add2

src/python/SimulationCycleCallbackWrap.h

@@ -5,6 +5,36 @@
 
 namespace py = pybind11;
 
+class [[gnu::visibility("default")]] SimulationCycleCallbackWrap : public SimulationCycleCallback {
+public:
+    using SimulationCycleCallback::SimulationCycleCallback;
+    SimulationCycleCallbackWrap(py::object obj) : SimulationCycleCallback(), py_obj(std::move(obj)) {}
+
+    void operator()(
+        std::vector<Measurement> &measurements,
+        std::vector<Trajectory> &trajectories,
+        const std::string &outpath) override {
+
+        py::gil_scoped_acquire acquire;  // Acquire GIL before calling Python code
+
+        // Create a tuple with the required components
+        py::tuple output = py::make_tuple(
+            measurements,                       
+            trajectories,                       
+            outpath,                            
+            std::vector<std::string>{outpath},  
+            false                               
+        );
+
+
+        py_obj(output);
+    }
+
+private:
+    py::object py_obj;
+
+};
+
 class PySimulationCycleCallback : public SimulationCycleCallback {
 public:
     using SimulationCycleCallback::SimulationCycleCallback;
@@ -16,28 +46,22 @@ class PySimulationCycleCallback : public SimulationCycleCallback {
                     const std::string& outpath) override {
 
         if (is_callback_in_progress) {
-            //std::cout << "Callback already in progress, skipping." << std::endl;
             return;
         }
 
         is_callback_in_progress = true;  // Set the flag to prevent recursion
 
         py::gil_scoped_acquire acquire;  // Acquire GIL before calling Python code
-     //   std::cout << "EKFKOEKFEOF IT IS IN THE TRAMPOLINE" << std::endl;
 
         py::object py_self = py::cast(this, py::return_value_policy::reference);  // Reference to the Python object
 
-        if (py::hasattr(py_self, "__call__")) {
-         //   std::cout << "EKFKOEKFEOF IT IS IN THE TRAMPOLINE 2" << std::endl;
-
+        if (py::hasattr(py_self, "__call__")) {       
             // Convert C++ vectors to Python lists
             py::list measurements_list = py::cast(measurements);
             py::list trajectories_list = py::cast(trajectories);
 
             // Call the Python __call__ method with converted arguments
-        //    std::cout << "EKFKOEKFEOF IT IS IN THE TRAMPOLINE 3" << std::endl;
             py_self.attr("__call__")(measurements_list, trajectories_list, outpath);
-           // std::cout << "EKFKOEKFEOF IT IS IN THE TRAMPOLINE 4" << std::endl;
         } else {
             throw std::runtime_error("Python __call__ method is missing on SimulationCycleCallback.");
         }