Add function to get state of SimpleSeqPlay

include/sot/tools/simpleseqplay.hh

@@ -42,6 +42,11 @@ class SimpleSeqPlay : public dg::Entity {
   void unhold();
   virtual std::string getDocString() const;
 
+  bool waiting () const;
+  bool initializing () const;
+  bool executing () const;
+  bool finished () const;
+
  private:
   dg::Vector& computePosture(dg::Vector& pos, int t);
   // 0: motion not started,

src/CMakeLists.txt

@@ -5,7 +5,7 @@
 
 IF(BUILD_PYTHON_INTERFACE)
   DYNAMIC_GRAPH_PYTHON_MODULE(${PYTHON_DIR} ${PROJECT_NAME} wrap
-    MODULE_HEADER ${CMAKE_CURRENT_SOURCE_DIR}/python.hh
+    SOURCE_PYTHON_MODULE ${CMAKE_CURRENT_SOURCE_DIR}/python-module.cc
     )
 
   SET(${PROJECT_NAME}_PYTHON

src/python.hh → src/python-module.cc

+#include "dynamic-graph/python/module.hh"
+
 #include <sot/tools/cubic-interpolation.hh>
 #include <sot/tools/cubic-interpolation-se3.hh>
 #include <sot/tools/kinematic-planner.hh>
@@ -12,5 +14,27 @@ typedef boost::mpl::vector<
 , dgst::CubicInterpolationSE3
 , dgst::Oscillator
 , dgst::Seqplay
-, dgst::SimpleSeqPlay
 > entities_t;
+
+struct register_entity
+{
+template<typename T> inline void operator()(boost::type<T>) const
+{
+  dynamicgraph::python::exposeEntity<T>();
+}
+};
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  bp::import("dynamic_graph");
+  boost::mpl::for_each<entities_t, boost::type<boost::mpl::_> >(register_entity());
+
+  using dgst::SimpleSeqPlay;
+  dynamicgraph::python::exposeEntity<SimpleSeqPlay>()
+    .def("waiting", &SimpleSeqPlay::waiting)
+    .def("initializing", &SimpleSeqPlay::initializing)
+    .def("executing", &SimpleSeqPlay::executing)
+    .def("finished", &SimpleSeqPlay::finished)
+  ;
+}
+

src/simpleseqplay.cc

@@ -186,6 +186,11 @@ void SimpleSeqPlay::hold() {
 
 void SimpleSeqPlay::unhold() { hold_ = false; }
 
+bool SimpleSeqPlay::waiting ()      const { return state_ == 0; }
+bool SimpleSeqPlay::initializing () const { return state_ == 1; }
+bool SimpleSeqPlay::executing ()    const { return state_ == 2; }
+bool SimpleSeqPlay::finished ()     const { return state_ == 3; }
+
 std::string SimpleSeqPlay::getDocString() const {
   return "Provide joint references for a whole-body motion\n"
          "\n"