src/link-to-python.hh.in

-// -*- mode: c++ -*-
-// Copyright 2011, Florent Lamiraux, CNRS.
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph is free software: you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public License
-// as published by the Free Software Foundation, either version 3 of
-// the License, or (at your option) any later version.
-//
-// dynamic-graph is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Lesser Public License for more details.  You should have
-// received a copy of the GNU Lesser General Public License along with
-// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-#ifdef WIN32
-#include <Windows.h>
-#else
-#include <dlfcn.h>
-#endif
-
-namespace dynamicgraph {
-  namespace python {
-    std::string libpython("@PYTHON_LIBRARY@");
-  } // namespace python
-} // namespace dynamicgraph

src/pool-py.cc

-// Copyright 2011, 2012, Florent Lamiraux, LAAS-CNRS.
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph-python is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either
-// version 3 of the License, or (at your option) any later version.
-//
-// dynamic-graph-python is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Lesser Public License for more details.  You should
-// have received a copy of the GNU Lesser General Public License along
-// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-#include <Python.h>
-#include <dynamic-graph/pool.h>
-#include <dynamic-graph/entity.h>
-#include <vector>
-#include "exception.hh"
-
-namespace dynamicgraph {
-namespace python {
-
-extern PyObject* dgpyError;
-namespace pool {
-
-PyObject* writeGraph(PyObject* /*self*/, PyObject* args) {
-  char* filename;
-  if (!PyArg_ParseTuple(args, "s", &filename)) return NULL;
-  try {
-    PoolStorage::getInstance()->writeGraph(filename);
-  }
-  CATCH_ALL_EXCEPTIONS();
-  return Py_BuildValue("");
-}
-
-/**
-   \brief Get list of entities
-*/
-PyObject* getEntityList(PyObject* /*self*/, PyObject* args) {
-  if (!PyArg_ParseTuple(args, "")) return NULL;
-
-  std::vector<std::string> entityNames;
-  try {
-    const PoolStorage::Entities& listOfEntities = dynamicgraph::PoolStorage::getInstance()->getEntityMap();
-
-    Py_ssize_t classNumber = listOfEntities.size();
-    // Build a tuple object
-    PyObject* classTuple = PyTuple_New(classNumber);
-
-    Py_ssize_t iEntity = 0;
-    for (PoolStorage::Entities::const_iterator entity_it = listOfEntities.begin(); entity_it != listOfEntities.end();
-         ++entity_it) {
-      const std::string& aname = entity_it->second->getName();
-
-      PyObject* className = Py_BuildValue("s", aname.c_str());
-      PyTuple_SetItem(classTuple, iEntity, className);
-      iEntity++;
-    }
-    return Py_BuildValue("O", classTuple);
-  }
-  CATCH_ALL_EXCEPTIONS();
-  return NULL;
-}
-
-}  // namespace pool
-}  // namespace python
-}  // namespace dynamicgraph

src/signal-caster-py.cc

-// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph-python is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either
-// version 3 of the License, or (at your option) any later version.
-//
-// dynamic-graph-python is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Lesser Public License for more details.  You should
-// have received a copy of the GNU Lesser General Public License along
-// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-#include <Python.h>
-#include <iostream>
-#include <sstream>
-
-#include <dynamic-graph/signal-caster.h>
-
-namespace dynamicgraph {
-namespace python {
-
-namespace signalCaster {
-PyObject* getSignalTypeList(PyObject* /*self*/, PyObject* args) {
-  if (!PyArg_ParseTuple(args, "")) return NULL;
-  std::vector<std::string> typeList = dynamicgraph::SignalCaster::getInstance()->listTypenames();
-  Py_ssize_t typeNumber = typeList.size();
-  // Build a tuple object
-  PyObject* typeTuple = PyTuple_New(typeNumber);
-
-  for (Py_ssize_t iType = 0; iType < typeNumber; ++iType) {
-    PyObject* className = Py_BuildValue("s", typeList[iType].c_str());
-    PyTuple_SetItem(typeTuple, iType, className);
-  }
-
-  return Py_BuildValue("O", typeTuple);
-}
-}  // namespace signalCaster
-}  // namespace python
-}  // namespace dynamicgraph

src/signal-wrapper.cc

-// Copyright (c) 2018, Joseph Mirabel
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph-python is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// dynamic-graph-python is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Lesser Public License for more details.  You should have
-// received a copy of the GNU Lesser General Public License along with
-// dynamic-graph-python. If not, see <http://www.gnu.org/licenses/>.
-
-#include "signal-wrapper.hh"
-
-#include <Python.h>
-#include <dynamic-graph/factory.h>
-#include <dynamic-graph/command-bind.h>
-
-namespace dynamicgraph {
-namespace python {
-namespace signalWrapper {
-void convert(PyObject* o, bool& v) { v = (o == Py_True); }
-void convert(PyObject* o, int& v) { v = (int)PyInt_AS_LONG(o); }
-void convert(PyObject* o, float& v) { v = (float)PyFloat_AS_DOUBLE(o); }
-void convert(PyObject* o, double& v) { v = PyFloat_AS_DOUBLE(o); }
-void convert(PyObject* o, Vector& v) {
-  v.resize(PyTuple_Size(o));
-  for (int i = 0; i < v.size(); ++i) convert(PyTuple_GetItem(o, i), v[i]);
-}
-}  // namespace signalWrapper
-
-PythonSignalContainer::PythonSignalContainer(const std::string& name) : Entity(name) {
-  std::string docstring;
-
-  docstring =
-      "    \n"
-      "    Remove a signal\n"
-      "    \n"
-      "      Input:\n"
-      "        - name of the signal\n"
-      "    \n";
-  addCommand("rmSignal", command::makeCommandVoid1(*this, &PythonSignalContainer::rmSignal, docstring));
-}
-
-void PythonSignalContainer::signalRegistration(const SignalArray<int>& signals) {
-  Entity::signalRegistration(signals);
-}
-
-void PythonSignalContainer::rmSignal(const std::string& name) { Entity::signalDeregistration(name); }
-
-DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PythonSignalContainer, "PythonSignalContainer");
-
-template <class T, class Time>
-bool SignalWrapper<T, Time>::checkCallable(PyObject* c, std::string& error) {
-  if (PyCallable_Check(c) == 0) {
-    PyObject* str = PyObject_Str(c);
-    error = PyString_AsString(str);
-    error += " is not callable";
-    Py_DECREF(str);
-    return false;
-  }
-  return true;
-}
-
-template class SignalWrapper<bool, int>;
-template class SignalWrapper<int, int>;
-template class SignalWrapper<float, int>;
-template class SignalWrapper<double, int>;
-template class SignalWrapper<Vector, int>;
-}  // namespace python
-}  // namespace dynamicgraph

tests/custom_entity.h

+/* Copyright 2020 LAAS, CNRS
+ * Joseph Mirabel
+ *
+ */
+
+#define ENABLE_RT_LOG
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+
+#include <sstream>
+
+namespace dynamicgraph {
+class CustomEntity : public Entity {
+ public:
+  dynamicgraph::SignalPtr<double, int> m_sigdSIN;
+  dynamicgraph::SignalTimeDependent<double, int> m_sigdTimeDepSOUT;
+
+  DYNAMIC_GRAPH_ENTITY_DECL();
+  CustomEntity(const std::string n);
+
+  void addSignal();
+
+  void rmValidSignal();
+
+  double &update(double &res, const int &inTime);
+
+  void act();
+};
+}  // namespace dynamicgraph

tests/custom_entity_module.h

+#include "custom_entity.h"
+
+typedef boost::mpl::vector<dynamicgraph::CustomEntity> entities_t;

unitTesting/dynamic-graph-python-test.cc → tests/dynamic-graph-python-test.cc

@@ -2,7 +2,10 @@
  *  Copyright
  */
 
-#include <iostream>
 #include "dynamic-graph-python-test.hh"
 
-GraphTest::GraphTest() { std::cout << "Constructor of unitTesting object of class Graph." << std::endl; }
+#include <iostream>
+
+GraphTest::GraphTest() {
+  std::cout << "Constructor of unitTesting object of class Graph." << std::endl;
+}