doc/package.css

@@ -45,8 +45,8 @@ a:link {
     color:#0066CC
 }
 
-a:hover, a:active { 
-	text-decoration: underline; 
+a:hover, a:active {
+	text-decoration: underline;
 	color: #3C9A35;
 }
 
@@ -57,7 +57,7 @@ a:visited {
 }
 
 DIV.memitem
-{ 
+{
   spacing: 10px;
   width:100%;
   background:#FFFFFF;
@@ -70,7 +70,7 @@ DIV.memitem
 }
 
 DIV.memproto
-{ 
+{
   width:100%;
   background:#F0F0F0;
   font-size:100%;
@@ -82,7 +82,7 @@ DIV.memproto
 }
 
 DIV.memdoc
-{ 
+{
   padding: 10px;
   width:100%;
   font-size:100%;
@@ -189,7 +189,7 @@ DIV.nav
 }
 
 DIV.groupHeader
-{ 
+{
   padding-top: 30px;
   padding-bottom: 20px;
   background       : none;
@@ -201,23 +201,23 @@ DIV.groupHeader
   color:#0066CC;
 }
 
-.directory p 
-{ 
-    margin: 0px; 
-    white-space: nowrap; 
+.directory p
+{
+    margin: 0px;
+    white-space: nowrap;
     font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
     font-size: 10pt;
     font-weight: normal;
 }
 
 
-.directory h3 
-{ 
+.directory h3
+{
     font-family: 'Lucida Grande','Lucida Sans Unicode',Verdana,Sans-Serif;
-    margin: 0px; 
-    margin-top: 1em; 
+    margin: 0px;
+    margin-top: 1em;
     padding-bottom: 20px;
-    font-size: 12pt; 
+    font-size: 12pt;
     font-variant: small-caps;
     text-align: center;
 }
@@ -227,4 +227,3 @@ DIV.groupHeader
     text-decoration: none;
     color:#0066CC
 }
-

doc/package.dox.cmake → doc/package.dox.in

@@ -23,8 +23,8 @@ ABBREVIATE_BRIEF       = "The $name class" \
 ALWAYS_DETAILED_SEC    = YES
 INLINE_INHERITED_MEMB  = NO
 FULL_PATH_NAMES        = NO
-STRIP_FROM_PATH        = 
-STRIP_FROM_INC_PATH    = 
+STRIP_FROM_PATH        =
+STRIP_FROM_INC_PATH    =
 SHORT_NAMES            = NO
 JAVADOC_AUTOBRIEF      = YES
 MULTILINE_CPP_IS_BRIEF = NO
@@ -50,7 +50,7 @@ SORT_MEMBER_DOCS       = YES
 SORT_BRIEF_DOCS        = NO
 SORT_BY_SCOPE_NAME     = NO
 MAX_INITIALIZER_LINES  = 30
-FILE_VERSION_FILTER    = 
+FILE_VERSION_FILTER    =
 #---------------------------------------------------------------------------
 # configuration options related to warning and progress messages
 #---------------------------------------------------------------------------
@@ -60,18 +60,18 @@ WARN_IF_UNDOCUMENTED   = YES
 WARN_IF_DOC_ERROR      = YES
 WARN_NO_PARAMDOC       = NO
 WARN_FORMAT            = "$file:$line: $text"
-WARN_LOGFILE           = 
+WARN_LOGFILE           =
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
 RECURSIVE              = YES
-EXCLUDE                = 
+EXCLUDE                =
 EXCLUDE_SYMLINKS       = NO
-EXAMPLE_PATH           = 
+EXAMPLE_PATH           =
 EXAMPLE_PATTERNS       = *
 EXAMPLE_RECURSIVE      = NO
-INPUT_FILTER           = 
-FILTER_PATTERNS        = 
+INPUT_FILTER           =
+FILTER_PATTERNS        =
 FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 # configuration options related to source browsing
@@ -81,7 +81,7 @@ FILTER_SOURCE_FILES    = NO
 #---------------------------------------------------------------------------
 ALPHABETICAL_INDEX     = NO
 COLS_IN_ALPHA_INDEX    = 5
-IGNORE_PREFIX          = 
+IGNORE_PREFIX          =
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
@@ -89,8 +89,8 @@ GENERATE_HTML          = YES
 HTML_FILE_EXTENSION    = .html
 HTML_ALIGN_MEMBERS     = YES
 GENERATE_HTMLHELP      = NO
-CHM_FILE               = 
-HHC_LOCATION           = 
+CHM_FILE               =
+HHC_LOCATION           =
 GENERATE_CHI           = NO
 BINARY_TOC             = NO
 TOC_EXPAND             = YES
@@ -106,8 +106,8 @@ LATEX_CMD_NAME         = latex
 MAKEINDEX_CMD_NAME     = makeindex
 COMPACT_LATEX          = NO
 PAPER_TYPE             = a4wide
-EXTRA_PACKAGES         = 
-LATEX_HEADER           = 
+EXTRA_PACKAGES         =
+LATEX_HEADER           =
 PDF_HYPERLINKS         = NO
 USE_PDFLATEX           = NO
 LATEX_BATCHMODE        = NO
@@ -118,8 +118,8 @@ LATEX_HIDE_INDICES     = NO
 RTF_OUTPUT             = rtf
 COMPACT_RTF            = NO
 RTF_HYPERLINKS         = NO
-RTF_STYLESHEET_FILE    = 
-RTF_EXTENSIONS_FILE    = 
+RTF_STYLESHEET_FILE    =
+RTF_EXTENSIONS_FILE    =
 #---------------------------------------------------------------------------
 # configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -130,8 +130,8 @@ MAN_LINKS              = NO
 # configuration options related to the XML output
 #---------------------------------------------------------------------------
 XML_OUTPUT             = xml
-XML_SCHEMA             = 
-XML_DTD                = 
+XML_SCHEMA             =
+XML_DTD                =
 XML_PROGRAMLISTING     = YES
 #---------------------------------------------------------------------------
 # configuration options for the AutoGen Definitions output
@@ -142,20 +142,20 @@ GENERATE_AUTOGEN_DEF   = NO
 #---------------------------------------------------------------------------
 PERLMOD_LATEX          = NO
 PERLMOD_PRETTY         = YES
-PERLMOD_MAKEVAR_PREFIX = 
+PERLMOD_MAKEVAR_PREFIX =
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
+# Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 SEARCH_INCLUDES        = YES
-INCLUDE_PATH           = 
-INCLUDE_FILE_PATTERNS  = 
-EXPAND_AS_DEFINED      = 
+INCLUDE_PATH           =
+INCLUDE_FILE_PATTERNS  =
+EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references   
+# Configuration::additions related to external references
 #---------------------------------------------------------------------------
 TAGFILES               = \
 	${DYNAMIC_GRAPH_DOCDIR}/html/dynamic-graph.doxytag=${DYNAMIC_GRAPH_DOCDIR}/html
@@ -164,10 +164,10 @@ ALLEXTERNALS           = NO
 EXTERNAL_GROUPS        = YES
 PERL_PATH              = /usr/bin/perl
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
+# Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration::additions related to the search engine   
+# Configuration::additions related to the search engine
 #---------------------------------------------------------------------------
 SEARCHENGINE           = NO
 
@@ -196,7 +196,7 @@ GENERATE_TODOLIST      = YES
 GENERATE_TESTLIST      = NO
 GENERATE_BUGLIST       = NO
 GENERATE_DEPRECATEDLIST= YES
-ENABLED_SECTIONS       = 
+ENABLED_SECTIONS       =
 SHOW_USED_FILES        = NO
 SHOW_DIRECTORIES       = NO
 #---------------------------------------------------------------------------
@@ -206,7 +206,7 @@ SHOW_DIRECTORIES       = NO
 # configuration options related to the input files
 #---------------------------------------------------------------------------
 FILE_PATTERNS          = *.hh *.idl
-EXCLUDE_PATTERNS       = 
+EXCLUDE_PATTERNS       =
 INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
                          ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
 
@@ -260,13 +260,13 @@ GENERATE_AUTOGEN_DEF   = NO
 #---------------------------------------------------------------------------
 GENERATE_PERLMOD       = NO
 #---------------------------------------------------------------------------
-# Configuration options related to the preprocessor   
+# Configuration options related to the preprocessor
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration::additions related to external references   
+# Configuration::additions related to external references
 #---------------------------------------------------------------------------
 #---------------------------------------------------------------------------
-# Configuration options related to the dot tool   
+# Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 CLASS_DIAGRAMS         = YES
 HIDE_UNDOC_RELATIONS   = YES
@@ -282,8 +282,8 @@ CALL_GRAPH             = NO
 GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = YES
 DOT_IMAGE_FORMAT       = png
-DOT_PATH               = 
-DOTFILE_DIRS           = 
+DOT_PATH               =
+DOTFILE_DIRS           =
 MAX_DOT_GRAPH_DEPTH    = 1000
 DOT_TRANSPARENT        = NO
 DOT_MULTI_TARGETS      = YES

dynamic-graph-python.pc.cmake

-prefix=${CMAKE_INSTALL_PREFIX}
-exec_prefix=${install_pkg_prefix}
-libdir=${install_pkg_exec_prefix}/lib
-includedir=${install_pkg_prefix}/include
-datarootdir=${install_pkg_prefix}/share
-docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
-
-Name: ${PROJECT_NAME}
-Description: 
-Version: ${PROJECT_VERSION}
-Requires: ${PACKAGE_REQUIREMENTS}
-Libs:
-Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}

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 CNRS
-#
-#  Author: Florent Lamiraux
-#
-
-#
-# 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})
-
-#
-#
-#  Python bindings
-#
-#
-
-SET(PYTHON_MODULE wrap)
-
-ADD_LIBRARY(${PYTHON_MODULE}
-	MODULE
-	dynamic-graph-py.cc)
-
-# Remove prefix lib
-SET_TARGET_PROPERTIES(${PYTHON_MODULE}
-	PROPERTIES PREFIX "")
-
-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
-)
-
-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 <string>
-
-static PyObject*
-loadPlugin(PyObject* self, PyObject* args)
-{
-  char* plugin = NULL;
-  char* path = NULL;
-
-  if (!PyArg_ParseTuple(args,"ss", &plugin, &path))
-    return NULL;
-
-  std::cout << "loadPlugin " << std::string(plugin) << " "
-	    << std::string(path) << std::endl;
-  return Py_BuildValue("");
-}
-
-static PyObject*
-plug(PyObject* self, PyObject* args)
-{
-  char* out = NULL;
-  char* in = NULL;
-  if (!PyArg_ParseTuple(args,"ss", &out, &in))
-    return NULL;
-
-  std::cout << "plug " << std::string(out) << " "
-	    << std::string(in) << std::endl;
-  return Py_BuildValue("");
-}
-
-/**
-   \brief List of python functions
-*/
-static PyMethodDef sotTutorialMethods[] = {
-  {"loadPlugin",  loadPlugin, METH_VARARGS,
-     "load a plugin into the dynamic-graph"},
-  {"plug",  plug, METH_VARARGS,
-     "plug an output signal into an input signal"},
-  {NULL, NULL, 0, NULL}        /* Sentinel */
-};
-
-PyMODINIT_FUNC
-initwrap(void)
-{
-    PyObject *m;
-
-    m = Py_InitModule("wrap", sotTutorialMethods);
-    if (m == NULL)
-        return;
-}

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

@@ -3,4 +3,8 @@ Copyright (c) 2010 CNRS
 Author: Florent Lamiraux
 """
 
-import wrap
+from __future__ import print_function
+
+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__)