Update Python signal wrapper.

include/dynamic-graph/python/signal-wrapper.hh

@@ -18,7 +18,7 @@ class PythonSignalContainer : public Entity {
   DYNAMIC_GRAPH_ENTITY_DECL();
 
  public:
-  PythonSignalContainer(const std::string& name);
+  using Entity::Entity;
 
   void signalRegistration(const SignalArray<int>& signals);
 

src/dynamic_graph/dynamic-graph-py.cc

@@ -17,6 +17,7 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <dynamic-graph/entity.h>
 #include <dynamic-graph/command.h>
+#include <dynamic-graph/factory.h>
 #include <dynamic-graph/pool.h>
 
 #include <dynamic-graph/tracer.h>
@@ -24,6 +25,7 @@
 #include "dynamic-graph/python/dynamic-graph-py.hh"
 #include "dynamic-graph/python/signal-wrapper.hh"
 #include "dynamic-graph/python/convert-dg-to-py.hh"
+#include "dynamic-graph/python/module.hh"
 
 namespace dynamicgraph {
 namespace python {
@@ -69,6 +71,24 @@ dg::SignalBase<int>* getSignal(dg::Entity& e, const std::string& name) {
   return &e.getSignal(name);
 }
 
+class PythonEntity : public dg::Entity
+{
+DYNAMIC_GRAPH_ENTITY_DECL();
+public:
+  using dg::Entity::Entity;
+
+  void signalRegistration(dg::SignalBase<int> &signal)
+  {
+    dg::Entity::signalRegistration(signal);
+  }
+  void signalDeregistration(const std::string &name)
+  {
+    dg::Entity::signalDeregistration(name);
+  }
+};
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PythonEntity, "PythonEntity");
+
 void exposeEntityBase()
 {
   using namespace dynamicgraph;
@@ -175,6 +195,16 @@ void exposeEntityBase()
     // For backward compat
     .add_static_property ("entities", bp::make_function(&getEntityMap, reference_existing_object()))
     ;
+
+    python::exposeEntity<PythonEntity, bp::bases<Entity>, 0>()
+      .def("signalRegistration", &PythonEntity::signalRegistration)
+      .def("signalDeregistration", &PythonEntity::signalDeregistration)
+      ;
+
+
+    python::exposeEntity<python::PythonSignalContainer, bp::bases<Entity>, 0>()
+      .def("rmSignal", &python::PythonSignalContainer::rmSignal, "Remove a signal", bp::arg("signal_name"))
+      ;
 }
 
 void exposeCommand()

src/dynamic_graph/signal-base-py.cc

@@ -17,6 +17,7 @@
 #include "dynamic-graph/python/dynamic-graph-py.hh"
 #include "dynamic-graph/python/convert-dg-to-py.hh"
 #include "dynamic-graph/python/signal-wrapper.hh"
+#include "dynamic-graph/python/module.hh"
 
 using dynamicgraph::SignalBase;
 
@@ -111,6 +112,13 @@ template<> auto exposeSignal<MatrixHomogeneous, time_type> (const std::string& n
   return obj;
 }
 
+template<typename T, typename Time> auto exposeSignalWrapper (const std::string& name)
+{
+  typedef SignalWrapper<T, Time> S_t;
+  bp::class_<S_t, bp::bases<Signal<T, Time> >, boost::noncopyable> obj(name.c_str(), bp::no_init);
+  return obj;
+}
+
 template<typename T, typename Time> auto exposeSignalPtr (const std::string& name)
 {
   typedef SignalPtr<T, Time> S_t;
@@ -133,6 +141,7 @@ void exposeSignalsOfType(const std::string& name)
 {
   exposeSignal<T, Time>("Signal" + name);
   exposeSignalPtr<T, Time>("SignalPtr" + name);
+  exposeSignalWrapper<T, Time>("SignalWrapper" + name);
   exposeSignalTimeDependent<T, Time>("SignalTimeDependent" + name);
 }
 

src/dynamic_graph/signal-wrapper.cc

@@ -8,19 +8,6 @@
 
 namespace dynamicgraph {
 namespace python {
-PythonSignalContainer::PythonSignalContainer(const std::string& name) : Entity(name) {
-  std::string docstring;
-
-  docstring =
-      "    \n"
-      "    Remove a signal\n"
-      "    \n"
-      "      Input:\n"
-      "        - name of the signal\n"
-      "    \n";
-  addCommand("rmSignal", command::makeCommandVoid1(*this, &PythonSignalContainer::rmSignal, docstring));
-}
-
 void PythonSignalContainer::signalRegistration(const SignalArray<int>& signals) {
   Entity::signalRegistration(signals);
 }