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Commit c573696d authored by Guilhem Saurel's avatar Guilhem Saurel
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parent 60240642
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include/dynamic-graph/python/dynamic-graph-py.hh
View file @ c573696d
......@@ -17,24 +17,22 @@ namespace bp = boost::python;
namespace dynamicgraph {
namespace python {
template <typename Iterator> inline
bp::list to_py_list(Iterator begin, Iterator end) {
template <typename Iterator>
inline bp::list to_py_list(Iterator begin, Iterator end) {
typedef typename Iterator::value_type T;
bp::list lst;
std::for_each(begin, end, [&](const T& t) { lst.append(t); });
return lst;
}
template <typename Iterator> inline
bp::tuple to_py_tuple(Iterator begin, Iterator end) {
template <typename Iterator>
inline bp::tuple to_py_tuple(Iterator begin, Iterator end) {
return bp::tuple(to_py_list(begin, end));
}
template<typename T> inline
std::vector< T > to_std_vector( const bp::object& iterable )
{
return std::vector< T >( bp::stl_input_iterator< T >( iterable ),
bp::stl_input_iterator< T >( ) );
template <typename T>
inline std::vector<T> to_std_vector(const bp::object& iterable) {
return std::vector<T>(bp::stl_input_iterator<T>(iterable), bp::stl_input_iterator<T>());
}
void exposeSignals();
......@@ -50,7 +48,7 @@ void addCommands(boost::python::object obj);
void addSignals(boost::python::object obj);
Entity* create(const char* type, const char* name);
bp::object executeCmd (bp::tuple args, bp::dict);
bp::object executeCmd(bp::tuple args, bp::dict);
} // namespace entity
namespace factory {
......
include/dynamic-graph/python/module.hh
View file @ c573696d
......@@ -10,41 +10,40 @@
namespace dynamicgraph {
namespace python {
constexpr int AddSignals = 1;
constexpr int AddSignals = 1;
constexpr int AddCommands = 2;
namespace internal {
template<typename T, int Options = AddCommands | AddSignals>
template <typename T, int Options = AddCommands | AddSignals>
bp::object makeEntity1(const char* name) {
Entity* ent = entity::create(T::CLASS_NAME.c_str(), name);
assert(dynamic_cast<T*>(ent) != NULL);
bp::object obj(bp::ptr(static_cast<T*>(ent)));
if (Options & AddCommands) entity::addCommands(obj);
if (Options & AddSignals) entity::addSignals(obj);
if (Options & AddSignals) entity::addSignals(obj);
return obj;
}
template<typename T, int Options = AddCommands | AddSignals>
bp::object makeEntity2() { return makeEntity1<T, Options>(""); }
template <typename T, int Options = AddCommands | AddSignals>
bp::object makeEntity2() {
return makeEntity1<T, Options>("");
}
} // namespace internal
/// \tparam Options by default, all the signals and commands are added as
/// attribute to the Python object. This behaviour works fine for
/// entities that have static commands and signals.
/// If some commands or signals are added or removed dynamiccally, then
/// it is better to disable the default behaviour and handle it
/// specifically.
template<typename T,
typename bases = boost::python::bases<dynamicgraph::Entity>,
int Options = AddCommands | AddSignals>
inline auto exposeEntity ()
{
//std::string hiddenClassName ("_" + T::CLASS_NAME);
std::string hiddenClassName (T::CLASS_NAME);
template <typename T, typename bases = boost::python::bases<dynamicgraph::Entity>,
int Options = AddCommands | AddSignals>
inline auto exposeEntity() {
// std::string hiddenClassName ("_" + T::CLASS_NAME);
std::string hiddenClassName(T::CLASS_NAME);
namespace bp = boost::python;
bp::class_<T, bases, boost::noncopyable > obj (hiddenClassName.c_str(),
bp::init<std::string>());
bp::class_<T, bases, boost::noncopyable> obj(hiddenClassName.c_str(), bp::init<std::string>());
/* TODO at the moment, I couldn't easily find a way to define a Python constructor
* that would create the entity via the factory and then populate the
* python object with its commands.
......@@ -69,7 +68,7 @@ inline auto exposeEntity ()
return obj;
}
} // namespace python
} // namespace dynamicgraph
} // namespace python
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_PYTHON_MODULE_HH
#endif // DYNAMIC_GRAPH_PYTHON_MODULE_HH
include/dynamic-graph/python/signal-wrapper.hh
View file @ c573696d
......@@ -39,7 +39,7 @@ class SignalWrapper : public Signal<T, Time> {
this->setFunction(f);
}
virtual ~SignalWrapper() {};
virtual ~SignalWrapper(){};
private:
T& call(T& value, Time t) {
......
src/dynamic_graph/convert-dg-to-py.cc
View file @ c573696d
......@@ -80,13 +80,11 @@ bp::object fromValue(const command::Value& value) {
return bp::object(value.matrixXdValue());
case (Value::MATRIX4D):
return bp::object(value.matrix4dValue());
case (Value::VALUES):
{
bp::list list;
for(const Value& v : value.constValuesValue())
list.append(fromValue(v));
return list;
}
case (Value::VALUES): {
bp::list list;
for (const Value& v : value.constValuesValue()) list.append(fromValue(v));
return list;
}
case (Value::NONE):
default:
return bp::object();
......
src/dynamic_graph/debug-py.cc
View file @ c573696d
......@@ -24,8 +24,7 @@ namespace debug {
std::map<std::string, ofstreamShrPtr> mapOfFiles_;
void addLoggerFileOutputStream(const char* filename)
{
void addLoggerFileOutputStream(const char* filename) {
std::ofstream* aofs = new std::ofstream;
ofstreamShrPtr ofs_shrptr = boost::shared_ptr<std::ofstream>(aofs);
aofs->open(filename, std::ofstream::out);
......@@ -35,31 +34,17 @@ void addLoggerFileOutputStream(const char* filename)
mapOfFiles_[filename] = ofs_shrptr;
}
void closeLoggerFileOutputStream()
{
for (const auto& el : mapOfFiles_)
el.second->close();
void closeLoggerFileOutputStream() {
for (const auto& el : mapOfFiles_) el.second->close();
}
void addLoggerCoutOutputStream()
{
dgADD_OSTREAM_TO_RTLOG(std::cout);
}
void addLoggerCoutOutputStream() { dgADD_OSTREAM_TO_RTLOG(std::cout); }
void realTimeLoggerDestroy()
{
RealTimeLogger::destroy();
}
void realTimeLoggerDestroy() { RealTimeLogger::destroy(); }
void realTimeLoggerSpinOnce()
{
RealTimeLogger::instance().spinOnce();
}
void realTimeLoggerSpinOnce() { RealTimeLogger::instance().spinOnce(); }
void realTimeLoggerInstance()
{
RealTimeLogger::instance();
}
void realTimeLoggerInstance() { RealTimeLogger::instance(); }
} // namespace debug
} // namespace python
......
src/dynamic_graph/dynamic-graph-py.cc
View file @ c573696d
......@@ -33,13 +33,9 @@ namespace python {
/**
\brief plug a signal into another one.
*/
void plug(SignalBase<int>* signalOut, SignalBase<int>* signalIn)
{
signalIn->plug(signalOut);
}
void plug(SignalBase<int>* signalOut, SignalBase<int>* signalIn) { signalIn->plug(signalOut); }
void enableTrace(bool enable, const char* filename)
{
void enableTrace(bool enable, const char* filename) {
if (enable)
DebugTrace::openFile(filename);
else
......@@ -63,200 +59,175 @@ struct MapOfEntitiesPairToPythonConverter {
}
};
MapOfEntities* getEntityMap() {
return const_cast<MapOfEntities*>(&dg::PoolStorage::getInstance()->getEntityMap());
}
MapOfEntities* getEntityMap() { return const_cast<MapOfEntities*>(&dg::PoolStorage::getInstance()->getEntityMap()); }
dg::SignalBase<int>* getSignal(dg::Entity& e, const std::string& name) {
return &e.getSignal(name);
}
dg::SignalBase<int>* getSignal(dg::Entity& e, const std::string& name) { return &e.getSignal(name); }
class PythonEntity : public dg::Entity
{
DYNAMIC_GRAPH_ENTITY_DECL();
public:
class PythonEntity : public dg::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
using dg::Entity::Entity;
void signalRegistration(dg::SignalBase<int> &signal)
{
dg::Entity::signalRegistration(signal);
}
void signalDeregistration(const std::string &name)
{
dg::Entity::signalDeregistration(name);
}
void signalRegistration(dg::SignalBase<int>& signal) { dg::Entity::signalRegistration(signal); }
void signalDeregistration(const std::string& name) { dg::Entity::signalDeregistration(name); }
};
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PythonEntity, "PythonEntity");
void exposeEntityBase()
{
void exposeEntityBase() {
using namespace dynamicgraph;
bp::enum_<LoggerVerbosity> ("LoggerVerbosity")
.value("VERBOSITY_ALL" , VERBOSITY_ALL)
.value("VERBOSITY_INFO_WARNING_ERROR", VERBOSITY_INFO_WARNING_ERROR)
.value("VERBOSITY_WARNING_ERROR" , VERBOSITY_WARNING_ERROR)
.value("VERBOSITY_ERROR" , VERBOSITY_ERROR)
.value("VERBOSITY_NONE" , VERBOSITY_NONE)
.export_values();
bp::enum_<LoggerVerbosity>("LoggerVerbosity")
.value("VERBOSITY_ALL", VERBOSITY_ALL)
.value("VERBOSITY_INFO_WARNING_ERROR", VERBOSITY_INFO_WARNING_ERROR)
.value("VERBOSITY_WARNING_ERROR", VERBOSITY_WARNING_ERROR)
.value("VERBOSITY_ERROR", VERBOSITY_ERROR)
.value("VERBOSITY_NONE", VERBOSITY_NONE)
.export_values();
bp::class_<Entity, boost::noncopyable>("Entity", bp::no_init)
.add_property ("name",
bp::make_function(&Entity::getName, bp::return_value_policy<bp::copy_const_reference>()))
.add_property ("className",
bp::make_function(&Entity::getClassName, bp::return_value_policy<bp::copy_const_reference>()),
"the class name of the Entity")
.add_property ("__doc__", &Entity::getDocString)
.def("setLoggerVerbosityLevel", &Entity::setLoggerVerbosityLevel)
.def("getLoggerVerbosityLevel", &Entity::getLoggerVerbosityLevel)
.add_property("loggerVerbosityLevel", &Entity::setLoggerVerbosityLevel,
&Entity::getLoggerVerbosityLevel, "the verbosity level of the entity")
.def("setTimeSample", &Entity::setTimeSample)
.def("getTimeSample", &Entity::getTimeSample)
.add_property("timeSample", &Entity::getTimeSample, &Entity::setTimeSample,
"the time sample for printing debugging information")
.def("setStreamPrintPeriod", &Entity::setStreamPrintPeriod)
.def("getStreamPrintPeriod", &Entity::getStreamPrintPeriod)
.add_property("streamPrintPeriod", &Entity::getStreamPrintPeriod,
&Entity::setStreamPrintPeriod,
"set the period at which debugging information are printed")
.def("__str__", +[](const Entity& e) -> std::string {
std::ostringstream os;
e.display(os);
return os.str();
})
.def("signals", +[](const Entity& e) -> bp::list {
bp::list ret;
for (auto& el : e.getSignalMap())
ret.append(bp::ptr(el.second));
return ret;
}, "Return the list of signals.")
//.def("signal", +[](Entity& e, const std::string &name) { return &e.getSignal(name); },
//reference_existing_object())
.def("signal", &getSignal, reference_existing_object(),
"get signal by name from an Entity", bp::arg("name"))
.def("hasSignal", &Entity::hasSignal,
"return True if the entity has a signal with the given name")
.def("displaySignals", +[](const Entity& e) {
Entity::SignalMap signals (e.getSignalMap());
std::cout << "--- <" << e.getName();
if (signals.empty())
std::cout << "> has no signal\n";
else
std::cout << "> signal list:\n";
for(const auto& el : signals)
el.second->display(std::cout << " |-- <") << '\n';
},
"Print the list of signals into standard output: temporary.")
/*
.def("__getattr__", +[](Entity& e, const std::string &name) -> SignalBase<int>* { return &e.getSignal(name); },
reference_existing_object())
def __getattr__(self, name):
try:
return self.signal(name)
except Exception:
try:
object.__getattr__(self, name)
except AttributeError:
raise AttributeError("'%s' entity has no attribute %s\n" % (self.name, name) +
' entity attributes are usually either\n' + ' - commands,\n' +
' - signals or,\n' + ' - user defined attributes')
*/
/*
.def("__setattr__", +[](bp::object self, const std::string &name, bp::object value) {
Entity& e = bp::extract<Entity&> (self);
if (e.hasSignal(name))
throw std::invalid_argument(name + " already designates a signal. "
"It is not advised to set a new attribute of the same name.");
// TODO How do you do that ? I am sure it is possible.
//object.__setattr__(self, name, value)
})
*/
/* TODO ?
def boundNewCommand(self, cmdName):
"""
At construction, all existing commands are bound directly in the class.
This method enables to bound new commands dynamically. These new bounds
are not made with the class, but directly with the object instance.
"""
def boundAllNewCommands(self):
"""
For all commands that are not attribute of the object instance nor of the
class, a new attribute of the instance is created to bound the command.
"""
*/
// For backward compat
.add_static_property ("entities", bp::make_function(&getEntityMap, reference_existing_object()))
;
python::exposeEntity<PythonEntity, bp::bases<Entity>, 0>()
.add_property("name", bp::make_function(&Entity::getName, bp::return_value_policy<bp::copy_const_reference>()))
.add_property("className",
bp::make_function(&Entity::getClassName, bp::return_value_policy<bp::copy_const_reference>()),
"the class name of the Entity")
.add_property("__doc__", &Entity::getDocString)
.def("setLoggerVerbosityLevel", &Entity::setLoggerVerbosityLevel)
.def("getLoggerVerbosityLevel", &Entity::getLoggerVerbosityLevel)
.add_property("loggerVerbosityLevel", &Entity::setLoggerVerbosityLevel, &Entity::getLoggerVerbosityLevel,
"the verbosity level of the entity")
.def("setTimeSample", &Entity::setTimeSample)
.def("getTimeSample", &Entity::getTimeSample)
.add_property("timeSample", &Entity::getTimeSample, &Entity::setTimeSample,
"the time sample for printing debugging information")
.def("setStreamPrintPeriod", &Entity::setStreamPrintPeriod)
.def("getStreamPrintPeriod", &Entity::getStreamPrintPeriod)
.add_property("streamPrintPeriod", &Entity::getStreamPrintPeriod, &Entity::setStreamPrintPeriod,
"set the period at which debugging information are printed")
.def("__str__",
+[](const Entity& e) -> std::string {
std::ostringstream os;
e.display(os);
return os.str();
})
.def("signals",
+[](const Entity& e) -> bp::list {
bp::list ret;
for (auto& el : e.getSignalMap()) ret.append(bp::ptr(el.second));
return ret;
},
"Return the list of signals.")
//.def("signal", +[](Entity& e, const std::string &name) { return &e.getSignal(name); },
// reference_existing_object())
.def("signal", &getSignal, reference_existing_object(), "get signal by name from an Entity", bp::arg("name"))
.def("hasSignal", &Entity::hasSignal, "return True if the entity has a signal with the given name")
.def("displaySignals",
+[](const Entity& e) {
Entity::SignalMap signals(e.getSignalMap());
std::cout << "--- <" << e.getName();
if (signals.empty())
std::cout << "> has no signal\n";
else
std::cout << "> signal list:\n";
for (const auto& el : signals) el.second->display(std::cout << " |-- <") << '\n';
},
"Print the list of signals into standard output: temporary.")
/*
.def("__getattr__", +[](Entity& e, const std::string &name) -> SignalBase<int>* { return &e.getSignal(name); },
reference_existing_object())
def __getattr__(self, name):
try:
return self.signal(name)
except Exception:
try:
object.__getattr__(self, name)
except AttributeError:
raise AttributeError("'%s' entity has no attribute %s\n" % (self.name, name) +
' entity attributes are usually either\n' + ' - commands,\n' +
' - signals or,\n' + ' - user defined attributes')
*/
/*
.def("__setattr__", +[](bp::object self, const std::string &name, bp::object value) {
Entity& e = bp::extract<Entity&> (self);
if (e.hasSignal(name))
throw std::invalid_argument(name + " already designates a signal. "
"It is not advised to set a new attribute of the same name.");
// TODO How do you do that ? I am sure it is possible.
//object.__setattr__(self, name, value)
})
*/
/* TODO ?
def boundNewCommand(self, cmdName):
"""
At construction, all existing commands are bound directly in the class.
This method enables to bound new commands dynamically. These new bounds
are not made with the class, but directly with the object instance.
"""
def boundAllNewCommands(self):
"""
For all commands that are not attribute of the object instance nor of the
class, a new attribute of the instance is created to bound the command.
"""
*/
// For backward compat
.add_static_property("entities", bp::make_function(&getEntityMap, reference_existing_object()));
python::exposeEntity<PythonEntity, bp::bases<Entity>, 0>()
.def("signalRegistration", &PythonEntity::signalRegistration)
.def("signalDeregistration", &PythonEntity::signalDeregistration)
;
.def("signalDeregistration", &PythonEntity::signalDeregistration);
python::exposeEntity<python::PythonSignalContainer, bp::bases<Entity>, 0>()
.def("rmSignal", &python::PythonSignalContainer::rmSignal, "Remove a signal", bp::arg("signal_name"))
;
python::exposeEntity<python::PythonSignalContainer, bp::bases<Entity>, 0>().def(
"rmSignal", &python::PythonSignalContainer::rmSignal, "Remove a signal", bp::arg("signal_name"));
}
void exposeCommand()
{
void exposeCommand() {
using dg::command::Command;
bp::class_<Command, boost::noncopyable> ("Command", bp::no_init)
.def ("__call__", bp::raw_function(dg::python::entity::executeCmd, 1), "execute the command")
.add_property ("__doc__", &Command::getDocstring)
;
bp::class_<Command, boost::noncopyable>("Command", bp::no_init)
.def("__call__", bp::raw_function(dg::python::entity::executeCmd, 1), "execute the command")
.add_property("__doc__", &Command::getDocstring);
}
void exposeOldAPI()
{
bp::def ("plug", dynamicgraph::python::plug, "plug an output signal into an input signal", (bp::arg("signalOut"), "signalIn"));
bp::def ("enableTrace", dynamicgraph::python::enableTrace, "Enable or disable tracing debug info in a file");
void exposeOldAPI() {
bp::def("plug", dynamicgraph::python::plug, "plug an output signal into an input signal",
(bp::arg("signalOut"), "signalIn"));
bp::def("enableTrace", dynamicgraph::python::enableTrace, "Enable or disable tracing debug info in a file");
// Signals
bp::def ("create_signal_wrapper", dynamicgraph::python::signalBase::createSignalWrapper,
reference_existing_object(), "create a SignalWrapper C++ object");
// Entity
bp::def ("factory_get_entity_class_list", dynamicgraph::python::factory::getEntityClassList,
"return the list of entity classes");
bp::def ("writeGraph", dynamicgraph::python::pool::writeGraph, "Write the graph of entities in a filename.");
bp::def ("get_entity_list", dynamicgraph::python::pool::getEntityList,
"return the list of instanciated entities");
bp::def ("addLoggerFileOutputStream", dynamicgraph::python::debug::addLoggerFileOutputStream,
"add a output file stream to the logger by filename");
bp::def ("addLoggerCoutOutputStream", dynamicgraph::python::debug::addLoggerCoutOutputStream,
"add std::cout as output stream to the logger");
bp::def ("closeLoggerFileOutputStream", dynamicgraph::python::debug::closeLoggerFileOutputStream,
"close all the loggers file output streams.");
bp::def ("real_time_logger_destroy", dynamicgraph::python::debug::realTimeLoggerDestroy,
"Destroy the real time logger.");
bp::def ("real_time_logger_spin_once", dynamicgraph::python::debug::realTimeLoggerSpinOnce,
"Destroy the real time logger.");
bp::def ("real_time_logger_instance", dynamicgraph::python::debug::realTimeLoggerInstance,
"Starts the real time logger.");
bp::def("create_signal_wrapper", dynamicgraph::python::signalBase::createSignalWrapper, reference_existing_object(),
"create a SignalWrapper C++ object");
// Entity
bp::def("factory_get_entity_class_list", dynamicgraph::python::factory::getEntityClassList,
"return the list of entity classes");
bp::def("writeGraph", dynamicgraph::python::pool::writeGraph, "Write the graph of entities in a filename.");
bp::def("get_entity_list", dynamicgraph::python::pool::getEntityList, "return the list of instanciated entities");
bp::def("addLoggerFileOutputStream", dynamicgraph::python::debug::addLoggerFileOutputStream,
"add a output file stream to the logger by filename");
bp::def("addLoggerCoutOutputStream", dynamicgraph::python::debug::addLoggerCoutOutputStream,
"add std::cout as output stream to the logger");
bp::def("closeLoggerFileOutputStream", dynamicgraph::python::debug::closeLoggerFileOutputStream,
"close all the loggers file output streams.");
bp::def("real_time_logger_destroy", dynamicgraph::python::debug::realTimeLoggerDestroy,
"Destroy the real time logger.");
bp::def("real_time_logger_spin_once", dynamicgraph::python::debug::realTimeLoggerSpinOnce,
"Destroy the real time logger.");
bp::def("real_time_logger_instance", dynamicgraph::python::debug::realTimeLoggerInstance,
"Starts the real time logger.");
}
void enableEigenPy()
{
void enableEigenPy() {
eigenpy::enableEigenPy();
if(!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>())
eigenpy::exposeQuaternion();
if(!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>())
eigenpy::exposeAngleAxis();
if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::Quaterniond>()) eigenpy::exposeQuaternion();
if (!eigenpy::register_symbolic_link_to_registered_type<Eigen::AngleAxisd>()) eigenpy::exposeAngleAxis();
eigenpy::enableEigenPySpecific<Eigen::Matrix4d>();
}
BOOST_PYTHON_MODULE(wrap)
{
BOOST_PYTHON_MODULE(wrap) {
enableEigenPy();
exposeOldAPI();
......@@ -267,24 +238,23 @@ BOOST_PYTHON_MODULE(wrap)
typedef dg::PoolStorage::Entities MapOfEntities;
bp::class_<MapOfEntities>("MapOfEntities")
.def("__len__", &MapOfEntities::size)
.def("keys", +[](const MapOfEntities& m) -> bp::tuple {
bp::list res;
for (const auto& el : m) res.append(el.first);
return bp::tuple(res);
})
.def("values", +[](const MapOfEntities& m) -> bp::tuple {
bp::list res;
for (const auto& el : m) res.append(bp::ptr(el.second));
return bp::tuple(res);
})
.def("__getitem__",
static_cast<dg::Entity*& (MapOfEntities::*) (const std::string& k)> (&MapOfEntities::at),
reference_existing_object())
.def("__setitem__", +[](MapOfEntities& m, const std::string& n, dg::Entity* e)
{ m.emplace(n, e); })
.def("__iter__", bp::iterator<MapOfEntities>())
.def("__contains__", +[](const MapOfEntities& m, const std::string& n) -> bool { return m.count(n); })
;
bp::to_python_converter<MapOfEntities::value_type, MapOfEntitiesPairToPythonConverter >();
.def("__len__", &MapOfEntities::size)
.def("keys",
+[](const MapOfEntities& m) -> bp::tuple {
bp::list res;
for (const auto& el : m) res.append(el.first);
return bp::tuple(res);
})
.def("values",
+[](const MapOfEntities& m) -> bp::tuple {
bp::list res;
for (const auto& el : m) res.append(bp::ptr(el.second));
return bp::tuple(res);
})
.def("__getitem__", static_cast<dg::Entity*& (MapOfEntities::*)(const std::string& k)>(&MapOfEntities::at),
reference_existing_object())
.def("__setitem__"