Merge branch 'master' into devel

CMakeLists.txt

@@ -30,33 +30,38 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 FINDPYTHON()
 
 ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
-SET(BOOST_COMPONENTS filesystem system thread program_options unit_test_framework python)
-SEARCH_FOR_BOOST()
-
+ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy)
+SEARCH_FOR_BOOST_PYTHON(REQUIRED)
+IF(BUILD_TESTING)
+  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
+ENDIF(BUILD_TESTING)
 
 # Main Library
 SET(${PROJECT_NAME}_HEADERS
   include/${CUSTOM_HEADER_DIR}/api.hh
   include/${CUSTOM_HEADER_DIR}/convert-dg-to-py.hh
   include/${CUSTOM_HEADER_DIR}/dynamic-graph-py.hh
-  include/${CUSTOM_HEADER_DIR}/exception.hh
-  include/${CUSTOM_HEADER_DIR}/exception-python.hh
   include/${CUSTOM_HEADER_DIR}/interpreter.hh
+  include/${CUSTOM_HEADER_DIR}/module.hh
   include/${CUSTOM_HEADER_DIR}/python-compat.hh
+  include/${CUSTOM_HEADER_DIR}/signal.hh
   include/${CUSTOM_HEADER_DIR}/signal-wrapper.hh
   )
 
 SET(${PROJECT_NAME}_SOURCES
   src/interpreter.cc
   src/dynamic_graph/python-compat.cc
+  src/dynamic_graph/entity-py.cc
+  src/dynamic_graph/convert-dg-to-py.cc
   )
 
 ADD_LIBRARY(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIRS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${PYTHON_INCLUDE_DIR})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES}
-  ${PYTHON_LIBRARY} ${Boost_PYTHON_LIBRARIES} dynamic-graph::dynamic-graph)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${PYTHON_LIBRARY}
+  dynamic-graph::dynamic-graph)
+TARGET_LINK_BOOST_PYTHON(${PROJECT_NAME} PRIVATE)
 
 IF(SUFFIX_SO_VERSION)
   SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
@@ -67,7 +72,9 @@ TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PRIVATE PYTHON_LIBRARY="${PYTHON_LIBR
 INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 
 ADD_SUBDIRECTORY(src)
-ADD_SUBDIRECTORY(tests)
+IF(BUILD_TESTING)
+  ADD_SUBDIRECTORY(tests)
+ENDIF(BUILD_TESTING)
 
 PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})

cmake @ 91f97c1c

-Subproject commit fb4c22c319ec5320f9a85527eb1a4130954846f5
+Subproject commit 91f97c1c31608f48d697a6b11037f13e878b9837

include/dynamic-graph/python/convert-dg-to-py.hh

 // Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
 
+#include <boost/python.hpp>
+
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/value.h>
-#include <dynamic-graph/python/exception-python.hh>
 
 namespace dynamicgraph {
 namespace python {
 namespace convert {
 
-command::Value pythonToValue(PyObject* pyObject, const command::Value::Type& valueType);
-PyObject* vectorToPython(const Vector& vector);
-PyObject* matrixToPython(const ::dynamicgraph::Matrix& matrix);
-PyObject* matrix4dToPython(const Eigen::Matrix4d& matrix);
-PyObject* valueToPython(const ::dynamicgraph::command::Value& value);
+command::Value toValue(boost::python::object o, const command::Value::Type& type);
+boost::python::object fromValue(const command::Value& value);
 
 }  // namespace convert
 }  // namespace python

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

@@ -4,189 +4,70 @@
 #include <iostream>
 #include <sstream>
 
+#include <boost/python.hpp>
+
 #include <dynamic-graph/debug.h>
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/signal-base.h>
 
 #include "dynamic-graph/python/signal-wrapper.hh"
 
+namespace bp = boost::python;
+
 namespace dynamicgraph {
 namespace python {
 
+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) {
+  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>());
+}
+
+void exposeSignals();
+
 // Declare functions defined in other source files
 namespace signalBase {
-PyObject* create(PyObject* self, PyObject* args);
-PyObject* createSignalWrapper(PyObject* self, PyObject* args);
-PyObject* getTime(PyObject* self, PyObject* args);
-PyObject* setTime(PyObject* self, PyObject* args);
-PyObject* getName(PyObject* self, PyObject* args);
-PyObject* getClassName(PyObject* self, PyObject* args);
-PyObject* display(PyObject* self, PyObject* args);
-PyObject* displayDependencies(PyObject* self, PyObject* args);
-PyObject* getValue(PyObject* self, PyObject* args);
-PyObject* setValue(PyObject* self, PyObject* args);
-PyObject* recompute(PyObject* self, PyObject* args);
-PyObject* unplug(PyObject* self, PyObject* args);
-PyObject* isPlugged(PyObject* self, PyObject* args);
-PyObject* getPlugged(PyObject* self, PyObject* args);
+SignalBase<int>* createSignalWrapper(const char* name, const char* type, bp::object object);
 }  // namespace signalBase
 namespace entity {
-PyObject* create(PyObject* self, PyObject* args);
-PyObject* display(PyObject* self, PyObject* args);
-PyObject* display(PyObject* self, PyObject* args);
-PyObject* getName(PyObject* self, PyObject* args);
-PyObject* getClassName(PyObject* self, PyObject* args);
-PyObject* hasSignal(PyObject* self, PyObject* args);
-PyObject* getSignal(PyObject* self, PyObject* args);
-PyObject* listSignals(PyObject* self, PyObject* args);
-PyObject* executeCommand(PyObject* self, PyObject* args);
-PyObject* listCommands(PyObject* self, PyObject* args);
-PyObject* getCommandDocstring(PyObject* self, PyObject* args);
-PyObject* getDocString(PyObject* self, PyObject* args);
-PyObject* setLoggerVerbosityLevel(PyObject* self, PyObject* args);
-PyObject* getLoggerVerbosityLevel(PyObject* self, PyObject* args);
-PyObject* setTimeSample(PyObject* self, PyObject* args);
-PyObject* getTimeSample(PyObject* self, PyObject* args);
-PyObject* setStreamPrintPeriod(PyObject* self, PyObject* args);
-PyObject* getStreamPrintPeriod(PyObject* self, PyObject* args);
+
+/// \param obj an Entity object
+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);
 }  // namespace entity
 
 namespace factory {
-PyObject* getEntityClassList(PyObject* self, PyObject* args);
-}
-namespace signalCaster {
-PyObject* getSignalTypeList(PyObject* self, PyObject* args);
+bp::tuple getEntityClassList();
 }
 namespace pool {
-PyObject* writeGraph(PyObject* self, PyObject* args);
-PyObject* getEntityList(PyObject* self, PyObject* args);
+void writeGraph(const char* filename);
+bp::list getEntityList();
+const std::map<std::string, Entity*>* getEntityMap();
 }  // namespace pool
 namespace debug {
-PyObject* addLoggerFileOutputStream(PyObject* self, PyObject* args);
-PyObject* addLoggerCoutOutputStream(PyObject* self, PyObject* args);
-PyObject* closeLoggerFileOutputStream(PyObject* self, PyObject* args);
-PyObject* realTimeLoggerSpinOnce(PyObject* self, PyObject* args);
-PyObject* realTimeLoggerDestroy(PyObject* self, PyObject* args);
-PyObject* realTimeLoggerInstance(PyObject* self, PyObject* args);
+void addLoggerFileOutputStream(const char* filename);
+void addLoggerCoutOutputStream();
+void closeLoggerFileOutputStream();
+void realTimeLoggerSpinOnce();
+void realTimeLoggerDestroy();
+void realTimeLoggerInstance();
 }  // namespace debug
 
-struct module_state {
-  PyObject* dgpyError;
-};
-
-PyObject* plug(PyObject* /*self*/, PyObject* args);
-
-PyObject* enableTrace(PyObject* /*self*/, PyObject* args);
-
-PyObject* error_out(
-#if PY_MAJOR_VERSION >= 3
-    PyObject* m, PyObject*
-#else
-    PyObject*, PyObject*
-#endif
-);
-
-/**
-   \brief List of python functions
-*/
-__attribute__((unused)) static PyMethodDef dynamicGraphMethods[] = {
-    {"w_plug", dynamicgraph::python::plug, METH_VARARGS, "plug an output signal into an input signal"},
-    {"enableTrace", dynamicgraph::python::enableTrace, METH_VARARGS, "Enable or disable tracing debug info in a file"},
-    // Signals
-    {"create_signal_base", dynamicgraph::python::signalBase::create, METH_VARARGS, "create a SignalBase C++ object"},
-    {"create_signal_wrapper", dynamicgraph::python::signalBase::createSignalWrapper, METH_VARARGS,
-     "create a SignalWrapper C++ object"},
-    {"signal_base_get_time", dynamicgraph::python::signalBase::getTime, METH_VARARGS, "Get time of  a SignalBase"},
-    {"signal_base_set_time", dynamicgraph::python::signalBase::setTime, METH_VARARGS, "Set time of  a SignalBase"},
-    {"signal_base_get_name", dynamicgraph::python::signalBase::getName, METH_VARARGS, "Get the name of a signal"},
-    {"signal_base_get_class_name", dynamicgraph::python::signalBase::getClassName, METH_VARARGS,
-     "Get the class name of a signal"},
-    {"signal_base_display", dynamicgraph::python::signalBase::display, METH_VARARGS, "Print the signal in a string"},
-    {"signal_base_display_dependencies", dynamicgraph::python::signalBase::displayDependencies, METH_VARARGS,
-     "Print the signal dependencies in a string"},
-    {"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"},
-    {"signal_base_recompute", dynamicgraph::python::signalBase::recompute, METH_VARARGS,
-     "Recompute the signal at given time"},
-    {"signal_base_unplug", dynamicgraph::python::signalBase::unplug, METH_VARARGS, "Unplug the signal"},
-    {"signal_base_isPlugged", dynamicgraph::python::signalBase::isPlugged, METH_VARARGS,
-     "Whether the signal is plugged"},
-    {"signal_base_getPlugged", dynamicgraph::python::signalBase::getPlugged, METH_VARARGS,
-     "To which signal the signal is plugged"},
-    // Entity
-    {"create_entity", dynamicgraph::python::entity::create, METH_VARARGS, "create an Entity C++ object"},
-    {"display_entity", dynamicgraph::python::entity::display, METH_VARARGS, "print an Entity C++ object"},
-    {"entity_get_name", dynamicgraph::python::entity::getName, METH_VARARGS, "get the name of an Entity"},
-    {"entity_get_class_name", dynamicgraph::python::entity::getClassName, METH_VARARGS,
-     "get the class name of an Entity"},
-    {"entity_has_signal", dynamicgraph::python::entity::hasSignal, METH_VARARGS,
-     "return True if the entity has a signal with the given name"},
-    {"entity_get_signal", dynamicgraph::python::entity::getSignal, METH_VARARGS, "get signal by name from an Entity"},
-    {"entity_list_signals", dynamicgraph::python::entity::listSignals, METH_VARARGS,
-     "Return the list of signals of an entity."},
-    {"entity_execute_command", dynamicgraph::python::entity::executeCommand, METH_VARARGS, "execute a command"},
-    {"entity_list_commands", dynamicgraph::python::entity::listCommands, METH_VARARGS,
-     "list the commands of an entity"},
-    {"entity_get_command_docstring", dynamicgraph::python::entity::getCommandDocstring, METH_VARARGS,
-     "get the docstring of an entity command"},
-    {"entity_get_docstring", dynamicgraph::python::entity::getDocString, METH_VARARGS,
-     "get the doc string of an entity type"},
-    {"factory_get_entity_class_list", dynamicgraph::python::factory::getEntityClassList, METH_VARARGS,
-     "return the list of entity classes"},
-    {"signal_caster_get_type_list", dynamicgraph::python::signalCaster::getSignalTypeList, METH_VARARGS,
-     "return the list of signal type names"},
-    {"writeGraph", dynamicgraph::python::pool::writeGraph, METH_VARARGS, "Write the graph of entities in a filename."},
-    {"get_entity_list", dynamicgraph::python::pool::getEntityList, METH_VARARGS,
-     "return the list of instanciated entities"},
-    {"entity_set_logger_verbosity", dynamicgraph::python::entity::setLoggerVerbosityLevel, METH_VARARGS,
-     "set the verbosity level of the entity"},
-    {"entity_get_logger_verbosity", dynamicgraph::python::entity::getLoggerVerbosityLevel, METH_VARARGS,
-     "get the verbosity level of the entity"},
-    {"addLoggerFileOutputStream", dynamicgraph::python::debug::addLoggerFileOutputStream, METH_VARARGS,
-     "add a output file stream to the logger by filename"},
-    {"addLoggerCoutOutputStream", dynamicgraph::python::debug::addLoggerCoutOutputStream, METH_VARARGS,
-     "add std::cout as output stream to the logger"},
-    {"closeLoggerFileOutputStream", dynamicgraph::python::debug::closeLoggerFileOutputStream, METH_VARARGS,
-     "close all the loggers file output streams."},
-    {"entity_set_time_sample", dynamicgraph::python::entity::setTimeSample, METH_VARARGS,
-     "set the time sample for printing debugging information"},
-    {"entity_get_time_sample", dynamicgraph::python::entity::getTimeSample, METH_VARARGS,
-     "get the time sample for printing debugging information"},
-    {"entity_set_stream_print_period", dynamicgraph::python::entity::setStreamPrintPeriod, METH_VARARGS,
-     "set the period at which debugging information are printed"},
-    {"entity_get_stream_print_period", dynamicgraph::python::entity::getStreamPrintPeriod, METH_VARARGS,
-     "get the period at which debugging information are printed"},
-    {"real_time_logger_destroy", dynamicgraph::python::debug::realTimeLoggerDestroy, METH_VARARGS,
-     "Destroy the real time logger."},
-    {"real_time_logger_spin_once", dynamicgraph::python::debug::realTimeLoggerSpinOnce, METH_VARARGS,
-     "Destroy the real time logger."},
-    {"real_time_logger_instance", dynamicgraph::python::debug::realTimeLoggerInstance, METH_VARARGS,
-     "Starts the real time logger."},
-    {"error_out", (PyCFunction)dynamicgraph::python::error_out, METH_NOARGS, NULL},
-    {NULL, NULL, 0, NULL} /* Sentinel */
-};
-
-#if PY_MAJOR_VERSION >= 3
-__attribute__((unused)) static struct PyModuleDef dynamicGraphModuleDef = {
-    PyModuleDef_HEAD_INIT,
-    "wrap",
-    NULL,
-    sizeof(struct dynamicgraph::python::module_state),
-    dynamicGraphMethods,
-    NULL,
-    NULL,
-    NULL,
-    NULL};
-#define GETSTATE(m) ((struct dynamicgraph::python::module_state*)PyModule_GetState(m))
-#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(m) dynamicgraph::python::dgpyError
-#define INITERROR return
-#endif
-
 }  // namespace python
 }  // namespace dynamicgraph
 

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

-// -*- mode: c++ -*-
-// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
-// JRL, CNRS/AIST.
-
-#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
-#define DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
-
-#include <dynamic-graph/fwd.hh>
-#include <dynamic-graph/exception-abstract.h>
-#include "dynamic-graph/python/python-compat.hh"
-
-// Depending on whether one is building or using the
-// library define DLLAPI to import or export.
-#if defined(WIN32)
-#if defined(wrap_EXPORTS)
-#define WRAP_DLLAPI __declspec(dllexport)
-#else
-#define WRAP_DLLAPI __declspec(dllimport)
-#endif
-#else
-#define WRAP_DLLAPI
-#endif
-
-namespace dynamicgraph {
-namespace python {
-
-/// \ingroup error
-///
-/// \brief Generic error class.
-class WRAP_DLLAPI ExceptionPython : public ExceptionAbstract {
- public:
-  enum ErrorCodeEnum { GENERIC, VALUE_PARSING, VECTOR_PARSING, MATRIX_PARSING, CLASS_INCONSISTENT };
-
-  static const std::string EXCEPTION_NAME;
-
-  explicit ExceptionPython(const ExceptionPython::ErrorCodeEnum& errcode, const std::string& msg = "");
-
-  ExceptionPython(const ExceptionPython::ErrorCodeEnum& errcode, const std::string& msg, const char* format, ...);
-
-  virtual ~ExceptionPython() throw() {}
-
-  virtual const std::string& getExceptionName() const { return ExceptionPython::EXCEPTION_NAME; }
-};
-}  // end of namespace python
-}  // end of namespace dynamicgraph
-
-#endif  //! DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H

include/dynamic-graph/python/exception.hh

-// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
-
-#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION
-#define DYNAMIC_GRAPH_PYTHON_EXCEPTION
-
-#include "dynamic-graph/python/dynamic-graph-py.hh"
-
-/// \brief Catch all exceptions which may be sent when C++ code is
-/// called.
-#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

include/dynamic-graph/python/module.hh

+#ifndef DYNAMIC_GRAPH_PYTHON_MODULE_HH
+#define DYNAMIC_GRAPH_PYTHON_MODULE_HH
+
+#ifdef PINOCCHIO_WITH_URDFDOM
+// If pinocchio is used, we have to include pinocchio header before boost mpl
+#include <pinocchio/fwd.hpp>
+#endif
+
+#include <boost/python.hpp>
+#include <boost/mpl/for_each.hpp>
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/python/dynamic-graph-py.hh>
+
+namespace dynamicgraph {
+namespace python {
+
+constexpr int AddSignals = 1;
+constexpr int AddCommands = 2;
+
+namespace internal {
+
+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);
+  return obj;
+}
+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);
+  namespace bp = boost::python;
+  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.
+   * This is achieved with a factory function of the same name.
+  obj.def ("__init__", bp::raw_function(+[](bp::object args, bp::dict) {
+          if (bp::len(args) != 2)
+            throw std::length_error("Expected 2 arguments.");
+          bp::object self = args[0];
+          self.attr("__init__")(bp::extract<std::string>(args[1]));
+          Entity* ent = entity::create(T::CLASS_NAME.c_str(), name);
+          if (dynamic_cast<T*>(ent) == NULL)
+            std::cout << "foo" << std::endl;
+          assert(dynamic_cast<T*>(ent) != NULL);
+          self = bp::object(bp::ptr(static_cast<T*>(ent)));
+          //dynamicgraph::Entity& unused = bp::extract<dynamicgraph::Entity&>(self);
+          //entity::addCommands(self);
+        })
+  ;
+  */
+  bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity1<T, Options>);
+  bp::def(T::CLASS_NAME.c_str(), &internal::makeEntity2<T, Options>);
+  if (!(Options & AddCommands)) obj.def("add_commands", &entity::addCommands);
+  if (!(Options & AddSignals)) obj.def("add_signals", &entity::addSignals);
+  return obj;
+}
+
+}  // namespace python
+}  // namespace dynamicgraph
+
+#endif  // DYNAMIC_GRAPH_PYTHON_MODULE_HH

include/dynamic-graph/python/signal-wrapper.hh

@@ -4,6 +4,8 @@
 #ifndef DGPY_SIGNAL_WRAPPER
 #define DGPY_SIGNAL_WRAPPER
 
+#include <boost/python.hpp>
+
 #include <dynamic-graph/linear-algebra.h>
 #include <dynamic-graph/signal.h>
 #include <dynamic-graph/entity.h>
@@ -11,22 +13,12 @@
 
 namespace dynamicgraph {
 namespace python {
-namespace signalWrapper {
-void convert(PyObject* o, int& v);
-void convert(PyObject* o, bool& v);
-void convert(PyObject* o, float& v);
-void convert(PyObject* o, double& v);
-// void convert (PyObject* o, std::string& v);
-void convert(PyObject* o, Vector& v);
-// void convert (PyObject* o, Eigen::MatrixXd& v);
-// void convert (PyObject* o, Eigen::Matrix4d& v);
-}  // namespace signalWrapper
 
 class PythonSignalContainer : public Entity {
   DYNAMIC_GRAPH_ENTITY_DECL();
 
  public:
-  PythonSignalContainer(const std::string& name);
+  using Entity::Entity;
 
   void signalRegistration(const SignalArray<int>& signals);
 
@@ -37,17 +29,17 @@ template <class T, class Time>
 class SignalWrapper : public Signal<T, Time> {
  public:
   typedef Signal<T, Time> parent_t;
+  typedef boost::python::object pyobject;
 
-  static bool checkCallable(PyObject* c, std::string& error);
+  static bool checkCallable(pyobject c, std::string& error);
 
-  SignalWrapper(std::string name, PyObject* _callable) : parent_t(name), callable(_callable) {
+  SignalWrapper(std::string name, pyobject callable) : parent_t(name), callable(callable) {
     typedef boost::function2<T&, T&, Time> function_t;
-    Py_INCREF(callable);
     function_t f = boost::bind(&SignalWrapper::call, this, _1, _2);
     this->setFunction(f);
   }
 
-  virtual ~SignalWrapper() { Py_DECREF(callable); };
+  virtual ~SignalWrapper(){};
 
  private:
   T& call(T& value, Time t) {
@@ -56,18 +48,12 @@ class SignalWrapper : public Signal<T, Time> {
     if (PyGILState_GetThisThreadState() == NULL) {
       dgDEBUG(10) << "python thread not initialized" << std::endl;
     }
-    char format[] = "i";
-    PyObject* obj = PyObject_CallFunction(callable, format, t);
-    if (obj == NULL) {
-      dgERROR << "Could not call callable" << std::endl;
-    } else {
-      signalWrapper::convert(obj, value);
-      Py_DECREF(obj);
-    }
+    pyobject obj = callable(t);
+    value = boost::python::extract<T>(obj);
     PyGILState_Release(gstate);
     return value;
   }
-  PyObject* callable;
+  pyobject callable;
 };
 
 }  // namespace python

include/dynamic-graph/python/signal.hh

+// Copyright 2020, Joseph Mirabel, LAAS-CNRS.
+
+#include <sstream>
+
+#include <boost/python.hpp>
+
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal.h>
+
+#include "dynamic-graph/python/signal-wrapper.hh"
+
+namespace dynamicgraph {
+namespace python {
+
+template <typename T, typename Time>
+auto exposeSignal(const std::string& name) {
+  namespace bp = boost::python;
+
+  typedef Signal<T, Time> S_t;
+  bp::class_<S_t, bp::bases<SignalBase<Time> >, boost::noncopyable> obj(
+      name.c_str(), bp::init<std::string>());
+  obj.add_property(
+      "value",
+      bp::make_function(&S_t::accessCopy,
+                        bp::return_value_policy<bp::copy_const_reference>()),
+      &S_t::setConstant,  // TODO check the setter
+      "the signal value.\n"
+      "warning: for Eigen objects, sig.value[0] = 1. may not work).");
+  return obj;
+}
+
+template <typename <