void BehaviorsModule::getBrainInstance ()
{
if (brain_module == NULL)
if (!import_modules())
return;
// drop old reference
Py_XDECREF(brain_instance);
// Grab instantiate and hold a reference to a new noggin.Brain.Brain()
PyObject *dict = PyModule_GetDict(brain_module);
PyObject *brain_class = PyDict_GetItemString(dict, "Brain");
if (brain_class != NULL)
brain_instance = PyObject_CallObject(brain_class, Py_BuildValue("ii", teamNumber, playerNumber));
else
brain_instance = NULL;
if (brain_instance == NULL) {
std::cout << "Error accessing Brain" << std::endl;
if (PyErr_Occurred())
PyErr_Print();
else
std::cout << " No error available" << std::endl;
}
// Successfully reloaded
error_state = (brain_instance == NULL);
}
BehaviorsModule::BehaviorsModule(int teamNum, int playerNum)
: error_state(false),
brain_module(NULL),
brain_instance(NULL),
do_reload(0),
pyInterface(),
ledCommandOut(base()),
motionRequestOut(base()),
bodyMotionCommandOut(base()),
headMotionCommandOut(base()),
resetLocOut(base()),
myWorldModelOut(base())
{
std::cout << "BehaviorsModule::initializing" << std::endl;
// Store team and player numbers
teamNumber = teamNum;
playerNumber = playerNum;
// Initialize the PyInterface pointer
set_interface_ptr(boost::shared_ptr<PyInterface> (&pyInterface));
// Initialize the interpreter and C python extensions
initializePython();
// import noggin.Brain and instantiate a Brain reference
import_modules();
std::cout << " Retrieving Brain.Brain instance" << std::endl;
// Instantiate a Brain instance
getBrainInstance();
}
void BehaviorsModule::reload_hard ()
{
std::cout << "Reloading Python interpreter" << std::endl;
// finalize and reinitialize the Python interpreter
Py_Finalize();
// load C extension modules
initializePython();
// import noggin.Brain and instantiate a Brain reference
import_modules();
// Instantiate a Brain instance
getBrainInstance();
}
int import_module(std::string mname) {
try {
module_name mod(mname);
std::string base = ".";
bool num_threads = 1;
bool keep_proofs = false;
env = import_modules(env, base, 1, &mod, num_threads, keep_proofs, ios);
} catch (lean::exception & ex) {
simple_pos_info_provider pp("import_module");
lean::display_error(diagnostic(env, ios), &pp, ex);
return 1;
}
return 0;
}
