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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2023-2023, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef BINDINGS_PYTHON_CROCODDYL_CORE_EXCEPTION_HPP_ |
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#define BINDINGS_PYTHON_CROCODDYL_CORE_EXCEPTION_HPP_ |
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#include "crocoddyl/core/utils/exception.hpp" |
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#include "python/crocoddyl/core/core.hpp" |
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namespace crocoddyl { |
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namespace python { |
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static PyObject* createExceptionClass(const char* name, |
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PyObject* base_type = PyExc_Exception) { |
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const std::string scope_name = |
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bp::extract<std::string>(bp::scope().attr("__name__")); |
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const std::string qualified_name = scope_name + "." + name; |
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PyObject* type = PyErr_NewException(qualified_name.c_str(), base_type, 0); |
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if (!type) { |
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bp::throw_error_already_set(); |
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} |
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bp::scope().attr(name) = bp::handle<>(bp::borrowed(type)); |
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return type; |
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} |
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PyObject* ExceptionType = NULL; |
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void translateException(Exception const& e) { |
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bp::object exc_t(bp::handle<>(bp::borrowed(ExceptionType))); |
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exc_t.attr("cause") = |
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bp::object(e); // add the wrapped exception to the Python exception |
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exc_t.attr("what") = bp::object(e.what()); // for convenience |
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PyErr_SetString( |
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ExceptionType, |
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e.what()); // the string is used by print(exception) in python |
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} |
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} // namespace python |
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} // namespace crocoddyl |
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#endif // BINDINGS_PYTHON_CROCODDYL_CORE_EXCEPTION_HPP_ |
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