doc/sphinx/conf.py.in

-# -*- coding: utf-8 -*-
-#
-# @PROJECT_NAME@ documentation build configuration file, created by
-# sphinx-quickstart on Mon Nov 22 16:45:27 2010.
-#
-# This file is execfile()d with the current directory set to its containing dir.
-#
-# Note that not all possible configuration values are present in this
-# autogenerated file.
-#
-# All configuration values have a default; values that are commented out
-# serve to show the default.
-
-import sys, os
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-sys.path = [os.path.abspath('@CMAKE_BINARY_DIR@/src')]+sys.path
-sys.path = [os.path.abspath('@CMAKE_SOURCE_DIR@/src')]+sys.path
-
-# -- General configuration -----------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be extensions
-# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.pngmath']
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix of source filenames.
-source_suffix = '.rst'
-
-# The encoding of source files.
-#source_encoding = 'utf-8'
-
-# The master toctree document.
-master_doc = 'index'
-
-# General information about the project.
-project = u'@PROJECT_NAME@'
-copyright = u'2010, Florent Lamiraux'
-
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = '1.0'
-# The full version, including alpha/beta/rc tags.
-release = '1.0'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#language = None
-
-# There are two options for replacing |today|: either, you set today to some
-# non-false value, then it is used:
-#today = ''
-# Else, today_fmt is used as the format for a strftime call.
-#today_fmt = '%B %d, %Y'
-
-# List of documents that shouldn't be included in the build.
-#unused_docs = []
-
-# List of directories, relative to source directory, that shouldn't be searched
-# for source files.
-exclude_trees = []
-
-# The reST default role (used for this markup: `text`) to use for all documents.
-#default_role = None
-
-# If true, '()' will be appended to :func: etc. cross-reference text.
-#add_function_parentheses = True
-
-# If true, the current module name will be prepended to all description
-# unit titles (such as .. function::).
-#add_module_names = True
-
-# If true, sectionauthor and moduleauthor directives will be shown in the
-# output. They are ignored by default.
-#show_authors = False
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
-
-# A list of ignored prefixes for module index sorting.
-#modindex_common_prefix = []
-
-
-# -- Options for HTML output ---------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  Major themes that come with
-# Sphinx are currently 'default' and 'sphinxdoc'.
-html_theme = 'default'
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further.  For a list of options available for each theme, see the
-# documentation.
-#html_theme_options = {}
-
-# Add any paths that contain custom themes here, relative to this directory.
-#html_theme_path = []
-
-# The name for this set of Sphinx documents.  If None, it defaults to
-# "<project> v<release> documentation".
-#html_title = None
-
-# A shorter title for the navigation bar.  Default is the same as html_title.
-#html_short_title = None
-
-# The name of an image file (relative to this directory) to place at the top
-# of the sidebar.
-#html_logo = None
-
-# The name of an image file (within the static path) to use as favicon of the
-# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
-# pixels large.
-#html_favicon = None
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-
-# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
-# using the given strftime format.
-#html_last_updated_fmt = '%b %d, %Y'
-
-# If true, SmartyPants will be used to convert quotes and dashes to
-# typographically correct entities.
-#html_use_smartypants = True
-
-# Custom sidebar templates, maps document names to template names.
-#html_sidebars = {}
-
-# Additional templates that should be rendered to pages, maps page names to
-# template names.
-#html_additional_pages = {}
-
-# If false, no module index is generated.
-#html_use_modindex = True
-
-# If false, no index is generated.
-#html_use_index = True
-
-# If true, the index is split into individual pages for each letter.
-#html_split_index = False
-
-# If true, links to the reST sources are added to the pages.
-#html_show_sourcelink = True
-
-# If true, an OpenSearch description file will be output, and all pages will
-# contain a <link> tag referring to it.  The value of this option must be the
-# base URL from which the finished HTML is served.
-#html_use_opensearch = ''
-
-# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
-#html_file_suffix = ''
-
-# Output file base name for HTML help builder.
-htmlhelp_basename = '@PROJECT_NAME@doc'
-
-
-# -- Options for LaTeX output --------------------------------------------------
-
-# The paper size ('letter' or 'a4').
-#latex_paper_size = 'letter'
-
-# The font size ('10pt', '11pt' or '12pt').
-#latex_font_size = '10pt'
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title, author, documentclass [howto/manual]).
-latex_documents = [
-  ('index', '@PROJECT_NAME@.tex', u'@PROJECT_NAME@ Documentation',
-   u'Florent Lamiraux', 'manual'),
-]
-
-# The name of an image file (relative to this directory) to place at the top of
-# the title page.
-#latex_logo = None
-
-# For "manual" documents, if this is true, then toplevel headings are parts,
-# not chapters.
-#latex_use_parts = False
-
-# Additional stuff for the LaTeX preamble.
-#latex_preamble = ''
-
-# Documents to append as an appendix to all manuals.
-#latex_appendices = []
-
-# If false, no module index is generated.
-#latex_use_modindex = True
-
-
-# Example configuration for intersphinx: refer to the Python standard library.
-intersphinx_mapping = {'http://docs.python.org/': None}

doc/sphinx/index.rst.in

-.. dynamic-graph-python documentation master file, created by
-   sphinx-quickstart on Mon Nov 22 16:45:27 2010.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
-Welcome to dynamic-graph-python's documentation!
-================================================
-
-.. toctree::
-   :maxdepth: 2
-
-Python module dynamic_graph implements bindings for dynamic-graph_ library. To each main C++ class is associated a Python class. Main classes are listed below.
-
-Entity
-------
-maps dynamicgraph::Entity_ C++ class.
-
-.. autoclass:: dynamic_graph.entity.Entity
-   :members:
-
-SignalBase
-----------
-maps dynamicgraph::SignalBase_ C++ class.
-
-.. autoclass:: dynamic_graph.signal_base.SignalBase
-   :members:
-
-Other funtions of the module
-----------------------------
-.. automodule:: dynamic_graph
-   :members:
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
-
-.. _dynamic-graph: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/index.html
-.. _Entity: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/classdynamicgraph_1_1_entity.html
-.. _SignalBase: file://@DYNAMIC_GRAPH_DOXYGENDOCDIR@/classdynamicgraph_1_1_signal_base.html

include/dynamic-graph/python/api.hh

+// -*- mode: c++ -*-
+// Copyright 2011, Florent Lamiraux, CNRS.
+
+#ifndef DYNAMIC_GRAPH_PYTHON_API_HH
+#define DYNAMIC_GRAPH_PYTHON_API_HH
+#include <dynamic-graph/python/config.hh>
+#endif  // DYNAMIC_GRAPH_PYTHON_API_HH

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

+// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
+
+#include <dynamic-graph/linear-algebra.h>
+#include <dynamic-graph/value.h>
+
+#include <boost/python.hpp>
+
+namespace dynamicgraph {
+namespace python {
+namespace convert {
+
+command::Value toValue(boost::python::object o,
+                       const command::Value::Type& type);
+boost::python::object fromValue(const command::Value& value);
+
+}  // namespace convert
+}  // namespace python
+}  // namespace dynamicgraph

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

+#ifndef DYNAMIC_GRAPH_PY
+#define DYNAMIC_GRAPH_PY
+
+#include <dynamic-graph/debug.h>
+#include <dynamic-graph/exception-factory.h>
+#include <dynamic-graph/signal-base.h>
+
+#include <boost/python.hpp>
+#include <boost/python/stl_iterator.hpp>
+#include <iostream>
+#include <sstream>
+
+#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 {
+SignalBase<int>* createSignalWrapper(const char* name, const char* type,
+                                     bp::object object);
+}  // namespace signalBase
+namespace entity {
+
+/// \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 {
+bp::tuple getEntityClassList();
+}
+namespace pool {
+void writeGraph(const char* filename);
+bp::list getEntityList();
+const std::map<std::string, Entity*>* getEntityMap();
+}  // namespace pool
+namespace debug {
+void addLoggerFileOutputStream(const char* filename);
+void addLoggerCoutOutputStream();
+void closeLoggerFileOutputStream();
+void realTimeLoggerSpinOnce();
+void realTimeLoggerDestroy();
+void realTimeLoggerInstance();
+}  // namespace debug
+
+}  // namespace python
+}  // namespace dynamicgraph
+
+#endif

include/dynamic-graph/python/fwd.hh

+/*
+ * Copyright CNRS 2021
+ *
+ * Author: Florent Lamiraux
+ *
+ * This file is part of sot-core.
+ */
+
+#ifndef DYNAMIC_GRAPH_PYTHON_FWD_HH
+#define DYNAMIC_GRAPH_PYTHON_FWD_HH
+
+#include <dynamic-graph/fwd.hh>
+
+namespace dynamicgraph {
+namespace python {
+class Interpreter;
+typedef shared_ptr<Interpreter> InterpreterPtr_t;
+}  // namespace python
+}  // namespace dynamicgraph
+
+#endif  // DYNAMIC_GRAPH_PYTHON_FWD_HH

include/dynamic-graph/python/interpreter.hh

+// -*- mode: c++ -*-
+// Copyright 2011, Florent Lamiraux, CNRS.
+
+#ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
+#define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
+
+#undef _POSIX_C_SOURCE
+#undef _XOPEN_SOURCE
+#include <dynamic-graph/python/fwd.hh>
+
+#include "dynamic-graph/python/api.hh"
+#include "dynamic-graph/python/python-compat.hh"
+
+namespace dynamicgraph {
+namespace python {
+///
+/// This class implements a basis python interpreter.
+///
+/// String sent to method python are interpreted by an onboard python
+/// interpreter.
+class DYNAMIC_GRAPH_PYTHON_DLLAPI Interpreter {
+ public:
+  Interpreter();
+  ~Interpreter();
+  /// \brief Method to start python interperter.
+  /// \param command string to execute
+  /// Method deprecated, you *SHOULD* handle error messages.
+  [[deprecated("you *SHOULD* handle error messages")]] std::string python(
+      const std::string& command);
+
+  /// \brief Method to start python interperter.
+  /// \param command string to execute, result, stdout, stderr strings
+  void python(const std::string& command, std::string& result, std::string& out,
+              std::string& err);
+
+  /// \brief Method to exectue a python script.
+  /// \param filename the filename
+  void runPythonFile(std::string filename);
+  void runPythonFile(std::string filename, std::string& err);
+  void runMain(void);
+
+  /// \brief Process input stream to send relevant blocks to python
+  /// \param stream input stream
+  std::string processStream(std::istream& stream, std::ostream& os);
+
+  /// \brief Return a pointer to the dictionary of global variables
+  PyObject* globals();
+
+ private:
+  /// The Python thread state
+  PyThreadState* _pyState;
+  /// Pointer to the dictionary of global variables
+  PyObject* globals_;
+  /// Pointer to the dictionary of local variables
+  PyObject* locals_;
+  PyObject* mainmod_;
+};
+}  // namespace python
+}  // namespace dynamicgraph
+#endif  // DYNAMIC_GRAPH_PYTHON_INTERPRETER_H

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 <dynamic-graph/entity.h>
+
+#include <boost/mpl/for_each.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/python.hpp>
+#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/python-compat.hh

+#ifndef DGPY_PYTHON_COMPAT_H
+#define DGPY_PYTHON_COMPAT_H
+
+#include <string>
+
+#define PY_SSIZE_T_CLEAN
+#include <Python.h>
+
+// Get any PyObject and get its str() representation as an std::string
+std::string obj_to_str(PyObject* o);
+
+#endif

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

+// Copyright (c) 2018, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+
+#ifndef DGPY_SIGNAL_WRAPPER
+#define DGPY_SIGNAL_WRAPPER
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/linear-algebra.h>
+#include <dynamic-graph/signal.h>
+
+#include <boost/bind.hpp>
+#include <boost/python.hpp>
+
+#include "dynamic-graph/python/python-compat.hh"
+
+namespace dynamicgraph {
+namespace python {
+
+class PythonSignalContainer : public Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
+
+ public:
+  using Entity::Entity;
+
+  void signalRegistration(const SignalArray<int>& signals);
+
+  void rmSignal(const std::string& name);
+};
+
+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);
+
+  SignalWrapper(std::string name, pyobject callable)
+      : parent_t(name), callable(callable) {
+    typedef boost::function2<T&, T&, Time> function_t;
+    function_t f = boost::bind(&SignalWrapper::call, this, _1, _2);
+    this->setFunction(f);
+  }
+
+  virtual ~SignalWrapper(){};
+
+ private:
+  T& call(T& value, Time t) {
+    PyGILState_STATE gstate;
+    gstate = PyGILState_Ensure();
+    if (PyGILState_GetThisThreadState() == NULL) {
+      dgDEBUG(10) << "python thread not initialized" << std::endl;
+    }
+    pyobject obj = callable(t);
+    value = boost::python::extract<T>(obj);
+    PyGILState_Release(gstate);
+    return value;
+  }
+  pyobject callable;
+};
+
+}  // namespace python
+}  // namespace dynamicgraph
+#endif

include/dynamic-graph/python/signal.hh

+// Copyright 2020, Joseph Mirabel, LAAS-CNRS.
+
+#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 <boost/python.hpp>
+#include <sstream>
+
+#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 T, typename Time>
+auto exposeSignalWrapper(const std::string& name) {
+  namespace bp = boost::python;
+
+  typedef SignalWrapper<T, Time> S_t;
+  bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+      name.c_str(), bp::no_init);
+  return obj;
+}
+
+template <typename T, typename Time>
+auto exposeSignalPtr(const std::string& name) {
+  namespace bp = boost::python;
+
+  typedef SignalPtr<T, Time> S_t;
+  bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+      name.c_str(), bp::no_init);
+  return obj;
+}
+
+template <typename T, typename Time>
+auto exposeSignalTimeDependent(const std::string& name) {
+  namespace bp = boost::python;
+
+  typedef SignalTimeDependent<T, Time> S_t;
+  bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(
+      name.c_str(), bp::no_init);
+  return obj;
+}
+
+template <typename T, typename Time>
+void exposeSignalsOfType(const std::string& name) {
+  exposeSignal<T, Time>("Signal" + name);
+  exposeSignalPtr<T, Time>("SignalPtr" + name);
+  exposeSignalWrapper<T, Time>("SignalWrapper" + name);
+  exposeSignalTimeDependent<T, Time>("SignalTimeDependent" + name);
+}
+
+}  // namespace python
+}  // namespace dynamicgraph

package.xml

+<?xml version="1.0"?>
+<package format="3">
+  <name>dynamic-graph-python</name>
+  <version>4.0.11</version>
+  <description>Dynamic graph library Python bindings</description>
+  <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
+  <author>Nicolas Mansard</author>
+  <author>Olivier Stasse</author>
+  <license>BSD</license>
+
+  <url type="website">https://github.com/stack-of-tasks/dynamic-graph-python</url>
+
+  <build_depend>git</build_depend>
+  <build_depend>doxygen</build_depend>
+
+  <!-- The following tag is recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend>eigen</depend>
+  <depend>boost</depend>
+  <depend>eigenpy</depend>
+  <depend>dynamic-graph</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

pyproject.toml

+[tool.black]
+exclude = "cmake"
+extend-exclude = "tests/test_python-syntax_error.py"

setup.cfg

+[flake8]
+exclude = cmake,tests/test_python-syntax_error.py
+max-line-length = 88
+ignore = E226, E704, E24, E121, W504, E126, E123, W503, E203

src/CMakeLists.txt

-# Copyright 2010, 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
-#
-# 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/>.
-
-#
-# Python
-#
-INCLUDE(FindPythonLibs)
-IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
-   MESSAGE(FATAL_ERROR "Python has not been found.")
-ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
-
-INCLUDE(FindPythonInterp)
-IF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
-   MESSAGE(FATAL_ERROR "Python executable has not been found.")
-ENDIF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
-
-# provide path to library libdynamic-graph.so
-LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
-ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
-
-#
-#
-#  Python bindings
-#
-#
-
-SET(PYTHON_MODULE wrap)
-
-ADD_LIBRARY(${PYTHON_MODULE}
-	MODULE
-	dynamic-graph-py.cc
-	signal-base-py.cc
-	entity-py.cc
-	factory-py.cc
-	signal-caster-py.cc
-)
-
-# Remove prefix lib
-SET_TARGET_PROPERTIES(${PYTHON_MODULE}
-	PROPERTIES PREFIX "")
-
-TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${DYNAMIC_GRAPH_LIBRARIES})
-
-INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
-
-#
-# Installation
-#
-
-EXEC_PROGRAM(${PYTHON_EXECUTABLE} ARGS "-c \"from distutils import sysconfig; print sysconfig.get_python_lib(0,0,prefix='')\""
-  OUTPUT_VARIABLE PYTHON_SITELIB)
-
-MESSAGE(STATUS "PYTHON_SITELIB=${PYTHON_SITELIB}")
-
-SET(PYTHON_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITELIB}/dynamic_graph)
-
-INSTALL(TARGETS ${PYTHON_MODULE}
-	       DESTINATION
-	       ${PYTHON_INSTALL_DIR})
-
-SET (PYTHON_SOURCES
-    dynamic_graph/__init__.py
-    dynamic_graph/entity.py
-    dynamic_graph/signal_base.py
-)
-
-SET (PYTHON_SOURCES_FULLPATH "")
-FOREACH (SOURCE ${PYTHON_SOURCES})
-    SET(PYTHON_SOURCES_FULLPATH
-    	${PYTHON_SOURCES_FULLPATH}
-	${CMAKE_SOURCE_DIR}/src/${SOURCE}
-    )
-ENDFOREACH (SOURCE)
-
-INSTALL(FILES ${PYTHON_SOURCES_FULLPATH}
-	DESTINATION ${PYTHON_INSTALL_DIR})
+# Python bindings
+
+add_subdirectory(dynamic_graph)
+
+set(PYTHON_SOURCES __init__.py attrpath.py entity.py signal_base.py
+                   script_shortcuts.py tools.py)
+
+foreach(source ${PYTHON_SOURCES})
+  python_install_on_site(dynamic_graph ${source})
+endforeach(source)
+
+# --- ADD the wrap on the dg modules
+link_directories(${DYNAMIC_GRAPH_PLUGINDIR})
+dynamic_graph_python_module(
+  "tracer" dynamic-graph::tracer tracer-wrap SOURCE_PYTHON_MODULE
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer/wrap.cc)
+dynamic_graph_python_module(
+  "tracer_real_time" dynamic-graph::tracer-real-time tracer_real_time-wrap
+  SOURCE_PYTHON_MODULE
+  ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/tracer_real_time/wrap.cc)

src/dynamic-graph-py.cc

-/*
- *  Copyright 2010 (C) CNRS
- *  Author: Florent Lamiraux
- */
-
-#include <Python.h>
-#include <iostream>
-#include <sstream>
-#include <string>
-
-#include <dynamic-graph/debug.h>
-#include <dynamic-graph/exception-factory.h>
-#include <dynamic-graph/signal-base.h>
-
-namespace dynamicgraph {
-  namespace python {
-
-    // Declare functions defined in other source files
-    namespace signalBase {
-      extern PyObject* create(PyObject* self, PyObject* args);
-      extern PyObject* getTime(PyObject* self, PyObject* args);
-      extern PyObject* getName(PyObject* self, PyObject* args);
-      extern PyObject* getValue(PyObject* self, PyObject* args);
-      extern PyObject* setValue(PyObject* self, PyObject* args);
-      extern PyObject* recompute(PyObject* self, PyObject* args);
-    }
-    namespace entity {
-      extern PyObject* create(PyObject* self, PyObject* args);
-      extern PyObject* getName(PyObject* self, PyObject* args);
-      extern PyObject* getSignal(PyObject* self, PyObject* args);
-      extern PyObject* displaySignals(PyObject* self, PyObject* args);
-      extern PyObject* executeCommand(PyObject* self, PyObject* args);
-      extern PyObject* listCommands(PyObject* self, PyObject* args);
-      extern PyObject* getCommandDocstring(PyObject* self, PyObject* args);
-    }
-
-    namespace factory {
-      PyObject* getEntityClassList(PyObject* self, PyObject* args);
-    }
-    namespace signalCaster {
-      PyObject* getSignalTypeList(PyObject* self, PyObject* args);
-    }
-
-    PyObject* error;
-
-    /**
-       \brief plug a signal into another one.
-    */
-    PyObject*
-    plug(PyObject* self, PyObject* args)
-    {
-      PyObject* objOut = NULL;
-      PyObject* objIn = NULL;
-      void* pObjOut;
-      void* pObjIn;
-
-      if (!PyArg_ParseTuple(args,"OO", &objOut, &objIn))
-	return NULL;
-
-      if (!PyCObject_Check(objOut)) {
-	PyErr_SetString(PyExc_TypeError,
-			"first argument should be a pointer to"
-			" signalBase<int>.");
-	return NULL;
-      }
-      if (!PyCObject_Check(objIn)) {
-	PyErr_SetString(PyExc_TypeError,
-			"second argument should be a pointer to"
-			" signalBase<int>.");
-	return NULL;
-      }
-
-      pObjIn = PyCObject_AsVoidPtr(objIn);
-	SignalBase<int>* signalIn = (SignalBase<int>*)pObjIn;
-      pObjOut = PyCObject_AsVoidPtr(objOut);
-	SignalBase<int>* signalOut = (SignalBase<int>*)pObjOut;
-      std::ostringstream os;
-
-      try {
-	signalIn->plug(signalOut);
-      } catch (std::exception& exc) {
-	PyErr_SetString(error, exc.what());
-	return NULL;
-      }
-      return Py_BuildValue("");
-    }
-
-    PyObject*
-    enableTrace(PyObject* self, PyObject* args)
-    {
-      PyObject* boolean;
-      char* filename = NULL;
-
-      if (PyArg_ParseTuple(args,"Os", &boolean, &filename)) {
-	if (!PyBool_Check(boolean)) {
-	  PyErr_SetString(PyExc_TypeError, "enableTrace takes as first "
-			  "argument True or False,\n""           and as "
-			  "second argument a filename.");
-	  return NULL;
-	}
-	if (boolean == Py_True) {
-	  try {
-	    DebugTrace::openFile(filename);
-	  } catch (const std::exception& exc) {
-	    PyErr_SetString(PyExc_IOError, exc.what());
-	    return NULL;
-	  }
-	} else {
-	  try {
-	    DebugTrace::closeFile(filename);
-	  } catch (const std::exception& exc) {
-	    PyErr_SetString(PyExc_IOError, exc.what());
-	    return NULL;
-	  }
-	}
-      } else {
-	return NULL;
-      }
-      return Py_BuildValue("");
-    }
-  }
-}
-
-/**
-   \brief List of python functions
-*/
-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"},
-  {"signal_base_get_time", dynamicgraph::python::signalBase::getTime,
-   METH_VARARGS, "Get time of  a SignalBase"},
-  {"signal_base_get_name", dynamicgraph::python::signalBase::getName,
-   METH_VARARGS, "Get the name of a signal"},
-  {"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"},
-  // Entity
-  {"create_entity", dynamicgraph::python::entity::create, METH_VARARGS,
-   "create an Entity C++ object"},
-  {"entity_get_name", dynamicgraph::python::entity::getName, METH_VARARGS,
-   "get the name of an Entity"},
-  {"entity_get_signal", dynamicgraph::python::entity::getSignal, METH_VARARGS,
-   "get signal by name from an Entity"},
-  {"entity_display_signals", dynamicgraph::python::entity::displaySignals,
-   METH_VARARGS,
-   "Display the list of signals of an entity in standard output"},
-  {"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"},
-  {"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"},
-  {NULL, NULL, 0, NULL}        /* Sentinel */
-};
-
-PyMODINIT_FUNC
-initwrap(void)
-{
-    PyObject *m;
-
-    m = Py_InitModule("wrap", dynamicGraphMethods);
-    if (m == NULL)
-        return;
-
-    std::string msg("dynamic_graph.error");
-
-    dynamicgraph::python::error =
-      PyErr_NewException(const_cast<char*>(msg.c_str()), NULL, NULL);
-    Py_INCREF(dynamicgraph::python::error);
-    PyModule_AddObject(m, "error", dynamicgraph::python::error);
-}

src/dynamic_graph/CMakeLists.txt

+# Copyright 2010-2021, Florent Lamiraux, Thomas Moulard, Olivier Stasse, Guilhem
+# Saurel, JRL, CNRS/AIST, LAAS-CNRS
+
+set(PYTHON_MODULE wrap)
+
+add_library(
+  ${PYTHON_MODULE} MODULE debug-py.cc dynamic-graph-py.cc factory-py.cc
+                          pool-py.cc signal-base-py.cc signal-wrapper.cc)
+
+target_link_libraries(${PYTHON_MODULE} PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
+
+# Remove prefix lib
+set_target_properties(${PYTHON_MODULE} PROPERTIES PREFIX "")
+
+if(UNIX AND NOT APPLE)
+  set_target_properties(${PYTHON_MODULE} PROPERTIES INSTALL_RPATH
+                                                    "\$ORIGIN/../../..")
+endif()
+
+install(
+  TARGETS ${PYTHON_MODULE}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION ${PYTHON_SITELIB}/dynamic_graph)

src/dynamic_graph/__init__.py

@@ -3,21 +3,8 @@ Copyright (c) 2010 CNRS
 Author: Florent Lamiraux
 """
 
-import sys, dl
-flags = sys.getdlopenflags()
-# Import C++ symbols in a global scope
-# This is necessary for signal compiled in different modules to be compatible
-sys.setdlopenflags(dl.RTLD_NOW|dl.RTLD_GLOBAL)
-from wrap import *
-# Recover previous flags
-sys.setdlopenflags(flags)
+from __future__ import print_function
 
-import entity, signal_base
-import re
-
-def plug (signalOut, signalIn) :
-    """
-    Plug an output signal into an input signal
-    """
-    # get signals and entities
-    w_plug(signalOut.obj, signalIn.obj)
+from . import entity  # noqa
+from . import signal_base  # noqa
+from .wrap import *  # noqa

src/dynamic_graph/attrpath.py

+# This module define the three functions:
+#   - getattrpath
+#   - setattrpath
+#   - existattrpath
+# that work similarly as the get/setattr, but given path ("a.b.c.d")
+# in input. Consider the following example:
+#  >>> setattrpath( e.__class__,"a.b.c.d",fun)
+# with fun a function (self,*arg). Then, it is next possible to launch
+#  >>> e.a.b.c.d( ...)
+# as if it was a classical member function of e.
+
+from __future__ import print_function
+
+
+class CommandPath(object):
+    """
+    This class is only defined to implement a path of attribute
+    to store entity commands. It has no members except those automatically
+    defined at run time (which should be CommandPath or functions).
+    """
+
+    mother = None
+
+    def __getattr__(self, name):
+        privateName = name + "_obj"
+        if privateName in self.__dict__:
+            obj = getattr(self, privateName)
+            obj.mother = self.mother
+            return obj
+        return object.__getattr__(self, name)
+
+
+def createCommandModule(target, name):
+    def createGetter(name):
+        def __(self):
+            obj = getattr(self, name)
+            obj.mother = self
+            return obj
+
+        return __
+
+    privateName = name + "_obj"
+    setattr(target, privateName, CommandPath())
+
+    if not isinstance(target, CommandPath):
+        setattr(target, name, property(createGetter(privateName)))
+
+
+class CommandLauncher(object):
+    """ """
+
+    mother = None
+    fun = None
+
+    def __init__(self, fun):
+        self.fun = fun
+
+    def __call__(self, *arg):
+        return self.fun(self.mother, *arg)
+
+
+def createCommandLauncher(target, name, fun):
+    if isinstance(target, CommandPath):
+        privateName = name + "_obj"
+        setattr(target, privateName, CommandLauncher(fun))
+    else:
+        setattr(target, name, fun)
+
+
+def setattrpath(target, path, attribute):
+    """
+    Create in target an new attribute with value path (available at
+    target.path1. ... .pathn).
+    """
+    pathk = target
+    read = True
+    if isinstance(path, str):
+        path = path.split(".")
+    for tokenk in path[0:-1]:
+        if (not read) | (tokenk not in pathk.__dict__):
+            read = False
+            createCommandModule(pathk, tokenk)
+        pathk = getattr(pathk, tokenk + "_obj")
+    if callable(attribute):
+        createCommandLauncher(pathk, path[-1], attribute)
+    else:
+        print("Should not happen")
+        setattr(pathk, path[-1], attribute)
+
+
+def getattrpath(target, path):
+    """
+    Get in target the value located at path (available at
+    target.path1. ... .pathn).
+    """
+    pathk = target
+    if isinstance(path, str):
+        path = path.split(".")
+    for tokenk in path:
+        privateName = tokenk + "_obj"
+        if hasattr(pathk, privateName):
+            pathk = getattr(pathk, privateName)
+        else:
+            if hasattr(pathk, tokenk):
+                pathk = getattr(pathk, tokenk)
+            else:
+                raise Exception(
+                    'Path does not exist -- while accessing "'
+                    + tokenk
+                    + '" in '
+                    + ".".join(path)
+                )
+    return pathk
+
+
+def existattrpath(target, path):
+    """
+    Check for the existence in target of a value located at path (available at
+    target.path1. ... .pathn).
+    """
+    pathk = target
+    if isinstance(path, str):
+        path = path.split(".")
+    for tokenk in path[0:-1]:
+        print("check ", tokenk)
+        privateName = tokenk + "_obj"
+        if privateName not in pathk.__dict__:
+            return False
+        pathk = getattr(pathk, privateName)
+    name = path[-1]
+    privateName = name + "_obj"
+    return (name in pathk.__dict__) | (privateName in pathk.__dict__)

src/dynamic_graph/convert-dg-to-py.cc

+// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
+
+#include "dynamic-graph/python/convert-dg-to-py.hh"
+
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/signal-caster.h>
+#include <dynamic-graph/signal.h>
+
+#include <boost/python.hpp>
+#include <boost/python/stl_iterator.hpp>
+#include <iostream>
+#include <sstream>
+
+#include "dynamic-graph/python/python-compat.hh"
+
+namespace dynamicgraph {
+
+using ::dynamicgraph::SignalBase;
+
+namespace python {
+namespace convert {
+
+namespace bp = boost::python;
+
+command::Value toValue(bp::object o, const command::Value::Type& valueType) {
+  using command::Value;
+  switch (valueType) {
+    case (Value::BOOL):
+      return Value(bp::extract<bool>(o));
+    case (Value::UNSIGNED):
+      return Value(bp::extract<unsigned>(o));
+    case (Value::INT):
+      return Value(bp::extract<int>(o));
+    case (Value::FLOAT):
+      return Value(bp::extract<float>(o));
+    case (Value::DOUBLE):
+      return Value(bp::extract<double>(o));
+    case (Value::STRING):
+      return Value(bp::extract<std::string>(o));
+    case (Value::VECTOR):
+      // TODO for backward compatibility, support tuple or list ?
+      // I don't think so
+      return Value(bp::extract<Vector>(o));
+    case (Value::MATRIX):
+      // TODO for backward compatibility, support tuple or list ?
+      // I don't think so
+      return Value(bp::extract<Matrix>(o));
+    case (Value::MATRIX4D):
+      return Value(bp::extract<Eigen::Matrix4d>(o));
+    case (Value::VALUES):
+      // TODO the vector of values cannot be built since
+      // - the value type inside the vector are not know
+      // - inferring the value type from the Python type is not implemented.
+      throw std::invalid_argument(
+          "not implemented: cannot create a vector of values");
+      break;
+    default:
+      std::cerr << "Only int, double and string are supported." << std::endl;
+  }
+  return Value();
+}
+
+bp::object fromValue(const command::Value& value) {
+  using command::Value;
+  switch (value.type()) {
+    case (Value::BOOL):
+      return bp::object(value.boolValue());
+    case (Value::UNSIGNED):
+      return bp::object(value.unsignedValue());
+    case (Value::INT):
+      return bp::object(value.intValue());
+    case (Value::FLOAT):
+      return bp::object(value.floatValue());
+    case (Value::DOUBLE):
+      return bp::object(value.doubleValue());
+    case (Value::STRING):
+      return bp::object(value.stringValue());
+    case (Value::VECTOR):
+      return bp::object(value.vectorValue());
+    case (Value::MATRIX):
+      return bp::object(value.matrixXdValue());
+    case (Value::MATRIX4D):
+      return bp::object(value.matrix4dValue());
+    case (Value::VALUES): {
+      bp::list list;
+      for (const Value& v : value.constValuesValue()) list.append(fromValue(v));
+      return list;
+    }
+    case (Value::NONE):
+    default:
+      return bp::object();
+  }
+}
+
+}  // namespace convert
+}  // namespace python
+}  // namespace dynamicgraph