Merge pull request #384 from mmurooka/python-client

binding/python/mc_control/c_mc_control.pxd

@@ -156,3 +156,15 @@ cdef extern from "mc_control_wrapper.hpp" namespace "mc_control":
 
   void add_anchor_frame_callback[T, U](MCPythonController &, const string &, T, U)
   void remove_anchor_frame_callback(MCPythonController &, const string &)
+
+cdef extern from "<mc_control/ControllerClient.h>" namespace "mc_control":
+  cdef cppclass ElementId:
+    ElementId()
+    ElementId(const vector[string]&, const string&)
+    vector[string] category
+    string name
+  cdef cppclass ControllerClient:
+    ControllerClient()
+    ControllerClient(const string&, const string&, double)
+    void send_request(const ElementId&)
+    void send_request(const ElementId&, c_mc_rtc.Configuration)

binding/python/mc_control/mc_control.pxd

@@ -29,3 +29,9 @@ cdef public api class MCPythonController(MCController)[object MCPythonController
 
 cdef class MCGlobalController(object):
   cdef c_mc_control.MCGlobalController * impl
+
+cdef class ElementId(object):
+  cdef c_mc_control.ElementId impl
+
+cdef class ControllerClient(object):
+  cdef c_mc_control.ControllerClient * impl

binding/python/mc_control/mc_control.pyx

@@ -367,3 +367,28 @@ cdef class MCGlobalController(object):
       return self.impl.running
     def __set__(self, b):
       self.impl.running = b
+
+cdef class ElementId(object):
+  def __cinit__(self, category, name):
+    if isinstance(name, unicode):
+      name = name.encode(u'ascii')
+    self.impl = c_mc_control.ElementId([s.encode(u'ascii') if isinstance(s, unicode) else s for s in category] , name)
+  property category:
+    def __get__(self):
+      return self.impl.category
+  property name:
+    def __get__(self):
+      return self.impl.name
+
+cdef class ControllerClient(object):
+  def __cinit__(self, sub_conn_uri, push_conn_uri, timeout = 0.0):
+    if isinstance(sub_conn_uri, unicode):
+      sub_conn_uri = sub_conn_uri.encode(u'ascii')
+    if isinstance(push_conn_uri, unicode):
+      push_conn_uri = push_conn_uri.encode(u'ascii')
+    self.impl = new c_mc_control.ControllerClient(sub_conn_uri, push_conn_uri, timeout)
+  def send_request(self, element_id, data = None):
+    if data is None:
+      deref(self.impl).send_request((<ElementId>element_id).impl)
+    else:
+      deref(self.impl).send_request((<ElementId>element_id).impl, deref((<mc_rtc.Configuration>data).impl))

include/mc_control/ControllerClient.h

@@ -185,7 +185,7 @@ struct MC_CONTROL_CLIENT_DLLAPI ControllerClient
   virtual void stopped() {}
 
   /** Should be implemented to create a new category container */
-  virtual void category(const std::vector<std::string> & parent, const std::string & category) = 0;
+  virtual void category(const std::vector<std::string> & parent, const std::string & category){};
 
   /** Should be implemented to create a label for data that can be displayed as string */
   inline virtual void label(const ElementId & id, const std::string &) { default_impl("Label", id); }