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#include <sot/core/device.hh> |
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#include <sot/core/flags.hh> |
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#include "dynamic-graph/python/module.hh" |
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#include "dynamic-graph/python/signal.hh" |
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namespace dg = dynamicgraph; |
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namespace dgs = dynamicgraph::sot; |
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typedef bp::return_value_policy<bp::reference_existing_object> |
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reference_existing_object; |
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BOOST_PYTHON_MODULE(wrap) { |
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bp::import("dynamic_graph"); |
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using dgs::PeriodicCall; |
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bp::class_<PeriodicCall, boost::noncopyable>("PeriodicCall", bp::no_init) |
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.def("addSignal", |
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static_cast<void (PeriodicCall::*)(const std::string &, |
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dg::SignalBase<int> &)>( |
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&PeriodicCall::addSignal), |
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"Add the signal to the refresh list", (bp::arg("name"), "signal")) |
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.def("addSignal", |
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static_cast<void (PeriodicCall::*)(const std::string &)>( |
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&PeriodicCall::addSignal), |
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"Add the signal to the refresh list", (bp::arg("signal_name"))) |
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.def("addDownsampledSignal", |
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static_cast<void (PeriodicCall::*)( |
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const std::string &, dg::SignalBase<int> &, |
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const unsigned int &)>(&PeriodicCall::addDownsampledSignal), |
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"Add the signal to the refresh list\n" |
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"The downsampling factor: 1 means every time, " |
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"2 means every other time, etc...", |
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(bp::arg("name"), "signal", "factor")) |
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.def("addDownsampledSignal", |
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static_cast<void (PeriodicCall::*)(const std::string &, |
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const unsigned int &)>( |
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&PeriodicCall::addDownsampledSignal), |
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"Add the signal to the refresh list\n" |
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"The downsampling factor: 1 means every time, " |
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"2 means every other time, etc...", |
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(bp::arg("signal_name"), "factor")) |
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.def("rmSignal", &PeriodicCall::rmSignal, |
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"Remove the signal to the refresh list", bp::arg("name")) |
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.def("clear", &PeriodicCall::clear, |
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"Clear all signals and commands from the refresh list.") |
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.def( |
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"__str__", +[](const PeriodicCall &e) { |
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std::ostringstream os; |
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e.display(os); |
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return os.str(); |
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}); |
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dynamicgraph::python::exposeEntity<dgs::Device>() |
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.add_property("after", bp::make_function(&dgs::Device::periodicCallAfter, |
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reference_existing_object())) |
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.add_property("before", |
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bp::make_function(&dgs::Device::periodicCallBefore, |
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reference_existing_object())); |
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using dgs::Flags; |
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bp::class_<Flags>("Flags", bp::init<>()) |
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.def(bp::init<const char *>()) |
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.def("__init__", bp::make_constructor(+[](bp::list bools) { |
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std::vector<bool> flags(bp::len(bools)); |
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for (std::size_t i = 0; i < flags.size(); ++i) |
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flags[i] = bp::extract<bool>(bools[i]); |
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return new Flags(flags); |
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})) |
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.def("__init__", bp::make_constructor(+[](bp::tuple bools) { |
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std::vector<bool> flags(bp::len(bools)); |
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for (std::size_t i = 0; i < flags.size(); ++i) |
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flags[i] = bp::extract<bool>(bools[i]); |
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return new Flags(flags); |
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})) |
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.def("add", &Flags::add) |
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.def("set", &Flags::set) |
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.def("unset", &Flags::unset) |
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.def(bp::self & bp::self) |
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.def(bp::self | bp::self) |
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.def(bp::self &= bp::self) |
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.def(bp::self |= bp::self) |
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.def("__call__", &Flags::operator()) |
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.def("__bool__", &Flags::operator bool) |
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.def("reversed", &Flags::operator!) |
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.def( |
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"set", |
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+[](Flags &f, const std::string &s) { |
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std::istringstream is(s); |
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is >> f; |
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}) |
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.def( |
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"__str__", +[](const Flags &f) { |
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std::ostringstream os; |
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os << f; |
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return os.str(); |
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}); |
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dg::python::exposeSignalsOfType<Flags, int>("Flags"); |
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} |