The class exposed to Python; user application classes subclass this. More...

#include <goby/middleware/languages/python/application.h>

Inheritance diagram for goby::middleware::python::ApplicationWrapper< App >:

Public Member Functions
	ApplicationWrapper (double loop_frequency_hertz=0)
	Constructs the underlying Goby application.

virtual	~ApplicationWrapper ()=default

	ApplicationWrapper (const ApplicationWrapper &)=delete

ApplicationWrapper &	operator= (const ApplicationWrapper &)=delete

virtual void	loop ()
	Override in Python to do work at loop_frequency Hz.

virtual void	initialize ()
	Override in Python for work that can't be done in the constructor.

virtual void	finalize ()
	Override in Python for cleanup just before the application exits.

virtual std::string	health (py::bytes serialized)
	Override in Python to answer goby_coroner's health request.

int	run ()
	Runs the Goby event loop until quit() is called or the application is terminated.

void	quit (int return_value=0)
	Requests a clean exit.

std::string	app_name ()
	The application name, as set by –app_name or derived from argv[0].

py::bytes	cfg_serialized ()
	The configuration the application was started with, serialized as Protobuf.

void	set_loop_frequency_hertz (double loop_frequency_hertz)

void	publish (int layer, const std::string &type_name, int scheme, const std::string &group, const std::string &data)
	Publishes already-marshalled bytes; dispatched by the generated glue code.

void	subscribe (int layer, const std::string &type_name, int scheme, const std::string &group, py::object callback)
	Subscribes a Python callable; dispatched by the generated glue code.

Static Public Member Functions
static py::bytes	configure (const std::vector< std::string > &argv)
	Reads the command line into the application configuration.

static py::bytes	configure_from_text (const std::string &config_text)
	Reads the application configuration from a Protobuf TextFormat string.

static py::bytes	configure_from_serialized (const std::string &config_bytes)
	Reads the application configuration from a serialized Protobuf message.

Detailed Description

template<typename App>
class goby::middleware::python::ApplicationWrapper< App >

The class exposed to Python; user application classes subclass this.

Template Parameters

App	the generated glue class, which derives from python::Application

Definition at line 246 of file application.h.

Constructor & Destructor Documentation

◆ ApplicationWrapper() [1/2]

template<typename App >

goby::middleware::python::ApplicationWrapper< App >::ApplicationWrapper ( double loop_frequency_hertz = 0 )

inline

Constructs the underlying Goby application.

configure() must have been called first (goby.run does this), as the Goby application reads its configuration during construction.

Parameters

loop_frequency_hertz frequency at which to call loop(); zero means never

Definition at line 255 of file application.h.

◆ ~ApplicationWrapper()

template<typename App >

virtual goby::middleware::python::ApplicationWrapper< App >::~ApplicationWrapper ( )

virtualdefault

◆ ApplicationWrapper() [2/2]

template<typename App >

goby::middleware::python::ApplicationWrapper< App >::ApplicationWrapper ( const ApplicationWrapper< App > & )

delete

Member Function Documentation

◆ app_name()

template<typename App >

std::string goby::middleware::python::ApplicationWrapper< App >::app_name ( )

inline

The application name, as set by –app_name or derived from argv[0].

Definition at line 398 of file application.h.

◆ cfg_serialized()

template<typename App >

py::bytes goby::middleware::python::ApplicationWrapper< App >::cfg_serialized ( )

inline

The configuration the application was started with, serialized as Protobuf.

Definition at line 401 of file application.h.

◆ configure()

template<typename App >

static py::bytes goby::middleware::python::ApplicationWrapper< App >::configure ( const std::vector< std::string > & argv )

inlinestatic

Reads the command line into the application configuration.

Mirrors the configuration handling in goby::run, so Python applications accept the same command line as C++ applications (–help, –example_config, -v, per-field overrides, ...).

Parameters

argv	the full command line, including argv[0]

Returns: the parsed configuration, serialized as Protobuf

Exceptions

goby::middleware::ConfigException translated to goby.ConfigError in Python

Definition at line 306 of file application.h.

◆ configure_from_serialized()

template<typename App >

static py::bytes goby::middleware::python::ApplicationWrapper< App >::configure_from_serialized ( const std::string & config_bytes )

inlinestatic

Reads the application configuration from a serialized Protobuf message.

Exceptions

goby::middleware::ConfigException translated to goby.ConfigError in Python

Definition at line 372 of file application.h.

◆ configure_from_text()

template<typename App >

static py::bytes goby::middleware::python::ApplicationWrapper< App >::configure_from_text ( const std::string & config_text )

inlinestatic

Reads the application configuration from a Protobuf TextFormat string.

Intended for embedding a Goby application in a larger Python program, and for tests that shouldn't need a command line or a configuration file.

Exceptions

goby::middleware::ConfigException translated to goby.ConfigError in Python

Definition at line 353 of file application.h.

◆ finalize()

template<typename App >

virtual void goby::middleware::python::ApplicationWrapper< App >::finalize ( )

inlinevirtual

Override in Python for cleanup just before the application exits.

Reimplemented in goby::middleware::python::ApplicationWrapperTrampoline< App >.

Definition at line 290 of file application.h.

◆ health()

template<typename App >

virtual std::string goby::middleware::python::ApplicationWrapper< App >::health ( py::bytes serialized )

inlinevirtual

Override in Python to answer goby_coroner's health request.

Parameters

serialized the ThreadHealth Goby filled in

Returns: the ThreadHealth to report, or an empty string to keep Goby's unchanged

Reimplemented in goby::middleware::python::ApplicationWrapperTrampoline< App >.

Definition at line 296 of file application.h.

◆ initialize()

template<typename App >

virtual void goby::middleware::python::ApplicationWrapper< App >::initialize ( )

inlinevirtual

Override in Python for work that can't be done in the constructor.

Reimplemented in goby::middleware::python::ApplicationWrapperTrampoline< App >.

Definition at line 287 of file application.h.

◆ loop()

template<typename App >

virtual void goby::middleware::python::ApplicationWrapper< App >::loop ( )

inlinevirtual

Override in Python to do work at loop_frequency Hz.

Reimplemented in goby::middleware::python::ApplicationWrapperTrampoline< App >.

Definition at line 280 of file application.h.

◆ operator=()

template<typename App >

ApplicationWrapper & goby::middleware::python::ApplicationWrapper< App >::operator= ( const ApplicationWrapper< App > & )

delete

◆ publish()

template<typename App >

void goby::middleware::python::ApplicationWrapper< App >::publish	(	int	layer,
		const std::string &	type_name,
		int	scheme,
		const std::string &	group,
		const std::string &	data
	)

inline

Publishes already-marshalled bytes; dispatched by the generated glue code.

Definition at line 414 of file application.h.

◆ quit()

template<typename App >

void goby::middleware::python::ApplicationWrapper< App >::quit ( int return_value = 0 )

inline

Requests a clean exit.

Definition at line 395 of file application.h.

◆ run()

template<typename App >

int goby::middleware::python::ApplicationWrapper< App >::run ( )

inline

Runs the Goby event loop until quit() is called or the application is terminated.

The GIL is released for the duration, and reacquired for each callback into Python.

Returns: the application return value

Definition at line 387 of file application.h.

◆ set_loop_frequency_hertz()

template<typename App >

void goby::middleware::python::ApplicationWrapper< App >::set_loop_frequency_hertz ( double loop_frequency_hertz )

inline

Definition at line 408 of file application.h.

◆ subscribe()

template<typename App >

void goby::middleware::python::ApplicationWrapper< App >::subscribe	(	int	layer,
		const std::string &	type_name,
		int	scheme,
		const std::string &	group,
		py::object	callback
	)

inline

Subscribes a Python callable; dispatched by the generated glue code.

Definition at line 422 of file application.h.

The documentation for this class was generated from the following files:

goby/middleware/application/interface.h
goby/middleware/languages/python/application.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ApplicationWrapper() [1/2]

◆ ~ApplicationWrapper()

◆ ApplicationWrapper() [2/2]

Member Function Documentation

◆ app_name()

◆ cfg_serialized()

◆ configure()

◆ configure_from_serialized()

◆ configure_from_text()

◆ finalize()

◆ health()

◆ initialize()

◆ loop()

◆ operator=()

◆ publish()

◆ quit()

◆ run()

◆ set_loop_frequency_hertz()

◆ subscribe()