WIP

Davide Faconti · Davide Faconti · commit 5b8cac6392fd · 2018-10-22T10:27:01.000+02:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -72,8 +72,6 @@ set(BT_Source
         src/loggers/bt_file_logger.cpp
         src/loggers/bt_minitrace_logger.cpp
 
-        src/pythonnode.cpp
-
         3rdparty/tinyXML2/tinyxml2.cpp
         3rdparty/minitrace/minitrace.cpp
 )
@@ -112,6 +110,13 @@ add_subdirectory(tools)
 add_subdirectory(sample_nodes)
 add_subdirectory(examples)
 
+add_executable(py_test
+    python/py_main.cpp
+    python/python_node.cpp
+    )
+
+target_link_libraries(py_test ${BEHAVIOR_TREE_LIBRARIES} )
+
 ######################################################
 # TESTS
 ######################################################
diff --git a/python/py_main.cpp b/python/py_main.cpp
@@ -0,0 +1,35 @@
+#include "python_node.h"
+
+const std::string script_text = R"(
+
+# define Action HelloPythonAction
+import BehaviorTree as BT
+
+class HelloPythonAction:
+
+    def __init__(self, name):
+        self.name = name
+
+    def tick(self):
+        print("tick called.")
+        return BT.NodeStatus.SUCCESS
+
+    def halt(self):
+        print("halt called.")
+
+    def requiredNodeParameters():
+        return [( "paramA", "1" ), ( "paramB", "2" )]
+
+myAction = HelloPythonAction("myAction")
+print(myAction.tick())
+
+ )";
+
+int main()
+{
+  py::scoped_interpreter guard{};
+
+  py::exec( script_text );
+
+  return 0;
+}
diff --git a/python/python_node.cpp b/python/python_node.cpp
@@ -1,23 +1,8 @@
-#ifndef PYTHONNODE_H
-#define PYTHONNODE_H
+#include "python_node.h"
 
-#include <pybind11/embed.h>
-#include <pybind11/stl.h>
-#include <pybind11/stl_bind.h>
-#include <pybind11/pybind11.h>
-#include <behavior_tree_core/action_node.h>
-
-
-namespace py = pybind11;
-using BT::NodeParameters;
-using BT::NodeStatus;
-// clang-format off
-
-
-
-PYBIND11_MODULE(BehaviorTreePython, m)
+PYBIND11_EMBEDDED_MODULE(BehaviorTree, m)
 {
-  py::enum_<NodeStatus>(m, "ScopedEnum", py::arithmetic())
+  py::enum_<NodeStatus>(m, "NodeStatus", py::arithmetic())
           .value("SUCCESS", NodeStatus::SUCCESS)
           .value("FAILURE", NodeStatus::FAILURE)
           .value("RUNNING", NodeStatus::RUNNING)
@@ -49,27 +34,3 @@ PYBIND11_MODULE(BehaviorTreePython, m)
   //------------------------------------------
 }
 
-const std::string xml_text = R"(
-
-# define Action HelloPythonAction
-
-class HelloPythonAction(ActionNode):
-
-    def __init__(self, name, params):
-        ActionNode.__init__(self,name, params)
-
-    def tick(self):
-        print("tick called.")
-        return NodeStatus.SUCCESS;
-
-    def halt(self):
-        print("halt called.")
-
-    def requiredNodeParameters()
-        return [("paramA", "1"), ("paramB", "2")]
- )";
-
-// clang-format on
-
-
-#endif // PYTHONNODE_H
diff --git a/python/python_node.h b/python/python_node.h
@@ -0,0 +1,23 @@
+#ifndef PYTHONNODE_H
+#define PYTHONNODE_H
+
+#include <pybind11/embed.h>
+#include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+#include <pybind11/pybind11.h>
+#include <behavior_tree_core/action_node.h>
+
+
+namespace py = pybind11;
+using BT::NodeParameters;
+using BT::NodeStatus;
+// clang-format off
+
+
+
+
+
+// clang-format on
+
+
+#endif // PYTHONNODE_H
diff --git a/src/pythonnode.cpp b/src/pythonnode.cpp
