diff --git a/src/dynamic_graph/__init__.py b/src/dynamic_graph/__init__.py
index 605b829d2eb12696c2ce9a754d3373a4bb035bbb..a5853349ad3839b68efa7022fa07887d962f2436 100644
--- a/src/dynamic_graph/__init__.py
+++ b/src/dynamic_graph/__init__.py
@@ -5,15 +5,22 @@ Author: Florent Lamiraux
import sys
-import DLFCN
-import entity # noqa
-import signal_base # noqa
+from . import entity # noqa
+from . import signal_base # noqa
+
+try:
+ from DLFCN import RTLD_NOW, RTLD_GLOBAL
+except ModuleNotFoundError: # Python 3
+ from os import RTLD_NOW, RTLD_GLOBAL
+
+flags = sys.getdlopenflags()
# Import C++ symbols in a global scope
# This is necessary for signal compiled in different modules to be compatible
-flags = sys.getdlopenflags()
-sys.setdlopenflags(DLFCN.RTLD_NOW | DLFCN.RTLD_GLOBAL)
-from wrap import * # noqa
+
+sys.setdlopenflags(RTLD_NOW | RTLD_GLOBAL)
+from .wrap import * # noqa
+
# Recover previous flags
sys.setdlopenflags(flags)
diff --git a/src/dynamic_graph/entity.py b/src/dynamic_graph/entity.py
index 5ec7966d6626dd2dcaa1c4c39d3a23de869b187d..ca6643d60f9a32f8f31c1ab5dae57bc0a8033b7d 100644
--- a/src/dynamic_graph/entity.py
+++ b/src/dynamic_graph/entity.py
@@ -3,12 +3,11 @@
Author: Florent Lamiraux, Nicolas Mansard
"""
-import new
+import types
from enum import Enum
-import signal_base
-import wrap
-from attrpath import setattrpath
+from . import signal_base, wrap
+from .attrpath import setattrpath
if 'display' not in globals().keys():
@@ -248,7 +247,7 @@ class Entity(object):
docstring = wrap.entity_get_command_docstring(self.obj, cmdName)
cmd = Entity.createCommandBind(cmdName, docstring)
# Limitation (todo): does not handle for path attribute name (see setattrpath).
- setattr(self, cmdName, new.instancemethod(cmd, self, self.__class__))
+ setattr(self, cmdName, types.MethodType(cmd, self))
def boundAllNewCommands(self):
"""
diff --git a/src/dynamic_graph/script_shortcuts.py b/src/dynamic_graph/script_shortcuts.py
index 79b7ced7ca4ea50084ebe6346927f67748eca265..7ee4ca6b17344a2ea401ccd41f97ada503d41d98 100644
--- a/src/dynamic_graph/script_shortcuts.py
+++ b/src/dynamic_graph/script_shortcuts.py
@@ -11,9 +11,9 @@
# Changing prompt
import sys
-from dynamic_graph.entity import Entity
-from dynamic_graph.signal_base import SignalBase
-from matlab import matlab
+from .entity import Entity
+from .matlab import matlab
+from .signal_base import SignalBase
# Enables shortcut "name"
diff --git a/src/dynamic_graph/signal_base.py b/src/dynamic_graph/signal_base.py
index 1b9190411089a29e1578a5f1a0751649a41b017e..d589e4175dcf138250e3d88cad9e0a61d01b4144 100644
--- a/src/dynamic_graph/signal_base.py
+++ b/src/dynamic_graph/signal_base.py
@@ -5,8 +5,10 @@
"""
import re
-import entity
-import wrap
+from .wrap import (create_signal_wrapper, signal_base_display, signal_base_display_dependencies,
+ signal_base_get_class_name, signal_base_get_name, signal_base_get_time, signal_base_get_value,
+ signal_base_getPlugged, signal_base_isPlugged, signal_base_recompute, signal_base_set_time,
+ signal_base_set_value, signal_base_unplug)
def stringToTuple(vector):
@@ -110,7 +112,7 @@ def objectToString(obj):
else:
# vector
return tupleToString(obj)
- elif isinstance(obj, entity.Entity):
+ elif hasattr(obj, 'name'):
return obj.name
else:
return str(obj)
@@ -176,7 +178,7 @@ class SignalBase(object):
"""
Get time of signal
"""
- return wrap.signal_base_get_time(self.obj)
+ return signal_base_get_time(self.obj)
@time.setter
def time(self, val):
@@ -186,7 +188,7 @@ class SignalBase(object):
Input:
- an integer
"""
- return wrap.signal_base_set_time(self.obj, val)
+ return signal_base_set_time(self.obj, val)
@property
def value(self):
@@ -210,7 +212,7 @@ class SignalBase(object):
>>> s.value
(2.5, 0.1, 100.0)
"""
- string = wrap.signal_base_get_value(self.obj)
+ string = signal_base_get_value(self.obj)
return stringToObject(string)
@value.setter
@@ -220,64 +222,64 @@ class SignalBase(object):
If the signal is plugged, it will be unplugged
"""
string = objectToString(val)
- return wrap.signal_base_set_value(self.obj, string)
+ return signal_base_set_value(self.obj, string)
def getName(self):
"""
Get name of signal
"""
- return wrap.signal_base_get_name(self.obj)
+ return signal_base_get_name(self.obj)
@property
def name(self):
"""
Get name of signal
"""
- return wrap.signal_base_get_name(self.obj)
+ return signal_base_get_name(self.obj)
def getClassName(self):
"""
Get class name of signal
"""
- return wrap.signal_base_get_class_name(self.obj)
+ return signal_base_get_class_name(self.obj)
def recompute(self, time):
"""
Force signal to recompute the value at given time.
"""
- return wrap.signal_base_recompute(self.obj, time)
+ return signal_base_recompute(self.obj, time)
def unplug(self):
"""
Unplug a PTR signal.
"""
- return wrap.signal_base_unplug(self.obj)
+ return signal_base_unplug(self.obj)
def isPlugged(self):
"""
Return whether a signal is plugged.
"""
- return wrap.signal_base_isPlugged(self.obj)
+ return signal_base_isPlugged(self.obj)
def getPlugged(self):
"""
Return the plugged signal.
"""
- return SignalBase(obj=wrap.signal_base_getPlugged(self.obj))
+ return SignalBase(obj=signal_base_getPlugged(self.obj))
def __str__(self):
"""
Print signal in a string
"""
- return wrap.signal_base_display(self.obj)
+ return signal_base_display(self.obj)
def displayDependencies(self, iter):
"""
Print signal dependencies in a string
"""
- return (wrap.signal_base_display_dependencies(self.obj, iter))
+ return (signal_base_display_dependencies(self.obj, iter))
class SignalWrapper(SignalBase):
def __init__(self, name, type, func):
- super(SignalWrapper, self).__init__(name, wrap.create_signal_wrapper(name, type, func))
+ super(SignalWrapper, self).__init__(name, create_signal_wrapper(name, type, func))
diff --git a/src/dynamic_graph/tools.py b/src/dynamic_graph/tools.py
index 75173fdfdbfae7f32e2d0151445ce88bb8325ce0..5cfe45a8b53b1c21b508fed1cafe0b597304ece2 100644
--- a/src/dynamic_graph/tools.py
+++ b/src/dynamic_graph/tools.py
@@ -1,8 +1,6 @@
# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
-from __future__ import print_function
-
def addTrace(robot, trace, entityName, signalName, autoRecompute=True):
"""