Update of
/cvsroot/playerstage/code/player/client_libs/libplayerc/bindings/python
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2884/client_libs/libplayerc/bindings/python
Modified Files:
playerc.i
Log Message:
changes to blackboard interface and client proxies
Index: playerc.i
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/bindings/python/playerc.i,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** playerc.i 17 Jan 2008 04:37:23 -0000 1.27
--- playerc.i 21 Jan 2008 02:58:45 -0000 1.28
***************
*** 56,61 ****
- // Special rules for functions that return multiple results via pointers
-
// For playerc_simulation_get_pose2d()
%apply double *OUTPUT { double *x, double *y, double *a };
--- 56,59 ----
***************
*** 416,417 ****
--- 414,530 ----
};
}
+
+ %extend playerc_blackboard
+ {
+ PyObject * subscribe_to_key(const char *key)
+ {
+ char *str = NULL;
+ int i = 0;
+ double d = 0.0;
+ PyObject *data;
+ PyObject *dict = PyDict_New();
+ player_blackboard_entry_t **out;
+ player_blackboard_entry_t *entry;
+ entry = NULL;
+ int result = playerc_blackboard_subscribe_to_key(self, key, out);
+ if (result != 0)
+ {
+ return NULL;
+ }
+ assert(out);
+ entry = *out;
+ assert(entry);
+ assert(entry->key);
+ /*printf("key=%s\n",entry->key);
+ printf("type=%d\n",entry->type);
+ printf("subtype=%d\n",entry->subtype);
+ printf("timestamp_sec=%d\n",entry->timestamp_sec);
+ printf("timestamp_usec=%d\n",entry->timestamp_usec);*/
+ PyDict_SetItem(dict, PyString_FromString("key"),
PyString_FromString(entry->key));
+ PyDict_SetItem(dict, PyString_FromString("type"),
PyLong_FromLong(entry->type));
+ PyDict_SetItem(dict, PyString_FromString("subtype"),
PyLong_FromLong(entry->subtype));
+ PyDict_SetItem(dict, PyString_FromString("timestamp_sec"),
PyLong_FromLong(entry->timestamp_sec));
+ PyDict_SetItem(dict, PyString_FromString("timestamp_usec"),
PyLong_FromLong(entry->timestamp_usec));
+
+ switch(entry->subtype)
+ {
+ case PLAYERC_BLACKBOARD_DATA_SUBTYPE_NONE:
+ data = Py_None;
+ printf("data = Py_None\n");
+ break;
+ case PLAYERC_BLACKBOARD_DATA_SUBTYPE_STRING:
+ assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_COMPLEX);
+ assert(entry->subtype ==
PLAYERC_BLACKBOARD_DATA_SUBTYPE_STRING);
+ str = malloc(entry->data_count);
+ assert(str);
+ memcpy(str, entry->data, entry->data_count);
+ /*printf("data = %s\n", str);*/
+ data = PyString_FromString(str);
+ free(str);
+ break;
+ case PLAYERC_BLACKBOARD_DATA_SUBTYPE_INT:
+ assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_SIMPLE);
+ assert(entry->subtype ==
PLAYERC_BLACKBOARD_DATA_SUBTYPE_INT);
+ i = 0;
+ memcpy(&i, entry->data, entry->data_count);
+ /*printf("data = %d\n", i);*/
+ data = PyLong_FromLong(i);
+ break;
+ case PLAYERC_BLACKBOARD_DATA_SUBTYPE_DOUBLE:
+ assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_SIMPLE);
+ assert(entry->subtype ==
PLAYERC_BLACKBOARD_DATA_SUBTYPE_DOUBLE);
+ d = 0.0;
+ memcpy(&d, entry->data, entry->data_count);
+ /*printf("data = %f\n",d);*/
+ data = PyFloat_FromDouble(d);
+ break;
+ default:
+ /*printf("data = defaulted to Py_None\n");*/
+ data = Py_None;
+ break;
+
+ }
+
+ PyDict_SetItem(dict, PyString_FromString("data"), data);
+
+ return dict;
+ }
+
+ PyObject *set_entry(const char* str_key, PyObject *dict)
+ {
+ PyObject *key;
+ PyObject *type;
+ PyObject *subtype;
+ PyObject *timestamp_sec;
+ PyObject *timestamp_usec;
+
+ player_blackboard_entry_t entry;
+ memset(&entry, 0, sizeof(player_blackboard_entry_t));
+
+ key = PyDict_GetItem(dict, PyString_FromString("key"));
+ type = PyDict_GetItem(dict, PyString_FromString("type"));
+ subtype = PyDict_GetItem(dict, PyString_FromString("subtype"));
+ timestamp_sec = PyDict_GetItem(dict,
PyString_FromString("timestamp_sec"));
+ timestamp_usec = PyDict_GetItem(dict,
PyString_FromString("timestamp_usec"));
+
+ entry.type = PyInt_AsLong(type);
+ entry.subtype = PyInt_AsLong(subtype);
+ entry.timestamp_sec = PyInt_AsLong(timestamp_sec);
+ entry.timestamp_usec = PyInt_AsLong(timestamp_usec);
+
+ /*printf("key=%s\n",entry.key);
+ printf("type=%d\n",entry.type);
+ printf("subtype=%d\n",entry.subtype);
+ printf("timestamp_sec=%d\n",entry.timestamp_sec);
+ printf("timestamp_usec=%d\n",entry.timestamp_usec);*/
+
+ int result = playerc_blackboard_set_entry(self, &entry);
+ if (result != 0)
+ {
+ return PyLong_FromLong(-1);
+ }
+
+ return PyLong_FromLong(0);
+ }
+
+ }
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