Remove PeriodicCall::addSpecificCommands

Author: jmirabel

include/sot/core/periodic-call.hh

@@ -77,9 +77,6 @@ public:
   void clear(void) { signalMap.clear(); }
 
   void display(std::ostream &os) const;
-  void addSpecificCommands(dynamicgraph::Entity &ent,
-                           dynamicgraph::Entity::CommandMap_t &commap,
-                           const std::string &prefix = "");
 };
 
 } // namespace sot

src/python-module.cc

@@ -13,14 +13,24 @@ BOOST_PYTHON_MODULE(wrap)
 
   using dgs::PeriodicCall;
   bp::class_<PeriodicCall, boost::noncopyable>("PeriodicCall", bp::no_init)
-    .def("addSignal", static_cast<void (PeriodicCall::*)(const std::string &, dg::SignalBase<int> &)> (&PeriodicCall::addSignal))
-    .def("addSignal", static_cast<void (PeriodicCall::*)(const std::string &)> (&PeriodicCall::addSignal))
-
-    .def("addDownsampledSignal", static_cast<void (PeriodicCall::*)(const std::string &, dg::SignalBase<int> &, const unsigned int &)> (&PeriodicCall::addDownsampledSignal))
-    .def("addDownsampledSignal", static_cast<void (PeriodicCall::*)(const std::string &, const unsigned int &)> (&PeriodicCall::addDownsampledSignal))
-
-    .def("rmSignal", &PeriodicCall::rmSignal)
-    .def("clear", &PeriodicCall::clear)
+    .def("addSignal", static_cast<void (PeriodicCall::*)(const std::string &, dg::SignalBase<int> &)> (&PeriodicCall::addSignal),
+        "Add the signal to the refresh list", (bp::arg("name"), "signal"))
+    .def("addSignal", static_cast<void (PeriodicCall::*)(const std::string &)> (&PeriodicCall::addSignal),
+        "Add the signal to the refresh list", (bp::arg("signal_name")))
+
+    .def("addDownsampledSignal", static_cast<void (PeriodicCall::*)(const std::string &, dg::SignalBase<int> &, const unsigned int &)> (&PeriodicCall::addDownsampledSignal),
+        "Add the signal to the refresh list\n"
+        "The downsampling factor: 1 means every time, "
+        "2 means every other time, etc...",
+        (bp::arg("name"), "signal", "factor"))
+    .def("addDownsampledSignal", static_cast<void (PeriodicCall::*)(const std::string &, const unsigned int &)> (&PeriodicCall::addDownsampledSignal),
+        "Add the signal to the refresh list\n"
+        "The downsampling factor: 1 means every time, "
+        "2 means every other time, etc...",
+        (bp::arg("signal_name"), "factor"))
+
+    .def("rmSignal", &PeriodicCall::rmSignal, "Remove the signal to the refresh list", bp::arg("name"))
+    .def("clear", &PeriodicCall::clear, "Clear all signals and commands from the refresh list.")
     .def("__str__", +[](const PeriodicCall& e) {
           std::ostringstream os;
           e.display(os);

src/tools/periodic-call.cpp

@@ -112,60 +112,6 @@ static std::string readLineStr( istringstream& args )
   return res;
 }
 */
-#define ADD_COMMAND(name, def)                                                 \
-  if (commandMap.count(prefix + name) != 0) {                                  \
-    DG_THROW ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,               \
-                              "Command " + prefix + name +                     \
-                                  " already registered in Entity.");           \
-  }                                                                            \
-  commandMap.insert(std::make_pair(prefix + name, def))
-
-void PeriodicCall::addSpecificCommands(Entity &ent,
-                                       Entity::CommandMap_t &commandMap,
-                                       const std::string &prefix) {
-  using namespace dynamicgraph::command;
-
-  /* Explicit typage to help the compiler. */
-  boost::function<void(const std::string &)>
-      addSignal = boost::bind(&PeriodicCall::addSignal, this, _1),
-      rmSignal = boost::bind(&PeriodicCall::rmSignal, this, _1);
-  boost::function<void(const std::string &, const unsigned int &)>
-      addDownsampledSignal =
-          boost::bind(&PeriodicCall::addDownsampledSignal, this, _1, _2);
-  boost::function<void(void)> clear = boost::bind(&PeriodicCall::clear, this);
-  boost::function<void(std::ostream &)> disp =
-      boost::bind(&PeriodicCall::display, this, _1);
-
-  ADD_COMMAND(
-      "addSignal",
-      makeCommandVoid1(ent, addSignal,
-                       docCommandVoid1("Add the signal to the refresh list",
-                                       "string (sig name)")));
-  ADD_COMMAND("addDownsampledSignal",
-              makeCommandVoid2(
-                  ent, addDownsampledSignal,
-                  docCommandVoid2(
-                      "Add the signal to the refresh list", "string (sig name)",
-                      "unsigned int (downsampling factor, 1 means every time, "
-                      "2 means every other time, etc...")));
-  ADD_COMMAND(
-      "rmSignal",
-      makeCommandVoid1(ent, rmSignal,
-                       docCommandVoid1("Remove the signal to the refresh list",
-                                       "string (sig name)")));
-  ADD_COMMAND(
-      "clear",
-      makeCommandVoid0(
-          ent, clear,
-          docCommandVoid0(
-              "Clear all signals and commands from the refresh list.")));
-
-  ADD_COMMAND("disp",
-              makeCommandVerbose(
-                  ent, disp,
-                  docCommandVerbose(
-                      "Print the list of to-refresh signals and commands.")));
-}
 
 /*
  * Local variables: