From 9089b48b9ae6bb250405989268505357b11e3d2f Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 17 Apr 2023 06:49:35 +0200
Subject: [PATCH] Add python bindings for the test impl_test_sot_mock_device
---
tests/CMakeLists.txt | 29 +++++++++++++++++--
...l_test_sot_mock_device-python-module-py.cc | 20 +++++++++++++
2 files changed, 47 insertions(+), 2 deletions(-)
create mode 100644 tests/impl_test_sot_mock_device-python-module-py.cc
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 720c139..7ffb1d8 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -10,9 +10,34 @@ if(BUILD_TESTING)
find_package(launch_testing_ament_cmake)
ament_lint_auto_find_test_dependencies()
+ # Library for sot_mock_device
+ add_library(impl_test_sot_mock_device SHARED impl_test_sot_mock_device.cpp)
+ set_target_properties(impl_test_sot_mock_device PROPERTIES INSTALL_RPATH
+ $ORIGIN)
+ # target_include_directories(impl_test_sot_mock_device PUBLIC include)
+ target_link_libraries(
+ impl_test_sot_mock_device PUBLIC sot-core::sot-core
+ dynamic-graph-python::dynamic-graph-python)
+
+ install(
+ TARGETS impl_test_sot_mock_device
+ EXPORT ${TARGETS_EXPORT_NAME}
+ DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+
+ file(MAKE_DIRECTORY
+ ${PROJECT_BINARY_DIR}/tests/dynamic_graph/ros/impl_test_sot_mock_device)
+
+ dynamic_graph_python_module(
+ "${PYTHON_DIR}/ros/impl_test_sot_mock_device" impl_test_sot_mock_device
+ dynamic_graph_bridge-impl_test_sot_mock_device-wrap SOURCE_PYTHON_MODULE
+ "${CMAKE_CURRENT_SOURCE_DIR}/impl_test_sot_mock_device-python-module-py.cc")
+
+ install(
+ TARGETS ${plugin_library_name}
+ EXPORT ${TARGETS_EXPORT_NAME}
+ DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
# Library for sot_external_interface
- add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp
- impl_test_sot_mock_device.cpp)
+ add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp)
target_include_directories(impl_test_library PUBLIC include)
target_link_libraries(impl_test_library PUBLIC sot-core::sot-core)
diff --git a/tests/impl_test_sot_mock_device-python-module-py.cc b/tests/impl_test_sot_mock_device-python-module-py.cc
new file mode 100644
index 0000000..92b69d2
--- /dev/null
+++ b/tests/impl_test_sot_mock_device-python-module-py.cc
@@ -0,0 +1,20 @@
+/*
+ * Copyright 2023, LAAS, CNRS
+ *
+ * Author:Olivier Stasse
+ *
+ * This file is part of dynamic_graph_bridge.
+ * This file is under the APACHE license 2.0
+ *
+ */
+#include <dynamic-graph/python/module.hh>
+
+#include "impl_test_sot_mock_device.hh"
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap) {
+ bp::import("dynmic_graph.sot.core.wrap");
+
+ dg::python::exposeEntity<ImplTestSotMockDevice,
+ bp::bases<dg::sot::Device> >();
+}
--
GitLab