yasmin::pybind11_utils Namespace Reference

Functions
std::shared_ptr< yasmin::blackboard::Blackboard >	convert_blackboard_from_python (py::object blackboard_obj)
	Convert a Python blackboard object to a C++ Blackboard shared pointer.
template<typename Func>
auto	wrap_blackboard_callback (py::function cb)
	Wrap a C++ callback to handle BlackboardPyWrapper conversion (void return).
template<typename ReturnType>
auto	wrap_blackboard_callback_with_return (py::function cb)
	Wrap a C++ callback to handle BlackboardPyWrapper conversion with return value.
template<typename ClassType, typename StateType>
void	add_call_operator (ClassType &cls)
	Helper to define the standard call method for State classes.

Function Documentation

add_call_operator()

template<typename ClassType, typename StateType>

void yasmin::pybind11_utils::add_call_operator ( ClassType & cls )

inline

Helper to define the standard call method for State classes.

This template function adds a call method that:

1. Accepts an optional Python blackboard object
2. Converts it to a C++ Blackboard using convert_blackboard_from_python
3. Releases the GIL to allow C++ threads to run
4. Calls the C++ operator() with the converted blackboard
5. Reacquires the GIL before returning to Python

Template Parameters

ClassType	The pybind11 class type
StateType	The state class type (State, StateMachine, Concurrence)

Parameters

cls	The pybind11 class definition

convert_blackboard_from_python()

std::shared_ptr< yasmin::blackboard::Blackboard > yasmin::pybind11_utils::convert_blackboard_from_python ( py::object blackboard_obj )

inline

Convert a Python blackboard object to a C++ Blackboard shared pointer.

This function handles multiple input types:

• None/not provided: creates a new Blackboard
• BlackboardPyWrapper: extracts the underlying C++ Blackboard
• Blackboard: uses directly
• Other types: creates a new Blackboard

Parameters

blackboard_obj

Python object that may contain a blackboard

Returns

std::shared_ptr<yasmin::blackboard::Blackboard> The C++ blackboard

wrap_blackboard_callback()

template<typename Func>

auto yasmin::pybind11_utils::wrap_blackboard_callback ( py::function cb )

inline

Wrap a C++ callback to handle BlackboardPyWrapper conversion (void return).

This is a generic wrapper for callbacks that take a blackboard as the first parameter and return void.

Template Parameters

Func	The function type to wrap

Parameters

cb	The Python callback function

Returns

A wrapped C++ function that converts Blackboard to BlackboardPyWrapper

wrap_blackboard_callback_with_return()

template<typename ReturnType>

auto yasmin::pybind11_utils::wrap_blackboard_callback_with_return ( py::function cb )

inline

Wrap a C++ callback to handle BlackboardPyWrapper conversion with return value.

This wrapper is for callbacks that return a value (e.g., std::string for CbState).

Template Parameters

ReturnType

The return type of the callback

Parameters

cb	The Python callback function

Returns

A wrapped C++ function that converts Blackboard to BlackboardPyWrapper and returns the callback result