Expose entity Device and class PeriodicCall

Author: jmirabel

include/sot/core/device.hh

@@ -97,6 +97,9 @@ public:
   void setTorqueBounds(const Vector &lower, const Vector &upper);
   /// \}
 
+  PeriodicCall& periodicCallBefore() { return periodicCallBefore_; }
+  PeriodicCall& periodicCallAfter() { return periodicCallAfter_; }
+
 public: /* --- DISPLAY --- */
   virtual void display(std::ostream &os) const;
   virtual void cmdDisplay();

src/CMakeLists.txt

@@ -117,6 +117,10 @@ FOREACH(plugin ${plugins})
 ENDFOREACH(plugin)
 
 IF(BUILD_PYTHON_INTERFACE)
+  DYNAMIC_GRAPH_PYTHON_MODULE("${PYTHON_DIR}"
+    ${PROJECT_NAME} ${PROJECT_NAME}-wrap
+    SOURCE_PYTHON_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/python-module.cc")
+
   INSTALL(FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/dynamic_graph/sot/__init__.py
     DESTINATION ${PYTHON_SITELIB}/dynamic_graph/sot)

src/python-module.cc

@@ -0,0 +1,37 @@
+#include "dynamic-graph/python/module.hh"
+
+#include <sot/core/device.hh>
+
+namespace dg = dynamicgraph;
+namespace dgs = dynamicgraph::sot;
+
+typedef bp::return_value_policy<bp::reference_existing_object> reference_existing_object;
+
+BOOST_PYTHON_MODULE(wrap)
+{
+  bp::import("dynamic_graph");
+
+  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("__str__", +[](const PeriodicCall& e) {
+          std::ostringstream os;
+          e.display(os);
+          return os.str();
+        })
+    ;
+
+  dynamicgraph::python::exposeEntity<dgs::Device>()
+    .add_property("after", 
+        bp::make_function(&dgs::Device::periodicCallAfter, reference_existing_object()))
+    .def_readonly("before", 
+        bp::make_function(&dgs::Device::periodicCallBefore, reference_existing_object()))
+    ;
+}

src/tools/device.cpp

@@ -202,10 +202,6 @@ Device::Device(const std::string &n)
                command::makeDirectGetter(
                    *this, &this->timestep_,
                    command::docDirectGetter("Time step", "double")));
-
-    // Handle commands and signals called in a synchronous way.
-    periodicCallBefore_.addSpecificCommands(*this, commandMap, "before.");
-    periodicCallAfter_.addSpecificCommands(*this, commandMap, "after.");
   }
 }