Merge pull request #40 from nim65s/devel

fix #39

include/dynamic-graph/python/dynamic-graph-py.hh

@@ -178,12 +178,12 @@ __attribute__((unused)) static struct PyModuleDef dynamicGraphModuleDef = {
     NULL,
     NULL};
 #define GETSTATE(m) ((struct dynamicgraph::python::module_state*)PyModule_GetState(m))
-#define DGPYERROR GETSTATE(PyState_FindModule(&dynamicGraphModuleDef))->dgpyError
+#define DGPYERROR(m) GETSTATE(m)->dgpyError
 #define INITERROR return NULL
 #else
 __attribute__((unused)) static struct module_state _state;
 #define GETSTATE(m) (&dynamicgraph::python::_state)
-#define DGPYERROR dynamicgraph::python::_state.dgpyError
+#define DGPYERROR(m) dynamicgraph::python::dgpyError
 #define INITERROR return
 #endif
 

include/dynamic-graph/python/exception.hh

@@ -7,19 +7,19 @@
 
 /// \brief Catch all exceptions which may be sent when C++ code is
 /// called.
-#define CATCH_ALL_EXCEPTIONS()                       \
-  catch (const std::exception& exc) {                \
-    PyErr_SetString(DGPYERROR, exc.what());          \
-    return NULL;                                     \
-  }                                                  \
-  catch (const char* s) {                            \
-    PyErr_SetString(DGPYERROR, s);                   \
-    return NULL;                                     \
-  }                                                  \
-  catch (...) {                                      \
-    PyErr_SetString(DGPYERROR, "Unknown exception"); \
-    return NULL;                                     \
-  }                                                  \
+#define CATCH_ALL_EXCEPTIONS(m)                         \
+  catch (const std::exception& exc) {                   \
+    PyErr_SetString(DGPYERROR(m), exc.what());          \
+    return NULL;                                        \
+  }                                                     \
+  catch (const char* s) {                               \
+    PyErr_SetString(DGPYERROR(m), s);                   \
+    return NULL;                                        \
+  }                                                     \
+  catch (...) {                                         \
+    PyErr_SetString(DGPYERROR(m), "Unknown exception"); \
+    return NULL;                                        \
+  }                                                     \
   struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
 
 #endif  //! DYNAMIC_GRAPH_PYTHON_EXCEPTION

src/dynamic_graph/debug-py.cc

@@ -21,11 +21,21 @@ typedef boost::shared_ptr<std::ofstream> ofstreamShrPtr;
 namespace dynamicgraph {
 namespace python {
 
+#if PY_MAJOR_VERSION == 2
+  extern PyObject* dgpyError;
+# endif
+
 namespace debug {
 
 std::map<std::string, ofstreamShrPtr> mapOfFiles_;
 
-PyObject* addLoggerFileOutputStream(PyObject* /*self*/, PyObject* args) {
+PyObject* addLoggerFileOutputStream(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   char* filename;
   if (!PyArg_ParseTuple(args, "s", &filename)) return NULL;
   std::string sfilename(filename);
@@ -38,49 +48,79 @@ PyObject* addLoggerFileOutputStream(PyObject* /*self*/, PyObject* args) {
     dgRTLOG() << "Added " << filename << " as an output stream \n";
     mapOfFiles_[sfilename] = ofs_shrptr;
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* closeLoggerFileOutputStream(PyObject* /*self*/, PyObject* /*args */) {
+PyObject* closeLoggerFileOutputStream(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject*
+#else
+    PyObject*, PyObject*
+#endif
+    ) {
   try {
     for (std::map<std::string, ofstreamShrPtr>::iterator it = mapOfFiles_.begin(); it != mapOfFiles_.end(); ++it) {
       it->second->close();
     }
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* addLoggerCoutOutputStream(PyObject* /*self*/, PyObject* /*args*/) {
+PyObject* addLoggerCoutOutputStream(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject*
+#else
+    PyObject*, PyObject*
+#endif
+    ) {
   try {
     dgADD_OSTREAM_TO_RTLOG(std::cout);
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* realTimeLoggerDestroy(PyObject* /*self*/, PyObject* /*args*/) {
+PyObject* realTimeLoggerDestroy(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject*
+#else
+    PyObject*, PyObject*
+#endif
+    ) {
   try {
     RealTimeLogger::destroy();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* realTimeLoggerSpinOnce(PyObject* /*self*/, PyObject* /*args*/) {
+PyObject* realTimeLoggerSpinOnce(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject*
+#else
+    PyObject*, PyObject*
+#endif
+    ) {
   try {
     RealTimeLogger::instance().spinOnce();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* realTimeLoggerInstance(PyObject* /*self*/, PyObject* /*args*/) {
+PyObject* realTimeLoggerInstance(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject*
+#else
+    PyObject*, PyObject*
+#endif
+    ) {
   try {
     RealTimeLogger::instance();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 

src/dynamic_graph/dynamic-graph-py.cc

@@ -14,10 +14,20 @@
 namespace dynamicgraph {
 namespace python {
 
+#if PY_MAJOR_VERSION == 2
+  PyObject* dgpyError;
+# endif
+
 /**
    \brief plug a signal into another one.
 */
-PyObject* plug(PyObject* /*self*/, PyObject* args) {
+PyObject* plug(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* objOut = NULL;
   PyObject* objIn = NULL;
   void* pObjOut;
@@ -61,11 +71,17 @@ PyObject* plug(PyObject* /*self*/, PyObject* args) {
   try {
     signalIn->plug(signalOut);
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("");
 }
 
-PyObject* enableTrace(PyObject* /*self*/, PyObject* args) {
+PyObject* enableTrace(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* boolean;
   char* filename = NULL;
 
@@ -82,12 +98,12 @@ PyObject* enableTrace(PyObject* /*self*/, PyObject* args) {
       try {
         DebugTrace::openFile(filename);
       }
-      CATCH_ALL_EXCEPTIONS();
+      CATCH_ALL_EXCEPTIONS(m);
     } else {
       try {
         DebugTrace::closeFile(filename);
       }
-      CATCH_ALL_EXCEPTIONS();
+      CATCH_ALL_EXCEPTIONS(m);
     }
   } else {
     return NULL;
@@ -102,8 +118,7 @@ PyObject* error_out(
     PyObject*, PyObject*
 #endif
 ) {
-  struct module_state* st = GETSTATE(m);
-  PyErr_SetString(st->dgpyError, "something bad happened");
+  PyErr_SetString(DGPYERROR(m), "something bad happened");
   return NULL;
 }
 
@@ -121,30 +136,29 @@ void initwrap(void)
 #endif
 {
 #if PY_MAJOR_VERSION >= 3
-  PyObject* module = PyModule_Create(&dynamicgraph::python::dynamicGraphModuleDef);
+  PyObject* m = PyModule_Create(&dynamicgraph::python::dynamicGraphModuleDef);
 #else
-  PyObject* module = Py_InitModule("wrap", dynamicgraph::python::dynamicGraphMethods);
+  PyObject* m = Py_InitModule("wrap", dynamicgraph::python::dynamicGraphMethods);
 #endif
 
-  if (module == NULL) INITERROR;
-  struct dynamicgraph::python::module_state* st = GETSTATE(module);
+  if (m == NULL) INITERROR;
 
-  st->dgpyError = PyErr_NewException(const_cast<char*>("dynamic_graph.dgpyError"), NULL, NULL);
-  if (st->dgpyError == NULL) {
-    Py_DECREF(module);
+  DGPYERROR(m) = PyErr_NewException(const_cast<char*>("dynamic_graph.dgpyError"), NULL, NULL);
+  if (DGPYERROR(m) == NULL) {
+    Py_DECREF(m);
     INITERROR;
   }
 
-  Py_XINCREF(st->dgpyError);
-  if (PyModule_AddObject(module, "dgpyError", st->dgpyError) < 0) {
-    Py_XDECREF(st->dgpyError);
-    Py_CLEAR(st->dgpyError);
-    Py_DECREF(module);
-    return NULL;
+  Py_XINCREF(DGPYERROR(m));
+  if (PyModule_AddObject(m, "dgpyError", DGPYERROR(m)) < 0) {
+    Py_XDECREF(DGPYERROR(m));
+    Py_CLEAR(DGPYERROR(m));
+    Py_DECREF(m);
+    INITERROR;
   }
 
 #if PY_MAJOR_VERSION >= 3
-  return module;
+  return m;
 #endif
 }
 

src/dynamic_graph/entity-py.cc

@@ -32,12 +32,22 @@ namespace python {
 
 using namespace convert;
 
+#if PY_MAJOR_VERSION == 2
+  extern PyObject* dgpyError;
+# endif
+
 namespace entity {
 
 /**
    \brief Create an instance of Entity
 */
-PyObject* create(PyObject* /*self*/, PyObject* args) {
+PyObject* create(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   char* className = NULL;
   char* instanceName = NULL;
 
@@ -51,7 +61,7 @@ PyObject* create(PyObject* /*self*/, PyObject* args) {
                       ",\n"
                       "but this object is of type " +
                       std::string(obj->getClassName()) + " and not " + std::string(className));
-      PyErr_SetString(DGPYERROR, msg.c_str());
+      PyErr_SetString(DGPYERROR(m), msg.c_str());
       return NULL;
     }
   } else /* If not, create a new object. */
@@ -59,7 +69,7 @@ PyObject* create(PyObject* /*self*/, PyObject* args) {
     try {
       obj = dynamicgraph::FactoryStorage::getInstance()->newEntity(std::string(className), std::string(instanceName));
     }
-    CATCH_ALL_EXCEPTIONS();
+    CATCH_ALL_EXCEPTIONS(m);
   }
 
   // Return the pointer as a PyCapsule
@@ -69,7 +79,13 @@ PyObject* create(PyObject* /*self*/, PyObject* args) {
 /**
    \brief Get name of entity
 */
-PyObject* getName(PyObject* /*self*/, PyObject* args) {
+PyObject* getName(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   void* pointer = NULL;
   std::string name;
@@ -86,14 +102,20 @@ PyObject* getName(PyObject* /*self*/, PyObject* args) {
   try {
     name = entity->getName();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("s", name.c_str());
 }
 
 /**
    \brief Get class name of entity
 */
-PyObject* getClassName(PyObject* /*self*/, PyObject* args) {
+PyObject* getClassName(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   void* pointer = NULL;
   std::string name;
@@ -110,14 +132,20 @@ PyObject* getClassName(PyObject* /*self*/, PyObject* args) {
   try {
     name = entity->getClassName();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return Py_BuildValue("s", name.c_str());
 }
 
 /**
    \brief Check if the entity has a signal with the given name
 */
-PyObject* hasSignal(PyObject* /*self*/, PyObject* args) {
+PyObject* hasSignal(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   char* name = NULL;
   PyObject* object = NULL;
   void* pointer = NULL;
@@ -136,7 +164,7 @@ PyObject* hasSignal(PyObject* /*self*/, PyObject* args) {
   try {
     hasSignal = entity->hasSignal(std::string(name));
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
 
   if (hasSignal)
     Py_RETURN_TRUE;
@@ -147,7 +175,13 @@ PyObject* hasSignal(PyObject* /*self*/, PyObject* args) {
 /**
    \brief Get a signal by name
 */
-PyObject* getSignal(PyObject* /*self*/, PyObject* args) {
+PyObject* getSignal(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   char* name = NULL;
   PyObject* object = NULL;
   void* pointer = NULL;
@@ -166,14 +200,20 @@ PyObject* getSignal(PyObject* /*self*/, PyObject* args) {
   try {
     signal = &(entity->getSignal(std::string(name)));
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
 
   // Return the pointer to the signal without destructor since the signal
   // is not owned by the calling object but by the Entity.
   return PyCapsule_New((void*)signal, "dynamic_graph.Signal", NULL);
 }
 
-PyObject* listSignals(PyObject* /*self*/, PyObject* args) {
+PyObject* listSignals(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   void* pointer = NULL;
   PyObject* object = NULL;
 
@@ -198,11 +238,17 @@ PyObject* listSignals(PyObject* /*self*/, PyObject* args) {
     }
     return result;
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return NULL;
 }
 
-PyObject* executeCommand(PyObject* /*self*/, PyObject* args) {
+PyObject* executeCommand(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject* , PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   PyObject* argTuple = NULL;
   char* commandName = NULL;
@@ -236,7 +282,7 @@ PyObject* executeCommand(PyObject* /*self*/, PyObject* args) {
   if ((unsigned)size != typeVector.size()) {
     std::stringstream ss;
     ss << "command takes " << typeVector.size() << " parameters, " << size << " given.";
-    PyErr_SetString(DGPYERROR, ss.str().c_str());
+    PyErr_SetString(DGPYERROR(m), ss.str().c_str());
     return NULL;
   }
   std::vector<Value> valueVector;
@@ -249,10 +295,10 @@ PyObject* executeCommand(PyObject* /*self*/, PyObject* args) {
     } catch (const std::exception& exc) {
       std::stringstream ss;
       ss << "while parsing argument " << iParam + 1 << ": expecting " << exc.what() << ".";
-      PyErr_SetString(DGPYERROR, ss.str().c_str());
+      PyErr_SetString(DGPYERROR(m), ss.str().c_str());
       return NULL;
     } catch (...) {
-      PyErr_SetString(DGPYERROR, "Unknown exception");
+      PyErr_SetString(DGPYERROR(m), "Unknown exception");
       return NULL;
     }
   }
@@ -261,7 +307,7 @@ PyObject* executeCommand(PyObject* /*self*/, PyObject* args) {
     Value result = command->execute();
     return valueToPython(result);
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
   return NULL;
 }
 
@@ -292,7 +338,13 @@ PyObject* listCommands(PyObject* /*self*/, PyObject* args) {
   }
   return result;
 }
-PyObject* getCommandDocstring(PyObject* /*self*/, PyObject* args) {
+PyObject* getCommandDocstring(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   char* commandName;
   if (!PyArg_ParseTuple(args, "Os", &object, &commandName)) {
@@ -301,7 +353,7 @@ PyObject* getCommandDocstring(PyObject* /*self*/, PyObject* args) {
 
   // Retrieve the entity instance
   if (!PyCapsule_CheckExact(object)) {
-    PyErr_SetString(DGPYERROR, "first argument is not an object");
+    PyErr_SetString(DGPYERROR(m), "first argument is not an object");
     return NULL;
   }
   void* pointer = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
@@ -322,7 +374,13 @@ PyObject* getCommandDocstring(PyObject* /*self*/, PyObject* args) {
   return Py_BuildValue("s", docstring.c_str());
 }
 
-PyObject* getDocString(PyObject* /*self*/, PyObject* args) {
+PyObject* getDocString(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   if (!PyArg_ParseTuple(args, "O", &object)) {
     return NULL;
@@ -330,7 +388,7 @@ PyObject* getDocString(PyObject* /*self*/, PyObject* args) {
 
   // Retrieve the entity instance
   if (!PyCapsule_CheckExact(object)) {
-    PyErr_SetString(DGPYERROR, "first argument is not an object");
+    PyErr_SetString(DGPYERROR(m), "first argument is not an object");
     return NULL;
   }
   void* pointer = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
@@ -338,20 +396,26 @@ PyObject* getDocString(PyObject* /*self*/, PyObject* args) {
   try {
     return Py_BuildValue("s", entity->getDocString().c_str());
   } catch (const std::exception& exc) {
-    PyErr_SetString(DGPYERROR, exc.what());
+    PyErr_SetString(DGPYERROR(m), exc.what());
     return NULL;
   } catch (...) {
-    PyErr_SetString(DGPYERROR, "Unknown exception");
+    PyErr_SetString(DGPYERROR(m), "Unknown exception");
     return NULL;
   }
   return NULL;
 }
 
-PyObject* display(PyObject* /*self*/, PyObject* args) {
+PyObject* display(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   /* Retrieve the entity instance. */
   PyObject* object = NULL;
   if (!PyArg_ParseTuple(args, "O", &object) || (!PyCapsule_CheckExact(object))) {
-    PyErr_SetString(DGPYERROR, "first argument is not an object");
+    PyErr_SetString(DGPYERROR(m), "first argument is not an object");
     return NULL;
   }
   void* pointer = PyCapsule_GetPointer(object, "dynamic_graph.Entity");
@@ -368,7 +432,13 @@ PyObject* display(PyObject* /*self*/, PyObject* args) {
 /**
    \brief Set verbosity Level
 */
-PyObject* setLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
+PyObject* setLoggerVerbosityLevel(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   PyObject* objectVerbosityLevel = NULL;
   if (!PyArg_ParseTuple(args, "OO", &object, &objectVerbosityLevel)) return NULL;
@@ -408,13 +478,13 @@ PyObject* setLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
         break;
     }
   } catch (const std::exception& exc) {
-    PyErr_SetString(DGPYERROR, exc.what());
+    PyErr_SetString(DGPYERROR(m), exc.what());
     return NULL;
   } catch (const char* s) {
-    PyErr_SetString(DGPYERROR, s);
+    PyErr_SetString(DGPYERROR(m), s);
     return NULL;
   } catch (...) {
-    PyErr_SetString(DGPYERROR, "Unknown exception");
+    PyErr_SetString(DGPYERROR(m), "Unknown exception");
     return NULL;
   }
 
@@ -424,7 +494,13 @@ PyObject* setLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
 /**
    \brief Get verbosity Level
 */
-PyObject* getLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
+PyObject* getLoggerVerbosityLevel(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   if (!PyArg_ParseTuple(args, "O", &object)) return NULL;
 
@@ -441,7 +517,7 @@ PyObject* getLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
   try {
     alv = entity->getLoggerVerbosityLevel();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
 
   int ares = (int)alv;
   return Py_BuildValue("i", ares);
@@ -450,7 +526,13 @@ PyObject* getLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args) {
 /**
    \brief Get stream print period
 */
-PyObject* getStreamPrintPeriod(PyObject* /*self*/, PyObject* args) {
+PyObject* getStreamPrintPeriod(
+#if PY_MAJOR_VERSION >= 3
+    PyObject* m, PyObject* args
+#else
+    PyObject*, PyObject* args
+#endif
+    ) {
   PyObject* object = NULL;
   if (!PyArg_ParseTuple(args, "O", &object)) return NULL;
 
@@ -467,7 +549,7 @@ PyObject* getStreamPrintPeriod(PyObject* /*self*/, PyObject* args) {
   try {
     r = entity->getStreamPrintPeriod();
   }
-  CATCH_ALL_EXCEPTIONS();
+  CATCH_ALL_EXCEPTIONS(m);
 
   return Py_BuildValue("d", r);