src/exception-python.cc

-/*
- * Copyright 2010,
- * François Bleibel,
- * Olivier Stasse,
- *
- * CNRS/AIST
- *
- * This file is part of dynamic-graph.
- * 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 Lesser General 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 <dynamic-graph/python/exception-python.hh>
-#include <dynamic-graph/debug.h>
-#include <stdarg.h>
-#include <cstdio>
-
-namespace dynamicgraph {
-  namespace python {
-
-    /* --------------------------------------------------------------------- */
-    /* --- CLASS ----------------------------------------------------------- */
-    /* --------------------------------------------------------------------- */
-
-    const std::string ExceptionPython::EXCEPTION_NAME = "Python";
-
-    ExceptionPython::
-    ExceptionPython ( const ExceptionPython::ErrorCodeEnum& errcode,
-		      const std::string & msg )
-      :ExceptionAbstract(errcode,msg)
-    {
-      dgDEBUGF( 15,"Created with message <%s>.",msg.c_str ());
-      dgDEBUG( 1) <<"Created with message <%s>."<<msg<<std::endl;
-    }
-
-    ExceptionPython::
-    ExceptionPython ( const ExceptionPython::ErrorCodeEnum& errcode,
-		      const std::string & msg,const char* format, ... )
-      :ExceptionAbstract(errcode,msg)
-    {
-      va_list args;
-      va_start(args,format);
-
-      const unsigned int SIZE = 256;
-      char  buffer[SIZE];
-      vsnprintf(buffer,SIZE,format,args);
-
-      dgDEBUG(15) <<"Created "<<" with message <"
-		  <<msg<<"> and buffer <"<<buffer<<">. "<<std::endl;
-
-      message += buffer;
-
-      va_end(args);
-
-      dgDEBUG(1) << "Throw exception " << EXCEPTION_NAME << "[#" << errcode<<"]: "
-		 <<"<"<< message << ">."<<std::endl;
-
-    }
-
-  } // namespace dynamicgraph
-} // namespace python
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */

src/factory-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 <dynamic-graph/factory.h>
-
-using dynamicgraph::Entity;
-using dynamicgraph::ExceptionAbstract;
-
-namespace dynamicgraph {
-  namespace python {
-
-    namespace factory {
-
-      /**
-	 \brief Get name of entity
-      */
-      PyObject* getEntityClassList(PyObject* /*self*/, PyObject* args)
-      {
-	if (!PyArg_ParseTuple(args, ""))
-	  return NULL;
-
-	std::vector <std::string> classNames;
-	dynamicgraph::g_factory.listEntities(classNames);
-	unsigned int classNumber = classNames.size();
-	// Build a tuple object
-	PyObject* classTuple = PyTuple_New(classNumber);
-	
-	for (unsigned int iEntity = 0; iEntity < classNames.size(); iEntity++) {
-	  PyObject* className = Py_BuildValue("s", classNames[iEntity].c_str());
-	  PyTuple_SetItem(classTuple, iEntity, className);
-	}
-
-	return Py_BuildValue("O", classTuple);
-      }
-      
-    } // namespace factory
-  } // namespace python
-} // namespace dynamicgraph

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/signal-base-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-base.h>
-#include <dynamic-graph/signal.h>
-#include <dynamic-graph/signal-caster.h>
-#include <dynamic-graph/linear-algebra.h>
-#include <../src/convert-dg-to-py.hh>
-
-using dynamicgraph::SignalBase;
-
-namespace dynamicgraph {
-  namespace python {
-
-    extern PyObject* dgpyError;
-    using namespace convert;
-
-    namespace signalBase {
-
-
-      static void destroy (void* self);
-
-      /**
-	 \brief Create an instance of SignalBase
-      */
-      PyObject* create(PyObject* /*self*/, PyObject* args)
-      {
-	char *name = NULL;
-
-	if (!PyArg_ParseTuple(args, "s", &name))
-	  return NULL;
-
-	SignalBase<int>* obj = NULL;
-	obj = new SignalBase<int>(std::string(name));
-
-	// Return the pointer
-	return PyCObject_FromVoidPtr((void*)obj, destroy);
-      }
-
-      /**
-	 \brief Destroy an instance of InvertedPendulum
-      */
-      static void destroy (void* self)
-      {
-	SignalBase<int>* obj = (SignalBase<int>*)self;
-	delete obj;
-      }
-
-      PyObject* getTime(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	int time = obj->getTime();
-	return Py_BuildValue("i", time);
-      }
-
-      PyObject* setTime(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	int time;
-	if (!PyArg_ParseTuple(args,"Oi", &object, &time))
-	  return NULL;
-	if (!PyCObject_Check(object)) {
-	  PyErr_SetString(dgpyError, "object should be a C object");
-	  return NULL;
-	}
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	obj->setTime(time);
-	return Py_BuildValue("");
-      }
-
-      PyObject* display(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	std::ostringstream oss;
-	try {
-	  obj->display(oss);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue("s", oss.str().c_str());
-      }
-
-      PyObject* displayDependencies(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	int time;
-	if (!PyArg_ParseTuple(args,"OI", &object,&time))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	std::ostringstream oss;
-	try {
-	  obj->displayDependencies(oss,time);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue("s", oss.str().c_str());
-      }
-
-      PyObject* getValue(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-
-	/* Temptative for specific signal type. */
-	Signal<dynamicgraph::Vector,int> * sigvec
-	  = dynamic_cast< Signal<dynamicgraph::Vector,int>* >( signal );
-	if( NULL!= sigvec )
-	  {
-	    return vectorToPython( sigvec->accessCopy() );
-	  }
-
-	Signal<dynamicgraph::Matrix,int> * sigmat
-	  = dynamic_cast< Signal<dynamicgraph::Matrix,int>* >( signal );
-	if( NULL!= sigmat )
-	  {
-	    return matrixToPython( sigmat->accessCopy() );
-	  }
-
-	Signal<double,int> * sigdouble
-	  = dynamic_cast< Signal<double,int>* >( signal );
-	if( NULL!= sigdouble )
-	  {
-	    return Py_BuildValue("d", sigdouble->accessCopy() );
-	  }
-
-	/* Non specific signal: use a generic way. */
-	std::ostringstream value;
-	try {
-	  signal->get(value);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	} catch (...) {
-	  PyErr_SetString(dgpyError, "Unknown exception");
-	  return NULL;
-	}
-	std::string valueString = value.str();
-	return Py_BuildValue("s", valueString.c_str());
-      }
-
-      PyObject* getName(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-
-	std::string name;
-	try {
-	  name = signal->getName();
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	} catch (...) {
-	  PyErr_SetString(dgpyError, "Unknown exception");
-	  return NULL;
-	}
-	return Py_BuildValue("s", name.c_str());
-      }
-
-      PyObject* setValue(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	char* valueString = NULL;
-
-	if (!PyArg_ParseTuple(args,"Os", &object, &valueString))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	std::ostringstream os;
-	os << valueString;
-	std::istringstream value(os.str());
-
-	try {
-	  signal->set(value);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	} catch (...) {
-	  PyErr_SetString(dgpyError, "Unknown exception");
-	  return NULL;
-	}
-
-	return Py_BuildValue("");
-      }
-
-      PyObject* recompute(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	unsigned int time;
-	if (!PyArg_ParseTuple(args,"OI", &object, &time))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	try {
-	  signal->recompute(time);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue("");
-      }
-
-      PyObject* unplug(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	try {
-	  signal->unplug();
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue("");
-      }
-    }
-  }
-}

tests/custom_entity_module.h

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

tests/main.cc

+/*
+ *  Copyright
+ */
+
+#include "dynamic-graph-python-test.hh"
+
+int main(int argc, char** argv) { GraphTest testGraph(); }