From abd1a6c49c2a94427cc66dd4f2ded29341f53ff3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 15 Feb 2018 16:50:01 +0100
Subject: [PATCH] Add entity PythonSignalContainer
* as a container of the signals created with create_signal_wrapper.
* This makes them available to other entities via the pool.
---
src/signal-base-py.cc | 43 +++++++++++++++++++++++++++++++++++++++----
src/signal-wrapper.cc | 7 +++++--
src/signal-wrapper.hh | 14 ++++++++++++++
3 files changed, 58 insertions(+), 6 deletions(-)
diff --git a/src/signal-base-py.cc b/src/signal-base-py.cc
index 6cf5fd7..a37ecc2 100644
--- a/src/signal-base-py.cc
+++ b/src/signal-base-py.cc
@@ -22,6 +22,8 @@
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-caster.h>
#include <dynamic-graph/linear-algebra.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/factory.h>
#include "convert-dg-to-py.hh"
#include "exception.hh"
@@ -57,7 +59,7 @@ namespace dynamicgraph {
return PyCObject_FromVoidPtr((void*)obj, destroy);
}
- template <class T> void* createSignalWrapperTpl (const char* name, PyObject* o, std::string& error)
+ template <class T> SignalWrapper<T, int>* createSignalWrapperTpl (const char* name, PyObject* o, std::string& error)
{
typedef SignalWrapper<T, int> SignalWrapper_t;
if (!SignalWrapper_t::checkCallable (o, error)) {
@@ -65,7 +67,33 @@ namespace dynamicgraph {
}
SignalWrapper_t* obj = new SignalWrapper_t(name, o);
- return (void*) obj;
+ return obj;
+ }
+
+ PythonSignalContainer* getPythonSignalContainer ()
+ {
+ const std::string instanceName = "python_signals";
+ const std::string className = "PythonSignalContainer";
+ Entity* obj;
+ if( PoolStorage::getInstance()->existEntity(instanceName, obj))
+ {
+ if( obj->getClassName()!=className ) {
+ std::string msg ("Found an object named "
+ + std::string(instanceName)
+ + ",\n""but this object is of type "
+ + std::string(obj->getClassName())
+ + " and not "
+ + std::string(className));
+ PyErr_SetString(dgpyError, msg.c_str());
+ return NULL;
+ }
+ } else {
+ try {
+ obj = FactoryStorage::getInstance()->newEntity
+ (std::string(className), std::string(instanceName));
+ } CATCH_ALL_EXCEPTIONS();
+ }
+ return dynamic_cast<PythonSignalContainer*>(obj);
}
#define SIGNAL_WRAPPER_TYPE(IF, Enum, Type) \
@@ -79,6 +107,10 @@ namespace dynamicgraph {
*/
PyObject* createSignalWrapper(PyObject* /*self*/, PyObject* args)
{
+ PythonSignalContainer* psc = getPythonSignalContainer();
+ if (psc == NULL)
+ return NULL;
+
char *name = NULL;
char *type = NULL;
PyObject* object = NULL;
@@ -86,7 +118,7 @@ namespace dynamicgraph {
if (!PyArg_ParseTuple(args, "ssO", &name, &type, &object))
return NULL;
- void* obj = NULL;
+ SignalBase<int>* obj = NULL;
std::string error;
SIGNAL_WRAPPER_TYPE( if, BOOL ,bool)
// SIGNAL_WRAPPER_TYPE(else if, UNSIGNED ,bool)
@@ -105,8 +137,11 @@ namespace dynamicgraph {
PyErr_SetString(dgpyError, error.c_str());
return NULL;
}
+ // Register signal into the python signal container
+ psc->signalRegistration(*obj);
+
// Return the pointer
- return PyCObject_FromVoidPtr(obj, destroy);
+ return PyCObject_FromVoidPtr((void*)obj, destroy);
}
/**
diff --git a/src/signal-wrapper.cc b/src/signal-wrapper.cc
index 2e80a9a..53dfcd9 100644
--- a/src/signal-wrapper.cc
+++ b/src/signal-wrapper.cc
@@ -14,10 +14,11 @@
// received a copy of the GNU Lesser General Public License along with
// dynamic-graph-python. If not, see <http://www.gnu.org/licenses/>.
-#include <Python.h>
-
#include <signal-wrapper.hh>
+#include <Python.h>
+#include <dynamic-graph/factory.h>
+
namespace dynamicgraph {
namespace python {
namespace signalWrapper {
@@ -33,6 +34,8 @@ namespace dynamicgraph {
}
}
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PythonSignalContainer, "PythonSignalContainer");
+
template <class T, class Time>
bool SignalWrapper<T,Time>::checkCallable (PyObject* c, std::string& error)
{
diff --git a/src/signal-wrapper.hh b/src/signal-wrapper.hh
index d37d345..8dcc9f7 100644
--- a/src/signal-wrapper.hh
+++ b/src/signal-wrapper.hh
@@ -18,6 +18,7 @@
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal.h>
+#include <dynamic-graph/entity.h>
namespace dynamicgraph {
namespace python {
@@ -32,6 +33,19 @@ namespace dynamicgraph {
// void convert (PyObject* o, Eigen::Matrix4d& v);
}
+ class PythonSignalContainer : public Entity
+ {
+ DYNAMIC_GRAPH_ENTITY_DECL();
+
+ public:
+ PythonSignalContainer (const std::string& name) : Entity (name) {};
+
+ void signalRegistration (const SignalArray<int>& signals)
+ {
+ Entity::signalRegistration (signals);
+ }
+ };
+
template <class T, class Time>
class SignalWrapper : public Signal<T, Time>
{
--
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