GCC Code Coverage Report

Directory: ./
File: src/python-module.cc
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 39 63 61.9%
Branches: 44 144 30.6%
Line Branch Exec Source
1 #include <sot/core/device.hh>
2 #include <sot/core/flags.hh>
3
4 #include "dynamic-graph/python/module.hh"
5 #include "dynamic-graph/python/signal.hh"
6
7 namespace dg = dynamicgraph;
8 namespace dgs = dynamicgraph::sot;
9
10 typedef bp::return_value_policy<bp::reference_existing_object>
11 reference_existing_object;
12
13
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 28 BOOST_PYTHON_MODULE(wrap) {
14
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 14 bp::import("dynamic_graph");
15
16 using dgs::PeriodicCall;
17 14 bp::class_<PeriodicCall, boost::noncopyable>("PeriodicCall", bp::no_init)
18 28 .def("addSignal",
19 static_cast<void (PeriodicCall::*)(const std::string &,
20 dg::SignalBase<int> &)>(
21 &PeriodicCall::addSignal),
22
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 28 "Add the signal to the refresh list", (bp::arg("name"), "signal"))
23
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 14 .def("addSignal",
24 static_cast<void (PeriodicCall::*)(const std::string &)>(
25 &PeriodicCall::addSignal),
26
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 28 "Add the signal to the refresh list", (bp::arg("signal_name")))
27
28
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 14 .def("addDownsampledSignal",
29 static_cast<void (PeriodicCall::*)(
30 const std::string &, dg::SignalBase<int> &,
31 const unsigned int &)>(&PeriodicCall::addDownsampledSignal),
32 "Add the signal to the refresh list\n"
33 "The downsampling factor: 1 means every time, "
34 "2 means every other time, etc...",
35
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 28 (bp::arg("name"), "signal", "factor"))
36
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 14 .def("addDownsampledSignal",
37 static_cast<void (PeriodicCall::*)(const std::string &,
38 const unsigned int &)>(
39 &PeriodicCall::addDownsampledSignal),
40 "Add the signal to the refresh list\n"
41 "The downsampling factor: 1 means every time, "
42 "2 means every other time, etc...",
43
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 28 (bp::arg("signal_name"), "factor"))
44
45
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 28 .def("rmSignal", &PeriodicCall::rmSignal,
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 28 "Remove the signal to the refresh list", bp::arg("name"))
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 14 .def("clear", &PeriodicCall::clear,
48 "Clear all signals and commands from the refresh list.")
49
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 14 .def(
50 ✗ "__str__", +[](const PeriodicCall &e) {
51 ✗ std::ostringstream os;
52 ✗ e.display(os);
53 ✗ return os.str();
54 ✗ });
55
56 14 dynamicgraph::python::exposeEntity<dgs::Device>()
57
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 14 .add_property("after", bp::make_function(&dgs::Device::periodicCallAfter,
58 14 reference_existing_object()))
59
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 14 .add_property("before",
60
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 28 bp::make_function(&dgs::Device::periodicCallBefore,
61 14 reference_existing_object()));
62
63 using dgs::Flags;
64
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 14 bp::class_<Flags>("Flags", bp::init<>())
65
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 14 .def(bp::init<const char *>())
66
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 28 .def("__init__", bp::make_constructor(+[](bp::list bools) {
67 ✗ std::vector<bool> flags(bp::len(bools));
68 ✗ for (std::size_t i = 0; i < flags.size(); ++i)
69 ✗ flags[i] = bp::extract<bool>(bools[i]);
70 ✗ return new Flags(flags);
71 ✗ }))
72
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 28 .def("__init__", bp::make_constructor(+[](bp::tuple bools) {
73 ✗ std::vector<bool> flags(bp::len(bools));
74 ✗ for (std::size_t i = 0; i < flags.size(); ++i)
75 ✗ flags[i] = bp::extract<bool>(bools[i]);
76 ✗ return new Flags(flags);
77 ✗ }))
78
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 14 .def("add", &Flags::add)
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 14 .def("set", &Flags::set)
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 14 .def("unset", &Flags::unset)
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 14 .def(bp::self & bp::self)
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 14 .def(bp::self | bp::self)
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 14 .def(bp::self &= bp::self)
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 14 .def(bp::self |= bp::self)
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 14 .def("__call__", &Flags::operator())
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 14 .def("__bool__", &Flags::operator bool)
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 14 .def("reversed", &Flags::operator!)
90
91
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 14 .def(
92 "set",
93 ✗ +[](Flags &f, const std::string &s) {
94 ✗ std::istringstream is(s);
95 ✗ is >> f;
96 ✗ })
97
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 14 .def(
98 ✗ "__str__", +[](const Flags &f) {
99 ✗ std::ostringstream os;
100 ✗ os << f;
101 ✗ return os.str();
102 ✗ });
103
104
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 14 dg::python::exposeSignalsOfType<Flags, int>("Flags");
105 14 }
106