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/CMakeLists.txt

-# Copyright 2010, 2011, Florent Lamiraux, 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-python. If not, see <http://www.gnu.org/licenses/>.
-

include/dynamic-graph/python/api.hh

 // -*- 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/>.
 
 #ifndef DYNAMIC_GRAPH_PYTHON_API_HH
-# define DYNAMIC_GRAPH_PYTHON_API_HH
-# include <dynamic-graph/python/config.hh>
-#endif //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/exception-python.hh

-// -*- mode: c++ -*-
-// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
-// JRL, 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
-// 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/>.
-
-#ifndef DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
-# define DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H
-# include <string>
-
-# include <dynamic-graph/fwd.hh>
-# include <dynamic-graph/dynamic-graph-api.h>
-# include <dynamic-graph/exception-abstract.h>
-
-namespace dynamicgraph {
-  namespace python {
-
-    /// \ingroup error
-    ///
-    /// \brief Generic error class.
-    class DYNAMIC_GRAPH_DLLAPI ExceptionPython : public ExceptionAbstract
-    {
-    public:
-      enum ErrorCodeEnum
-      {
-	GENERIC
-	,VALUE_PARSING
-	,VECTOR_PARSING
-	,MATRIX_PARSING
-	,CLASS_INCONSISTENT
-      };
-
-      static const std::string EXCEPTION_NAME;
-
-      explicit ExceptionPython (const ExceptionPython::ErrorCodeEnum& errcode,
-				const std::string & msg = "");
-
-      ExceptionPython (const ExceptionPython::ErrorCodeEnum& errcode,
-		       const std::string& msg, const char* format, ...);
-
-      virtual ~ExceptionPython () throw ()
-      {}
-
-      virtual const std::string& getExceptionName () const
-      {
-	return ExceptionPython::EXCEPTION_NAME;
-      }
-    };
-  } // end of namespace python
-} // end of namespace dynamicgraph
-
-#endif //! DYNAMIC_GRAPH_PYTHON_EXCEPTION_PYTHON_H

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.
-//
-// 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/>.
+
+#ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
+#define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
 
 #undef _POSIX_C_SOURCE
 #undef _XOPEN_SOURCE
-#include <Python.h>
-#include <string>
-#include "dynamic-graph/python/api.hh"
-
-#ifndef DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
-# define DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
+#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
-      std::string python( const std::string& command );
-
-      /// \brief Method to exectue a python script.
-      /// \param filename the filename
-      void runPythonFile( std::string filename );
-
-      /// \brief Process input stream to send relevant blocks to python
-      /// \param stream input stream
-      std::string processStream(std::istream& stream, std::ostream& os);
-
-    private:
-      /// Pointer to the dictionary of global variables
-      PyObject* globals_;
-      /// Pointer to the dictionary of local variables
-      PyObject* locals_;
-      PyObject* mainmod_;
-      PyObject* traceback_format_exception_;
-    };
-  } // namespace python
-} // namespace dynamicgraph
-#endif // DYNAMIC_GRAPH_PYTHON_INTERPRETER_H
+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 bindings
 
-#
-# Python
-#
-INCLUDE(FindPythonLibs)
-IF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
-   MESSAGE(FATAL_ERROR "Python has not been found.")
-ENDIF (NOT ${PYTHONLIBS_FOUND} STREQUAL TRUE)
+add_subdirectory(dynamic_graph)
 
-INCLUDE(FindPythonInterp)
-IF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
-   MESSAGE(FATAL_ERROR "Python executable has not been found.")
-ENDIF (NOT ${PYTHONINTERP_FOUND} STREQUAL TRUE)
-
-INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
-
-# provide path to library libdynamic-graph.so
-LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})
-ADD_DEFINITIONS(${DYNAMIC_GRAPH_CFLAGS})
-
-#
-#
-#  Python interpreter
-#
-#
-SET(LIBRARY_NAME ${PROJECT_NAME})
-ADD_LIBRARY(${LIBRARY_NAME}
-  SHARED
-  interpreter.cc)
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  ${Boost_LIBRARIES}
-  ${PYTHON_LIBRARY})
-SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
-
-INSTALL(TARGETS ${LIBRARY_NAME}
-  DESTINATION lib)
-
-SET(EXECUTABLE_NAME dg-python)
-ADD_EXECUTABLE(${EXECUTABLE_NAME} dg-python.cc)
-TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
-  ${LIBRARY_NAME}
-  )
-INSTALL(TARGETS dg-python DESTINATION bin)
-
-#
-#
-#  Python bindings
-#
-#
-
-SET(PYTHON_MODULE wrap)
-
-ADD_LIBRARY(${PYTHON_MODULE}
-	MODULE
-	exception-python.cc
-	convert-dg-to-py.cc
-	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
-    dynamic_graph/matlab.py
-    dynamic_graph/script_shortcuts.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})
+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
-INCLUDE(../cmake/python.cmake)
-EXEC_PROGRAM("${PKG_CONFIG_EXECUTABLE}"
-             ARGS "--variable=plugindir" "dynamic-graph"
-             OUTPUT_VARIABLE "DYNAMIC_GRAPH_PLUGIN_DIR")
-
-# Tracer plugin
-ADD_DEPENDENCIES(${LIBRARY_NAME} MKDIR_tracer)
-ADD_CUSTOM_TARGET(MKDIR_tracer mkdir -p ../lib/dynamic_graph/tracer)
-SET(TRACER_PLUGIN ${DYNAMIC_GRAPH_PLUGIN_DIR}/tracer.so)
-DYNAMIC_GRAPH_PYTHON_MODULE("tracer" ${TRACER_PLUGIN} tracer/wrap)
-
-# TracerRealTime plugin
-ADD_DEPENDENCIES(${LIBRARY_NAME} MKDIR_TracerRealTime)
-ADD_CUSTOM_TARGET(MKDIR_TracerRealTime mkdir -p ../lib/dynamic_graph/tracer_real_time)
-SET(TRACERREALTIME_PLUGIN ${DYNAMIC_GRAPH_PLUGIN_DIR}/tracer-real-time.so)
-DYNAMIC_GRAPH_PYTHON_MODULE("tracer_real_time" ${TRACERREALTIME_PLUGIN} tracer_real_time/wrap)
-
-
+link_directories(${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/convert-dg-to-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 "../src/convert-dg-to-py.hh"
-#include <iostream>
-#include <sstream>
-
-#include <dynamic-graph/signal-base.h>
-#include <dynamic-graph/signal.h>
-#include <dynamic-graph/signal-caster.h>
-
-
-
-namespace dynamicgraph {
-
-  using ::dynamicgraph::SignalBase;
-
-  namespace python {
-    namespace convert {
-
-
-      void fillMatrixRow(Matrix& m, unsigned iRow, PyObject* tuple)
-      {
-	if (PyTuple_Size(tuple) != (int)m.nbCols()) {
-	  throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-				 "lines of matrix have different sizes.");
-	}
-	for (unsigned int iCol=0; iCol < m.nbCols(); iCol++) {
-	  PyObject* pyDouble = PyTuple_GetItem(tuple, iCol);
-	  if (PyFloat_Check(pyDouble))
-	    m(iRow, iCol) = PyFloat_AsDouble(pyDouble);
-	  else if(PyInt_Check(pyDouble))
-	    m(iRow, iCol) = (int)PyInt_AS_LONG(pyDouble)+0.0;
-	  else
-	    throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-				   "element of matrix should be "
-				   "a floating point number.");
-	}
-      }
-
-      command::Value pythonToValue(PyObject* pyObject,
-				   const command::Value::Type& valueType)
-      {
-	using command::Value;
-	bool bvalue;
-	unsigned uvalue;
-	int ivalue;
-	float fvalue;
-	double dvalue;
-	std::string svalue;
-	Vector v;
-	Matrix m;
-	unsigned int nCols;
-	unsigned int size;
-	PyObject* row;
-	unsigned int nRows;
-
-	switch (valueType) {
-	case (Value::BOOL) :
-	  if (!PyBool_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "bool");
-	  }
-	  bvalue = (pyObject == Py_True);
-	  return Value(bvalue);
-	  break;
-	case (Value::UNSIGNED) :
-	  if (!PyInt_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "unsigned int");
-	  }
-	  uvalue = PyInt_AsUnsignedLongMask(pyObject);
-	  return Value(uvalue);
-	  break;
-	case (Value::INT) :
-	  if (!PyInt_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "int");
-	  }
-	  ivalue = (int)PyInt_AS_LONG(pyObject);
-	  return Value(ivalue);
-	  break;
-	case (Value::FLOAT) :
-	  if (PyFloat_Check(pyObject)) {
-	    fvalue = (float)PyFloat_AsDouble(pyObject);
-	    return Value(fvalue);
-	  } else if (PyInt_Check(pyObject)) {
-	    fvalue = (float)PyInt_AS_LONG(pyObject);
-	    return Value(fvalue);
-	  } else {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "float");
-	  }
-	  break;
-	case (Value::DOUBLE) :
-	  if (PyFloat_Check(pyObject)) {
-	    dvalue = PyFloat_AsDouble(pyObject);
-	    return Value(dvalue);
-	  } else if (PyInt_Check(pyObject)) {
-	    dvalue = 0.0+PyInt_AS_LONG(pyObject);
-	    return Value(dvalue);
-	  } else {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "double");
-	  }
-	  break;
-	case (Value::STRING) :
-	  if (!PyString_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "string");
-	  }
-	  svalue = PyString_AsString(pyObject);
-	  return Value(svalue);
-	  break;
-	case (Value::VECTOR) :
-	  // Check that argument is a tuple
-	  if (!PyTuple_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "vector");
-	  }
-	  size = PyTuple_Size(pyObject);
-	  v.resize(size);
-	  for (unsigned int i=0; i<size; i++) {
-	    PyObject* pyDouble = PyTuple_GetItem(pyObject, i);
-	    if (PyFloat_Check(pyDouble))
-	      v(i) = PyFloat_AsDouble(pyDouble);
-	    else if(PyInt_Check(pyDouble))
-	      v(i) = (int)PyInt_AS_LONG(pyObject)+0.0;
-	    else
-	      throw ExceptionPython(ExceptionPython::VECTOR_PARSING,
-				     "element of vector should be a floating "
-				     "point number.");
-	  }
-	  return Value(v);
-	  break;
-	case (Value::MATRIX) :
-	  // Check that argument is a tuple
-	  if (!PyTuple_Check(pyObject)) {
-	    throw ExceptionPython(ExceptionPython::VALUE_PARSING,
-				   "matrix");
-	  }
-	  nRows = PyTuple_Size(pyObject);
-	  if (nRows == 0) {
-	    return Value(Matrix());
-	  }
-	  row = PyTuple_GetItem(pyObject, 0);
-	  if (!PyTuple_Check(row)) {
-	    throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-				   "matrix");
-	  }
-	  nCols = PyTuple_Size(row);
-
-	  m.resize(nRows, nCols);
-	  fillMatrixRow(m, 0, row);
-
-	  for (unsigned int iRow=1; iRow<nRows; iRow++) {
-	    row = PyTuple_GetItem(pyObject, iRow);
-	    if (!PyTuple_Check(row)) {
-	      throw ExceptionPython(ExceptionPython::MATRIX_PARSING,
-				     "matrix");
-	    }
-	    fillMatrixRow(m, iRow, row);
-	  }
-	  return Value(m);
-	  break;
-	default:
-	  std::cerr << "Only int, double and string are supported."
-		    << std::endl;
-	}
-	return Value();
-      }
-
-      PyObject* vectorToPython(const Vector& vector)
-      {
-	PyObject* tuple = PyTuple_New(vector.size());
-	for (unsigned int index = 0; index < vector.size(); index++) {
-	  PyObject* pyDouble = PyFloat_FromDouble(vector(index));
-	  PyTuple_SET_ITEM(tuple, index, pyDouble);
-	}
-	return tuple;
-      }
-
-      PyObject* matrixToPython(const Matrix& matrix)
-      {
-	PyObject* tuple = PyTuple_New(matrix.nbRows());
-	for (unsigned int iRow = 0; iRow < matrix.nbRows(); iRow++) {
-	  PyObject* row = PyTuple_New(matrix.nbCols());
-	  for (unsigned iCol=0; iCol < matrix.nbCols(); iCol++) {
-	    PyObject* pyDouble = PyFloat_FromDouble(matrix(iRow, iCol));
-	    PyTuple_SET_ITEM(row, iCol, pyDouble);
-	  }
-	  PyTuple_SET_ITEM(tuple, iRow, row);
-	}
-	return tuple;
-      }
-
-      PyObject* valueToPython(const command::Value& value)
-      {
-	using command::Value;
-	bool boolValue;
-	unsigned unsignedValue;
-	int intValue;
-	float floatValue;
-	double doubleValue;
-	std::string stringValue;
-	Vector vectorValue;
-	Matrix matrixValue;
-
-	switch(value.type()) {
-	case (Value::BOOL) :
-	  boolValue = value.value();
-	  if (boolValue) {
-	    return PyBool_FromLong(1);
-	  }
-	  return PyBool_FromLong(0);
-	case (Value::UNSIGNED) :
-	  unsignedValue = value.value();
-	  return Py_BuildValue("I", unsignedValue);
-	case (Value::INT) :
-	  intValue = value.value();
-	  return Py_BuildValue("i", intValue);
-	case (Value::FLOAT) :
-	  floatValue = value.value();
-	  return Py_BuildValue("f", floatValue);
-	case (Value::DOUBLE) :
-	  doubleValue = value.value();
-	  return Py_BuildValue("d", doubleValue);
-	case (Value::STRING) :
-	  stringValue = (std::string) value.value();
-	  return Py_BuildValue("s", stringValue.c_str());
-	case (Value::VECTOR) :
-	  vectorValue = value.value();
-	  return vectorToPython(vectorValue);
-	case (Value::MATRIX) :
-	  matrixValue = value.value();
-	  return matrixToPython(matrixValue);
-	default:
-	  return Py_BuildValue("");
-	}
-	return Py_BuildValue("");
-      }
-
-    } // namespace dynamicgraph
-  } // namespace python
-} // namespace convert

src/convert-dg-to-py.hh

-// 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 <dynamic-graph/linear-algebra.h>
-#include <dynamic-graph/value.h>
-#include <dynamic-graph/python/exception-python.hh>
-
-namespace dynamicgraph {
-  namespace python {
-    namespace convert {
-
-      command::Value pythonToValue(PyObject* pyObject,
-				   const command::Value::Type& valueType);
-      PyObject* vectorToPython(const Vector& vector);
-      PyObject* matrixToPython(const  ::dynamicgraph::Matrix& matrix);
-      PyObject* valueToPython(const  ::dynamicgraph::command::Value& value);
-
-    } // namespace dynamicgraph
-  } // namespace python
-}

src/dg-python.cc

-// 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/>.
-
-#include <sstream>
-#include <string>
-#include <vector>
-#include <list>
-
-#include <boost/filesystem.hpp>
-#include <boost/foreach.hpp>
-#include <boost/format.hpp>
-#include <boost/program_options.hpp>
-
-#include <dynamic-graph/debug.h>
-
-#include "dynamic-graph/python/interpreter.hh"
-
-// Factorize exception catching code.
-#define CATCH_EXCEPTIONS()						\
-  catch (std::exception& e)						\
-    {									\
-      std::cout								\
-	<< errorPrefix							\
-	<< e.what () << std::endl;					\
-    }									\
-  catch (const char* str)						\
-    {									\
-      std::cout << errorPrefix						\
-		<< "Unknown exception " << str << std::endl;		\
-    }									\
-  catch (...)								\
-    {									\
-      dgDEBUG(5) << errorPrefix << " Unknown exception " << std::endl;	\
-    }									\
-  struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
-
-struct Options
-{
-  /// \brief Prologue path (a prologue is a script implicitly
-  /// evaluated at start-up).
-};
-
-int main (int argc, char** argv)
-{
-  dgDEBUGIN(15);
-
-  dgDEBUG(5) << " Loading..." << std::endl;
-
-  // Parse options.
-  std::vector<std::string> inputs;
-  namespace po = boost::program_options;
-  po::options_description desc ("Allowed options");
-  desc.add_options ()
-    ("input,i",
-     po::value<std::vector<std::string> >(&inputs),
-     "file(s) evaluated at start-up")
-    ("help,h", "produce help message")
-    ;
-
-  po::positional_options_description p;
-  p.add("input", -1);
-  
-  po::variables_map vm;
-
-  try
-    {
-      po::store(po::command_line_parser(argc, argv).
-		options(desc).positional(p).run(), vm);
-      po::notify(vm);
-
-      if (vm.count ("help"))
-	{
-	  std::cout << "Usage: " << argv[0] << " [options]" << std::endl
-		    << desc << std::endl
-		    << "Report bugs to <hpp@laas.fr>" << std::endl;
-	  return 1;
-	}
-    }
-  catch (po::error& error)
-    {
-      std::cerr << "Error while parsing argument: "
-		<< error.what () << std::endl;
-      return 1;
-    }
-
-  std::list<std::string> inputList (inputs.begin (),
-				    inputs.end ());
-
-  // Load all input files.
-  dynamicgraph::python::Interpreter interpreter;
-  BOOST_FOREACH (const std::string& pathStr, inputList)
-    {
-      boost::filesystem::path path (pathStr);
-
-      std::stringstream ss;
-      ss << "!! In file <" << path.file_string () << "> : ";
-      std::string errorPrefix = ss.str ();
-
-      try
-	{
-	  interpreter.runPythonFile (path.file_string ());
-	}
-      CATCH_EXCEPTIONS ();
-      return 0;
-    }
-
-  std::string errorPrefix = "";
-  std::string command;
-  while(1) {
-    command = interpreter.processStream(std::cin, std::cout);
-    if (command != "\n") {
-      std::string result = interpreter.python(command);
-      if (result != "None")  {
-	std::cout << result << std::endl;
-      }
-    }
-    if (std::cin.eof ())
-      break;
-  }
-  std::cout << std::endl;
-  return 0;
-}

src/dynamic-graph-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 <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* setTime(PyObject* self, PyObject* args);
-      extern PyObject* getName(PyObject* self, PyObject* args);
-      extern PyObject* display(PyObject* self, PyObject* args);
-      extern PyObject* displayDependencies(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);
-      extern PyObject* unplug(PyObject* self, PyObject* args);
-    }
-    namespace entity {
-      extern PyObject* create(PyObject* self, PyObject* args);
-      extern PyObject* display(PyObject* self, PyObject* args);
-      extern PyObject* display(PyObject* self, PyObject* args);
-      extern PyObject* getName(PyObject* self, PyObject* args);
-      extern PyObject* getSignal(PyObject* self, PyObject* args);
-      extern PyObject* listSignals(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_set_time", dynamicgraph::python::signalBase::setTime,
-   METH_VARARGS, "Set time of  a SignalBase"},
-  {"signal_base_get_name", dynamicgraph::python::signalBase::getName,
-   METH_VARARGS, "Get the name of a signal"},
-  {"signal_base_display", dynamicgraph::python::signalBase::display,
-   METH_VARARGS, "Print the signal in a string"},
-  {"signal_base_display_dependencies", dynamicgraph::python::signalBase::displayDependencies,
-   METH_VARARGS, "Print the signal dependencies in a string"},
-  {"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"},
-  {"signal_base_unplug", dynamicgraph::python::signalBase::unplug,
-   METH_VARARGS, "Unplug the signal"},
-  // Entity
-  {"create_entity", dynamicgraph::python::entity::create, METH_VARARGS,
-   "create an Entity C++ object"},
-  {"display_entity", dynamicgraph::python::entity::display, METH_VARARGS,
-   "print 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_list_signals", dynamicgraph::python::entity::listSignals,
-   METH_VARARGS,
-   "Return the list of signals of an entity."},
-  {"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);
-}