Using GazeEvent callback in Python

[pattacini]

@ddetommaso commented on Thu Aug 02 2018

Describe the bug
I am trying to use the event callback for the IGazeControl class but without success. Whenever I call the method registerEvent I got the following error:

TypeError: in method 'IGazeControl_registerEvent', argument 2 of type 'yarp::dev::GazeEvent &'

To Reproduce

import yarp

class GazeMotionDone(yarp.GazeEvent):

    def __init__(self):
        pass

    def gazeEventCallback(self):
        pass

class GazeController:

    def __init__(self):
        self.iGaze = None
        props = yarp.Property()
        props.put("device","gazecontrollerclient")
        props.put("local","/gaze_client")
        props.put("remote","/iKinGazeCtrl")
        self.driver = yarp.PolyDriver()
        self.driver.open(props)
        self.iGaze = self.driver.viewIGazeControl()
        a = GazeMotionDone()
        self.iGaze.registerEvent(a)

Expected behavior
I would expect that GazeMotionDone class is derived from yarp.GazeEvent

Configuration (please complete the following information):

• OS: Ubuntu 16.04
• yarp version: 2.3.72
• compiler: gcc 5.4.0

Please let me know if I am missing something.

[pattacini]

Hi @ddetommaso

I'm not a Python user, hence cannot be of help here.
One possibility could be that swig didn't export correctly all that's needed.

Any Python/swig expert willing to chime in?

[pattacini]

🔔 Gentle ping to all developers out there eager to help 😉

[traversaro]

I know that this kind of behaviors are typically implemented using the director's SWIG feature. I guess we should add a %feature("director") yarp::dev::GazeEvent somewhere after the actual inclusion of IGazeControl.h in https://github.com/robotology/yarp/blob/b7983c941952a3aafa7de7dd4aeeb574c1865799/bindings/yarp.i#L426 , but I am not 100% sure.