src/signal-base-py.cc

-// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph-python is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either
-// version 3 of the License, or (at your option) any later version.
-//
-// dynamic-graph-python is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Lesser Public License for more details.  You should
-// have received a copy of the GNU Lesser General Public License along
-// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-#include <Python.h>
-#include <iostream>
-#include <sstream>
-
-#include <dynamic-graph/signal-base.h>
-#include <dynamic-graph/signal-caster.h>
-
-using dynamicgraph::SignalBase;
-
-namespace dynamicgraph {
-  namespace python {
-
-    extern PyObject* error;
-
-    namespace signalBase {
-
-      static void destroy (void* self);
-
-      /**
-	 \brief Create an instance of SignalBase
-      */
-      PyObject* create(PyObject* /*self*/, PyObject* args)
-      {
-	char *name = NULL;
-
-	if (!PyArg_ParseTuple(args, "s", &name))
-	  return NULL;
-
-	SignalBase<int>* obj = NULL;
-	obj = new SignalBase<int>(std::string(name));
-
-	// Return the pointer
-	return PyCObject_FromVoidPtr((void*)obj, destroy);
-      }
-
-      /**
-	 \brief Destroy an instance of InvertedPendulum
-      */
-      static void destroy (void* self)
-      {
-	SignalBase<int>* obj = (SignalBase<int>*)self;
-	delete obj;
-      }
-
-      PyObject* getTime(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	int time = obj->getTime();
-	return Py_BuildValue("i", time);
-      }
-
-      PyObject* display(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* obj = (SignalBase<int>*)pointer;
-
-	std::ostringstream oss;
-	try {
-	  obj->display(oss);
-	} catch (std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	  return NULL;
-	}
-	return Py_BuildValue("s", oss.str().c_str());
-      }
-
-      PyObject* getValue(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-
-	std::ostringstream value;
-	try {
-	  signal->get(value);
-	} catch (const dynamicgraph::ExceptionAbstract& exc) {
-	  PyErr_SetString(error, exc.getStringMessage().c_str());
-	  return NULL;
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	} catch (...) {
-	  PyErr_SetString(error, "Unknown exception");
-	  return NULL;
-	}
-	std::string valueString = value.str();
-	return Py_BuildValue("s", valueString.c_str());
-      }
-
-      PyObject* getName(PyObject* /*self*/, PyObject* args)
-      {
-	void* pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-
-	std::string name;
-	try {
-	  name = signal->getName();
-	} catch (const dynamicgraph::ExceptionAbstract& exc) {
-	  PyErr_SetString(error, exc.getStringMessage().c_str());
-	  return NULL;
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	} catch (...) {
-	  PyErr_SetString(error, "Unknown exception");
-	  return NULL;
-	}
-	return Py_BuildValue("s", name.c_str());
-      }
-
-      PyObject* setValue(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	char* valueString = NULL;
-
-	if (!PyArg_ParseTuple(args,"Os", &object, &valueString))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	std::ostringstream os;
-	os << valueString;
-	std::istringstream value(os.str());
-
-	try {
-	  signal->set(value);
-	} catch (const dynamicgraph::ExceptionAbstract& exc) {
-	  PyErr_SetString(error, exc.getStringMessage().c_str());
-	  return NULL;
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	  return NULL;
-	} catch (...) {
-	  PyErr_SetString(error, "Unknown exception");
-	  return NULL;
-	}
-
-	return Py_BuildValue("");
-      }
-
-      PyObject* recompute(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	unsigned int time;
-	if (!PyArg_ParseTuple(args,"OI", &object, &time))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	try {
-	  signal->recompute(time);
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	}
-	return Py_BuildValue("");
-      }
-
-      PyObject* unplug(PyObject* /*self*/, PyObject* args)
-      {
-	void * pointer = NULL;
-	PyObject* object = NULL;
-	if (!PyArg_ParseTuple(args,"O", &object))
-	  return NULL;
-	if (!PyCObject_Check(object))
-	  return NULL;
-
-	pointer = PyCObject_AsVoidPtr(object);
-	SignalBase<int>* signal = (SignalBase<int>*)pointer;
-	try {
-	  signal->unplug();
-	} catch (const std::exception& exc) {
-	  PyErr_SetString(error, exc.what());
-	}
-	return Py_BuildValue("");
-      }
-    }
-  }
-}

src/signal-caster-py.cc

-// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
-//
-// This file is part of dynamic-graph-python.
-// dynamic-graph-python is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either
-// version 3 of the License, or (at your option) any later version.
-//
-// dynamic-graph-python is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Lesser Public License for more details.  You should
-// have received a copy of the GNU Lesser General Public License along
-// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
-
-#include <Python.h>
-#include <iostream>
-#include <sstream>
-
-#include <dynamic-graph/signal-caster.h>
-
-namespace dynamicgraph {
-  namespace python {
-
-    extern PyObject* error;
-
-    namespace signalCaster {
-      PyObject* getSignalTypeList(PyObject* /*self*/, PyObject* args)
-      {
-	if (!PyArg_ParseTuple(args, ""))
-	  return NULL;
-	std::vector<std::string> typeList =
-	  dynamicgraph::g_caster.listTypenames();
-	unsigned int typeNumber = typeList.size();
-	// Build a tuple object
-	PyObject* typeTuple = PyTuple_New(typeNumber);
-
-	for (unsigned int iType = 0; iType < typeNumber; iType++) {
-	  PyObject* className = Py_BuildValue("s", typeList[iType].c_str());
-	  PyTuple_SetItem(typeTuple, iType, className);
-	}
-
-	return Py_BuildValue("O", typeTuple);
-      }
-    } //namespace signalCaster
-  } // namespace dynamicgraph
-} // namespace python

tests/CMakeLists.txt

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

tests/custom_entity_module.h

+#include "custom_entity.h"
+
+typedef boost::mpl::vector<dynamicgraph::CustomEntity> entities_t;

unitTesting/dynamic-graph-python-test.cc → tests/dynamic-graph-python-test.cc

@@ -2,10 +2,10 @@
  *  Copyright
  */
 
+#include "dynamic-graph-python-test.hh"
+
 #include <iostream>
-#include "dynamic-graph-python-test.hh" 
 
-GraphTest::GraphTest()
-{
+GraphTest::GraphTest() {
   std::cout << "Constructor of unitTesting object of class Graph." << std::endl;
 }

tests/main.cc

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

tests/test_python-syntax_error.py

+# flake8: noqa
+hello world