From f2644c410a1f62dfe667659ba57d53b0530fb132 Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Wed, 30 Jun 2010 22:15:50 +0200
Subject: [PATCH] Implement set and get signal value
* src/dynamic-graph-py.cc,
* src/dynamic_graph/signal_base.py,
* src/signal-base-py.cc.
---
src/dynamic-graph-py.cc | 6 ++++
src/dynamic_graph/signal_base.py | 14 +++++++++
src/signal-base-py.cc | 51 +++++++++++++++++++++++++++-----
3 files changed, 63 insertions(+), 8 deletions(-)
diff --git a/src/dynamic-graph-py.cc b/src/dynamic-graph-py.cc
index a8b08a1..3d78e0f 100644
--- a/src/dynamic-graph-py.cc
+++ b/src/dynamic-graph-py.cc
@@ -19,6 +19,8 @@ namespace dynamicgraph {
namespace signalBase {
extern PyObject* create(PyObject* self, PyObject* args);
extern PyObject* getTime(PyObject* self, PyObject* args);
+ extern PyObject* getValue(PyObject* self, PyObject* args);
+ extern PyObject* setValue(PyObject* self, PyObject* args);
}
namespace entity {
extern PyObject* create(PyObject* self, PyObject* args);
@@ -99,6 +101,10 @@ static PyMethodDef dynamicGraphMethods[] = {
"create a SignalBase C++ object"},
{"signalbase_get_time", dynamicgraph::python::signalBase::getTime,
METH_VARARGS, "Get time of a SignalBase"},
+ {"signal_base_get_value", dynamicgraph::python::signalBase::getValue,
+ METH_VARARGS, "Read the value of a signal"},
+ {"signal_base_set_value", dynamicgraph::python::signalBase::setValue,
+ METH_VARARGS, "Set the value of a signal"},
// Entity
{"create_entity", dynamicgraph::python::entity::create, METH_VARARGS,
"create an Entity C++ object"},
diff --git a/src/dynamic_graph/signal_base.py b/src/dynamic_graph/signal_base.py
index 864be12..e925e2c 100644
--- a/src/dynamic_graph/signal_base.py
+++ b/src/dynamic_graph/signal_base.py
@@ -29,3 +29,17 @@ class SignalBase:
"""
return wrap.signalBaseGetTime(self.object)
+ @property
+ def value(self) :
+ """
+ Read the value of a signal
+ """
+ return wrap.signal_base_get_value(self.object)
+
+ @value.setter
+ def value(self) :
+ """
+ Set the signal as a constant signal with given value.
+ If the signal is plugged, it will be unplugged
+ """
+ return wrap.signal_base_set_value(self.object, value)
diff --git a/src/signal-base-py.cc b/src/signal-base-py.cc
index a86d38b..40d85b9 100644
--- a/src/signal-base-py.cc
+++ b/src/signal-base-py.cc
@@ -5,8 +5,7 @@
#include <Python.h>
#include <iostream>
-//#include <sstream>
-//#include <string>
+#include <sstream>
#include <dynamic-graph/signal-base.h>
@@ -27,17 +26,17 @@ namespace dynamicgraph {
PyObject* create(PyObject* self, PyObject* args)
{
char *name = NULL;
-
+
if (!PyArg_ParseTuple(args, "s", &name))
return NULL;
-
+
SignalBase<int>* obj = NULL;
obj = new SignalBase<int>(std::string(name));
-
+
// Return the pointer
return PyCObject_FromVoidPtr((void*)obj, destroy);
}
-
+
/**
\brief Destroy an instance of InvertedPendulum
*/
@@ -46,7 +45,7 @@ namespace dynamicgraph {
SignalBase<int>* obj = (SignalBase<int>*)self;
delete obj;
}
-
+
PyObject* getTime(PyObject* self, PyObject* args)
{
void* pointer = NULL;
@@ -58,10 +57,46 @@ namespace dynamicgraph {
pointer = PyCObject_AsVoidPtr(object);
SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
+
int time = obj->getTime();
return Py_BuildValue("i", time);
}
+
+ PyObject* getValue(PyObject* self, PyObject* args)
+ {
+ void* pointer = NULL;
+ PyObject* object = NULL;
+ if (!PyArg_ParseTuple(args,"O", &object))
+ return NULL;
+ if (!PyCObject_Check(object))
+ return NULL;
+
+ pointer = PyCObject_AsVoidPtr(object);
+ SignalBase<int>* signal = (SignalBase<int>*)pointer;
+
+ std::ostringstream value;
+ signal->get(value);
+ return Py_BuildValue("s", value.str());
+ }
+
+ PyObject* setValue(PyObject* self, PyObject* args)
+ {
+ void * pointer = NULL;
+ PyObject* object = NULL;
+ char* valueString = NULL;
+
+ if (!PyArg_ParseTuple(args,"Os", &object, &valueString))
+ return NULL;
+ if (!PyCObject_Check(object))
+ return NULL;
+
+ pointer = PyCObject_AsVoidPtr(object);
+ SignalBase<int>* signal = (SignalBase<int>*)pointer;
+ std::istringstream value(valueString);
+
+ signal->set(value);
+ return Py_BuildValue("");
+ }
}
}
}
--
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