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::FactoryStorage::getInstance()->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/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>
-
-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 (const std::exception& exc) {
-	  PyErr_SetString(dgpyError, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue ("");
-      }
-    } // python
-  } // dynamicgraph
-} // namespace pool

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();
-	unsigned int typeNumber = typeList.size();
-	// Build a tuple object
-	PyObject* typeTuple = PyTuple_New(typeNumber);
-
-	for (unsigned int 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 dynamicgraph
-} // namespace python

tests/CMakeLists.txt

+# Copyright 2010-2020, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
+# Saurel, JRL, CNRS/AIST, LAAS-CNRS
+
+# Test the interpreter
+add_unit_test(interpreter-test interpreter-test.cc)
+target_link_libraries(interpreter-test PRIVATE ${PROJECT_NAME})
+
+# Test runfile
+add_unit_test(interpreter-test-runfile interpreter-test-runfile.cc)
+target_link_libraries(interpreter-test-runfile PRIVATE ${PROJECT_NAME})
+target_include_directories(interpreter-test-runfile
+                           PRIVATE Boost::unit_test_framework)
+target_compile_definitions(interpreter-test-runfile
+                           PRIVATE PATH="${CMAKE_CURRENT_LIST_DIR}/")
+
+# Test the module generation Create an entity
+
+set(LIBRARY_NAME "custom_entity")
+add_library(${LIBRARY_NAME} SHARED "${LIBRARY_NAME}.cpp")
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+target_link_libraries(${LIBRARY_NAME} PRIVATE dynamic-graph::dynamic-graph)
+
+# Create its bindings This mimics DYNAMIC_GRAPH_PYTHON_MODULE(${LIBRARY_NAME}
+# ${LIBRARY_NAME} "${LIBRARY_NAME}-wrap")
+
+configure_file(
+  ${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/${LIBRARY_NAME}/__init__.py)
+set(PYTHON_MODULE "${LIBRARY_NAME}-wrap")
+set(DYNAMICGRAPH_MODULE_HEADER
+    "${CMAKE_SOURCE_DIR}/tests/custom_entity_module.h")
+configure_file(${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/python-module-py.cc.in
+               ${CMAKE_CURRENT_BINARY_DIR}/python-module-py.cc @ONLY)
+add_library(${PYTHON_MODULE} MODULE
+            ${CMAKE_CURRENT_BINARY_DIR}/python-module-py.cc)
+set_target_properties(${PYTHON_MODULE}
+                      PROPERTIES PREFIX "" OUTPUT_NAME ${LIBRARY_NAME}/wrap)
+
+if(UNIX AND NOT APPLE)
+  target_link_libraries(${PYTHON_MODULE} PRIVATE "-Wl,--no-as-needed")
+endif(UNIX AND NOT APPLE)
+
+target_link_libraries(${PYTHON_MODULE} PRIVATE ${LIBRARY_NAME} ${PROJECT_NAME})
+
+# Test it
+add_python_unit_test("test-custom-entity" "tests/test_custom_entity.py" src
+                     tests)
+
+# also test other bindings, using this custom entity
+add_python_unit_test("test-bindings" "tests/test_bindings.py" src tests)

tests/custom_entity.cpp

+/* Copyright 2010-2019 LAAS, CNRS
+ * Thomas Moulard.
+ *
+ */
+
+#define ENABLE_RT_LOG
+
+#include "custom_entity.h"
+
+#include <dynamic-graph/command-bind.h>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-factory.h>
+#include <dynamic-graph/factory.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/real-time-logger.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+
+#include <boost/bind.hpp>
+
+namespace dynamicgraph {
+
+CustomEntity::CustomEntity(const std::string n)
+    : Entity(n),
+      m_sigdSIN(NULL, "CustomEntity(" + name + ")::input(double)::in_double"),
+      m_sigdTimeDepSOUT(boost::bind(&CustomEntity::update, this, _1, _2),
+                        m_sigdSIN,
+                        "CustomEntity(" + name + ")::input(double)::out_double")
+
+{
+  addSignal();
+
+  using namespace dynamicgraph::command;
+
+  this->addCommand("act",
+                   makeCommandVoid0(*this, &CustomEntity::act,
+                                    docCommandVoid0("act on input signal")));
+}
+
+void CustomEntity::addSignal() {
+  signalRegistration(m_sigdSIN << m_sigdTimeDepSOUT);
+}
+
+void CustomEntity::rmValidSignal() {
+  signalDeregistration("in_double");
+  signalDeregistration("out_double");
+}
+
+double &CustomEntity::update(double &res, const int &inTime) {
+  const double &aDouble = m_sigdSIN(inTime);
+  res = aDouble;
+  logger().stream(MSG_TYPE_ERROR) << "start update " << res << '\n';
+  DYNAMIC_GRAPH_ENTITY_DEBUG(*this)
+      << "This is a message of level MSG_TYPE_DEBUG\n";
+  DYNAMIC_GRAPH_ENTITY_INFO(*this)
+      << "This is a message of level MSG_TYPE_INFO\n";
+  DYNAMIC_GRAPH_ENTITY_WARNING(*this)
+      << "This is a message of level MSG_TYPE_WARNING\n";
+  DYNAMIC_GRAPH_ENTITY_ERROR(*this)
+      << "This is a message of level MSG_TYPE_ERROR\n";
+  DYNAMIC_GRAPH_ENTITY_DEBUG_STREAM(*this)
+      << "This is a message of level MSG_TYPE_DEBUG_STREAM\n";
+  DYNAMIC_GRAPH_ENTITY_INFO_STREAM(*this)
+      << "This is a message of level MSG_TYPE_INFO_STREAM\n";
+  DYNAMIC_GRAPH_ENTITY_WARNING_STREAM(*this)
+      << "This is a message of level MSG_TYPE_WARNING_STREAM\n";
+  DYNAMIC_GRAPH_ENTITY_ERROR_STREAM(*this)
+      << "This is a message of level MSG_TYPE_ERROR_STREAM\n";
+  logger().stream(MSG_TYPE_ERROR) << "end update\n";
+  return res;
+}
+
+void CustomEntity::act() { m_sigdSIN.accessCopy(); }
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CustomEntity, "CustomEntity");
+}  // 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;

tests/main.cc

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