src/link-to-python.hh.in

-// -*- mode: c++ -*-
-// Copyright 2011, Florent Lamiraux, CNRS.
-
-#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.
-
-#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.
-
-#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

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_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;
+}