From 7d991eb38b3e74757ec418fbe62f4621f9f8be17 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 10 Feb 2021 10:36:11 +0100
Subject: [PATCH] Clean RosQueuedSubscribe commands.
---
src/ros_queued_subscribe-python-module-py.cc | 25 ++++
src/ros_queued_subscribe-python.hh | 3 -
src/ros_queued_subscribe.cpp | 125 +------------------
src/ros_queued_subscribe.hh | 8 +-
4 files changed, 30 insertions(+), 131 deletions(-)
create mode 100644 src/ros_queued_subscribe-python-module-py.cc
delete mode 100644 src/ros_queued_subscribe-python.hh
diff --git a/src/ros_queued_subscribe-python-module-py.cc b/src/ros_queued_subscribe-python-module-py.cc
new file mode 100644
index 0000000..00f2fb9
--- /dev/null
+++ b/src/ros_queued_subscribe-python-module-py.cc
@@ -0,0 +1,25 @@
+#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("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::queueSize,
+ "Whether signals should read values from the queues, and when.",
+ bp::args("start_time"))
+ ;
+}
diff --git a/src/ros_queued_subscribe-python.hh b/src/ros_queued_subscribe-python.hh
deleted file mode 100644
index e6880f8..0000000
--- a/src/ros_queued_subscribe-python.hh
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "ros_queued_subscribe.hh"
-
-typedef boost::mpl::vector< dynamicgraph::RosQueuedSubscribe > entities_t;
diff --git a/src/ros_queued_subscribe.cpp b/src/ros_queued_subscribe.cpp
index 779d9d6..f9ecaf5 100644
--- a/src/ros_queued_subscribe.cpp
+++ b/src/ros_queued_subscribe.cpp
@@ -24,37 +24,6 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosQueuedSubscribe, "RosQueuedSubscribe");
namespace command {
namespace rosQueuedSubscribe {
-Clear::Clear(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value Clear::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- entity.clear();
- return Value();
-}
-
-ClearQueue::ClearQueue(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value ClearQueue::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.clearQueue(signal);
-
- return Value();
-}
-
-List::List(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, std::vector<Value::Type>(), docstring) {}
-
-Value List::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
- return Value(entity.list());
-}
-
Add::Add(RosQueuedSubscribe& entity, const std::string& docstring)
: Command(entity, boost::assign::list_of(Value::STRING)(Value::STRING)(Value::STRING), docstring) {}
@@ -84,42 +53,6 @@ Value Add::doExecute() {
throw std::runtime_error("bad type");
return Value();
}
-
-Rm::Rm(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value Rm::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
- entity.rm(signal);
- return Value();
-}
-
-QueueSize::QueueSize(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
-
-Value QueueSize::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- const std::string& signal = values[0].value();
-
- return Value((unsigned)entity.queueSize(signal));
-}
-
-ReadQueue::ReadQueue(RosQueuedSubscribe& entity, const std::string& docstring)
- : Command(entity, boost::assign::list_of(Value::INT), docstring) {}
-
-Value ReadQueue::doExecute() {
- RosQueuedSubscribe& entity = static_cast<RosQueuedSubscribe&>(owner());
-
- std::vector<Value> values = getParameterValues();
- int read = values[0].value();
- entity.readQueue(read);
-
- return Value();
-}
} // namespace rosQueuedSubscribe
} // end of namespace command.
@@ -141,53 +74,6 @@ RosQueuedSubscribe::RosQueuedSubscribe(const std::string& n)
" - topic: the topic name in ROS.\n"
"\n";
addCommand("add", new command::rosQueuedSubscribe::Add(*this, docstring));
- docstring =
- "\n"
- " Remove a signal reading data from a ROS topic\n"
- "\n"
- " Input:\n"
- " - name of the signal to remove (see method list for the list of "
- "signals).\n"
- "\n";
- addCommand("rm", new command::rosQueuedSubscribe::Rm(*this, docstring));
- docstring =
- "\n"
- " Remove all signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("clear", new command::rosQueuedSubscribe::Clear(*this, docstring));
- docstring =
- "\n"
- " List signals reading data from a ROS topic\n"
- "\n"
- " No input:\n"
- "\n";
- addCommand("list", new command::rosQueuedSubscribe::List(*this, docstring));
- docstring =
- "\n"
- " Empty the queue of a given signal\n"
- "\n"
- " Input is:\n"
- " - name of the signal (see method list for the list of signals).\n"
- "\n";
- addCommand("clearQueue", new command::rosQueuedSubscribe::ClearQueue(*this, docstring));
- docstring =
- "\n"
- " Return the queue size of a given signal\n"
- "\n"
- " Input is:\n"
- " - name of the signal (see method list for the list of signals).\n"
- "\n";
- addCommand("queueSize", new command::rosQueuedSubscribe::QueueSize(*this, docstring));
- docstring =
- "\n"
- " Whether signals should read values from the queues, and when.\n"
- "\n"
- " Input is:\n"
- " - int (dynamic graph time at which the reading begin).\n"
- "\n";
- addCommand("readQueue", new command::rosQueuedSubscribe::ReadQueue(*this, docstring));
}
RosQueuedSubscribe::~RosQueuedSubscribe() {}
@@ -206,13 +92,10 @@ void RosQueuedSubscribe::rm(const std::string& signal) {
}
}
-std::string RosQueuedSubscribe::list() {
- std::string result("[");
- for (std::map<std::string, bindedSignal_t>::const_iterator it = bindedSignal_.begin(); it != bindedSignal_.end();
- it++) {
- result += "'" + it->first + "',";
- }
- result += "]";
+std::vector<std::string> RosQueuedSubscribe::list() {
+ std::vector<std::string> result(bindedSignal_.size());
+ std::transform(bindedSignal_.begin(), bindedSignal_.end(),
+ result.begin(), [](const auto& pair) { return pair.first; });
return result;
}
diff --git a/src/ros_queued_subscribe.hh b/src/ros_queued_subscribe.hh
index 72c36a3..ff0eb9f 100644
--- a/src/ros_queued_subscribe.hh
+++ b/src/ros_queued_subscribe.hh
@@ -38,12 +38,6 @@ using ::dynamicgraph::command::Value;
}
ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Add);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Clear);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(List);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(Rm);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(ClearQueue);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(QueueSize);
-ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND(ReadQueue);
#undef ROS_QUEUED_SUBSCRIBE_MAKE_COMMAND
@@ -142,7 +136,7 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
void display(std::ostream& os) const;
void rm(const std::string& signal);
- std::string list();
+ std::vector<std::string> list();
void clear();
void clearQueue(const std::string& signal);
void readQueue(int beginReadingAt);
--
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