
+ << e.what () << std::endl; \
+ } \
+ catch (const char* str) \
+ { \
+ std::cout << errorPrefix \
+ << "Unknown exception " << str << std::endl; \
+ } \
+ catch (...) \
+ { \
+ dgDEBUG(5) << errorPrefix << " Unknown exception " << std::endl; \
+ } \
+ struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
+
+struct Options
+{
+ /// \brief Prologue path (a prologue is a script implicitly
+ /// evaluated at start-up).
+ std::string prologue;
+ /// \brief Files to be evaluated at start-up (left to right order).
+ std::vector<std::string> inputs;
+};
+
+int main (int argc, char** argv)
+{
+ dgDEBUGIN(15);
+
+ dgDEBUG(5) << " Loading..." << std::endl;
+ Options options;
+
+ // Parse options.
+ namespace po = boost::program_options;
+ po::options_description desc ("Allowed options");
+ desc.add_options ()
+ ("input,i",
+ po::value<std::vector<std::string> >(&options.inputs),
+ "file(s) evaluated at start-up")
+ ("help,h", "produce help message")
+ ;
+
+ po::positional_options_description p;
+ p.add("input", -1);
+
+ po::variables_map vm;
+
+ try
+ {
+ po::store(po::command_line_parser(argc, argv).
+ options(desc).positional(p).run(), vm);
+ po::notify(vm);
+
+ if (vm.count ("help"))
+ {
+ std::cout << "Usage: " << argv[0] << " [options]" << std::endl
+ << desc << std::endl
+ << "Report bugs to <hpp@laas.fr>" << std::endl;
+ return 1;
+ }
+ }
+ catch (po::error& error)
+ {
+ std::cerr << "Error while parsing argument: "
+ << error.what () << std::endl;
+ return 1;
+ }
+
+ std::list<std::string> inputs (options.inputs.begin (),
+ options.inputs.end ());
+
+ // Load all input files.
+ BOOST_FOREACH (const std::string& pathStr, inputs)
+ {
+ boost::filesystem::path path (pathStr);
+
+ std::stringstream ss;
+ ss << "!! In file <" << path.file_string () << "> : ";
+ std::string errorPrefix = ss.str ();
+
+ try
+ {
+ dynamicgraph::g_shell.runPythonFile (path.file_string ());
+ }
+ CATCH_EXCEPTIONS ();
+ return 0;
+ }
+
+ std::string errorPrefix = "";
+ while (1)
+ {
+ try
+ {
+ dgDEBUG(5) << "Run shell." << std::endl;
+ dynamicgraph::g_shell.python (std::cin, std::cout, ">>> ");
+ dgDEBUG(5) << "Shell over." << std::endl;
+ if (std::cin.eof ())
+ break;
+ }
+ CATCH_EXCEPTIONS ();
+ }
+
+ dgDEBUGOUT(15);
+ return 0;
+}
--
GitLab