mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-05 09:37:46 +08:00
matlabbe
aa7546ec62
* Enable WITH_PYTHON on CI * add python-dev * use python3-dev instead of libpython3-dev * use action to instlal python * pybind now missing * Fixed python build on linux * warning * try to install compatible pybind * explicitly set where to find pybind
76 lines
1.9 KiB
C++
76 lines
1.9 KiB
C++
/*
|
|
* PythonSingleTon.h
|
|
*
|
|
* Created on: Jan. 14, 2021
|
|
* Author: mathieu
|
|
*/
|
|
|
|
#include <rtabmap/core/PythonInterface.h>
|
|
#include <rtabmap/utilite/ULogger.h>
|
|
#include <rtabmap/utilite/UThread.h>
|
|
#include <pybind11/embed.h>
|
|
#include <filesystem>
|
|
|
|
namespace rtabmap {
|
|
|
|
PythonInterface::PythonInterface()
|
|
{
|
|
UINFO("Initialize python interpreter");
|
|
guard_ = new pybind11::scoped_interpreter();
|
|
|
|
// Tell Python to look in this directory for DLLs
|
|
#ifdef _WIN32
|
|
std::string exe_dir = std::filesystem::current_path().string();
|
|
pybind11::module_ os = pybind11::module_::import("os");
|
|
os.attr("add_dll_directory")(exe_dir);
|
|
#endif
|
|
|
|
pybind11::module::import("threading");
|
|
release_ = new pybind11::gil_scoped_release();
|
|
}
|
|
|
|
PythonInterface::~PythonInterface()
|
|
{
|
|
UINFO("Finalize python interpreter");
|
|
delete release_;
|
|
delete guard_;
|
|
}
|
|
|
|
std::string getPythonTraceback()
|
|
{
|
|
// Author: https://stackoverflow.com/questions/41268061/c-c-python-exception-traceback-not-being-generated
|
|
|
|
PyObject* type;
|
|
PyObject* value;
|
|
PyObject* traceback;
|
|
|
|
PyErr_Fetch(&type, &value, &traceback);
|
|
PyErr_NormalizeException(&type, &value, &traceback);
|
|
|
|
std::string fcn = "";
|
|
fcn += "def get_pretty_traceback(exc_type, exc_value, exc_tb):\n";
|
|
fcn += " import sys, traceback\n";
|
|
fcn += " lines = []\n";
|
|
fcn += " lines = traceback.format_exception(exc_type, exc_value, exc_tb)\n";
|
|
fcn += " output = '\\n'.join(lines)\n";
|
|
fcn += " return output\n";
|
|
|
|
PyRun_SimpleString(fcn.c_str());
|
|
PyObject* mod = PyImport_ImportModule("__main__");
|
|
UASSERT(mod);
|
|
PyObject* method = PyObject_GetAttrString(mod, "get_pretty_traceback");
|
|
UASSERT(method);
|
|
PyObject* outStr = PyObject_CallObject(method, Py_BuildValue("OOO", type, value, traceback));
|
|
std::string pretty;
|
|
if(outStr)
|
|
pretty = PyBytes_AsString(PyUnicode_AsASCIIString(outStr));
|
|
|
|
Py_DECREF(method);
|
|
Py_DECREF(outStr);
|
|
Py_DECREF(mod);
|
|
|
|
return pretty;
|
|
}
|
|
|
|
}
|