application.h File Reference

#include <chrono>
#include <csignal>
#include <cstdint>
#include <cstdlib>
#include <exception>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <google/protobuf/text_format.h>
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include "goby/exception.h"
#include "goby/middleware/application/configurator.h"
#include "goby/middleware/application/detail/simulation_time.h"
#include "goby/middleware/application/interface.h"
#include "goby/middleware/group.h"
#include "goby/middleware/languages/common/interface.h"
#include "goby/middleware/marshalling/interface.h"
#include "goby/middleware/protobuf/coroner.pb.h"
#include "goby/time.h"
#include "goby/time/simulation.h"
#include "goby/util/debug_logger.h"

Go to the source code of this file.

Classes
struct	goby::middleware::python::detail::SignalState
	State used to turn SIGINT/SIGTERM into a clean Application::quit() More...
class	goby::middleware::python::detail::SignalGuard
	Installs the quit-on-signal handlers for the duration of a run() call. More...
class	goby::middleware::python::Application< AppBase >
	Base class for the generated C++ glue class, forwarding the Goby virtual methods to Python. More...
class	goby::middleware::python::ApplicationWrapper< App >
	The class exposed to Python; user application classes subclass this. More...
class	goby::middleware::python::ApplicationWrapperTrampoline< App >
	Lets Python subclasses override the Goby virtual methods. More...

Namespaces
namespace	goby
	The global namespace for the Goby project.
namespace	goby::middleware
	Objects implementing the Goby nested middleware.
namespace	goby::middleware::python
	Support for writing Goby applications in Python.
namespace	goby::middleware::python::detail

Macros
#define	GOBY_PYTHON_IF_PUBLICATION(SCHEME, LAYER_ENUM, LAYER_FUNCTION, GROUP, GROUP_KEY, TYPE)
#define	GOBY_PYTHON_IF_SUBSCRIPTION(SCHEME, LAYER_ENUM, LAYER_FUNCTION, GROUP, GROUP_KEY, TYPE)
#define	GOBY_PYTHON_FAIL(PUBLISH_OR_SUBSCRIBE)
#define	GOBY_PYTHON_QUOTE(name)   #name
#define	GOBY_PYTHON_DEFINE_MODULE(APPLICATION_NAME, MODULE_NAME)

Functions
void	goby::middleware::python::detail::invoke_callback (const py::object &callback, const std::vector< char > &bytes)
	Hands marshalled bytes to a Python callable, acquiring the GIL first.
SignalState &	goby::middleware::python::detail::signal_state ()
void	goby::middleware::python::detail::signal_handler (int signum)
void	goby::middleware::python::detail::glog_write (int verbosity, const std::string &group, const std::string &text)
	Writes one already-formatted line to goby::glog at the given verbosity.
bool	goby::middleware::python::detail::glog_is (int verbosity)
	Whether anything is listening at this verbosity.
template<typename App >
void	goby::middleware::python::define_python_module (py::module_ &m, const std::string &app_name)
	Defines the contents of the generated extension module.

Macro Definition Documentation

GOBY_PYTHON_DEFINE_MODULE

#define GOBY_PYTHON_DEFINE_MODULE	(		APPLICATION_NAME,
			MODULE_NAME
	)

Value:

    PYBIND11_MODULE(MODULE_NAME, goby_python_module)                      \
    {                                                                     \
        goby::middleware::python::define_python_module<APPLICATION_NAME>( \
            goby_python_module, GOBY_PYTHON_QUOTE(APPLICATION_NAME));     \
    }

Definition at line 620 of file application.h.

GOBY_PYTHON_FAIL

#define GOBY_PYTHON_FAIL

(

PUBLISH_OR_SUBSCRIBE

)

Value:

    goby::glog.is_die() &&                                                                  \
        goby::glog << PUBLISH_OR_SUBSCRIBE " not defined for these parameters: [" << id     \
                   << "]. Please include in interface.yml and re-generate to include them." \
                   << std::endl;

Definition at line 612 of file application.h.

GOBY_PYTHON_IF_PUBLICATION

#define GOBY_PYTHON_IF_PUBLICATION	(		SCHEME,
			LAYER_ENUM,
			LAYER_FUNCTION,
			GROUP,
			GROUP_KEY,
			TYPE
	)

Value:

    if (id == goby::middleware::python::Identifier{                                              \
                  goby::middleware::python::PubSubLayer::LAYER_ENUM, TYPE::descriptor()->name(), \
                  goby::middleware::MarshallingScheme::SCHEME, GROUP_KEY})                       \
    {                                                                                            \
        decltype(data.end()) actual_end;                                                         \
        auto msg = goby::middleware::SerializerParserHelper<                                     \
            TYPE, goby::middleware::MarshallingScheme::SCHEME>::parse(data.begin(), data.end(),  \
                                                                      actual_end);               \
        LAYER_FUNCTION().publish<GROUP>(msg);                                                    \
        return;                                                                                  \
    }

Definition at line 584 of file application.h.

GOBY_PYTHON_IF_SUBSCRIPTION

#define GOBY_PYTHON_IF_SUBSCRIPTION	(		SCHEME,
			LAYER_ENUM,
			LAYER_FUNCTION,
			GROUP,
			GROUP_KEY,
			TYPE
	)

Value:

    if (id == goby::middleware::python::Identifier{                                              \
                  goby::middleware::python::PubSubLayer::LAYER_ENUM, TYPE::descriptor()->name(), \
                  goby::middleware::MarshallingScheme::SCHEME, GROUP_KEY})                       \
    {                                                                                            \
        LAYER_FUNCTION().subscribe<GROUP>(                                                       \
            [callback](const TYPE& pb)                                                           \
            {                                                                                    \
                std::vector<char> bytes = goby::middleware::SerializerParserHelper<              \
                    TYPE, goby::middleware::MarshallingScheme::SCHEME>::serialize(pb);           \
                goby::middleware::python::detail::invoke_callback(callback, bytes);              \
            });                                                                                  \
        return;                                                                                  \
    }

Definition at line 597 of file application.h.

GOBY_PYTHON_QUOTE

#define GOBY_PYTHON_QUOTE

(

name

)

#name

Definition at line 619 of file application.h.