Add python bindings for the test impl_test_sot_mock_device

Author: olivier-stasse

tests/CMakeLists.txt

@@ -10,9 +10,34 @@ if(BUILD_TESTING)
   find_package(launch_testing_ament_cmake)
   ament_lint_auto_find_test_dependencies()
 
+  # Library for sot_mock_device
+  add_library(impl_test_sot_mock_device SHARED impl_test_sot_mock_device.cpp)
+  set_target_properties(impl_test_sot_mock_device PROPERTIES INSTALL_RPATH
+                                                             $ORIGIN)
+  # target_include_directories(impl_test_sot_mock_device PUBLIC include)
+  target_link_libraries(
+    impl_test_sot_mock_device PUBLIC sot-core::sot-core
+                                     dynamic-graph-python::dynamic-graph-python)
+
+  install(
+    TARGETS impl_test_sot_mock_device
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
+
+  file(MAKE_DIRECTORY
+       ${PROJECT_BINARY_DIR}/tests/dynamic_graph/ros/impl_test_sot_mock_device)
+
+  dynamic_graph_python_module(
+    "${PYTHON_DIR}/ros/impl_test_sot_mock_device" impl_test_sot_mock_device
+    dynamic_graph_bridge-impl_test_sot_mock_device-wrap SOURCE_PYTHON_MODULE
+    "${CMAKE_CURRENT_SOURCE_DIR}/impl_test_sot_mock_device-python-module-py.cc")
+
+  install(
+    TARGETS ${plugin_library_name}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
   # Library for sot_external_interface
-  add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp
-                                       impl_test_sot_mock_device.cpp)
+  add_library(impl_test_library SHARED impl_test_sot_external_interface.cpp)
 
   target_include_directories(impl_test_library PUBLIC include)
   target_link_libraries(impl_test_library PUBLIC sot-core::sot-core)

tests/impl_test_sot_mock_device-python-module-py.cc

@@ -0,0 +1,20 @@
+/*
+ * Copyright 2023, LAAS, CNRS
+ *
+ * Author:Olivier Stasse
+ *
+ * This file is part of dynamic_graph_bridge.
+ * This file is under the APACHE license 2.0
+ *
+ */
+#include <dynamic-graph/python/module.hh>
+
+#include "impl_test_sot_mock_device.hh"
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap) {
+  bp::import("dynmic_graph.sot.core.wrap");
+
+  dg::python::exposeEntity<ImplTestSotMockDevice,
+                           bp::bases<dg::sot::Device> >();
+}