[SofaPython3] Changes how addObject process its arguments when they are of type: numpy & data

Plugin/src/SofaPython3/DataHelper.cpp

@@ -48,12 +48,20 @@ std::string toSofaParsableString(const py::handle& p)
     if(py::isinstance<py::str>(p))
         return py::str(p);
 
-    // Insure compatibility with data field code returning value instead of data.
+    // If the object is a data field we link the data field
     if(py::isinstance<sofa::core::objectmodel::BaseData>(p))
     {
         sofa::core::objectmodel::BaseData* data = py::cast<sofa::core::objectmodel::BaseData*>(p);
         return data->getValueString();
     }
+
+    // If the object is a numpy array we convert it to a list then to a sofa string.
+    if(py::isinstance<py::array>(p))
+    {
+        py::object o = p.attr("tolist")();
+        return toSofaParsableString(o);
+    }
+
     return py::repr(p);
 }
 

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Base.cpp

@@ -387,7 +387,13 @@ std::string BindingBase::getPathName(Base& self)
 {
     return self.toBaseNode() ? self.toBaseNode()->getPathName() : self.toBaseObject()->getPathName();
 }
-
+
+std::string BindingBase::getLinkPath(Base& self)
+{
+    return "@"+getPathName(self);
+}
+
+
 py::object BindingBase::setDataValues(Base& self, py::kwargs kwargs)
 {
     for(auto key : kwargs)
@@ -435,7 +441,8 @@ void moduleAddBase(py::module &m)
     base.def("getLoggedMessagesAsString", &BindingBase::getLoggedMessagesAsString, sofapython3::doc::base::getLoggedMessagesAsString);
     base.def("countLoggedMessages", &BindingBase::countLoggedMessages, sofapython3::doc::base::countLoggedMessages);
     base.def("clearLoggedMessages", &BindingBase::clearLoggedMessages, sofapython3::doc::base::clearLoggedMessages);
-    base.def("getPathName", &BindingBase::getPathName);
+    base.def("getPathName", &BindingBase::getPathName, sofapython3::doc::base::getPathName);
+    base.def("getLinkPath", &BindingBase::getLinkPath, sofapython3::doc::base::getLinkPath);
     base.def("setDataValues", &BindingBase::setDataValues, sofapython3::doc::base::setDataValues);
 }
 

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Base.h

@@ -64,6 +64,7 @@ class BindingBase
     static pybind11::object countLoggedMessages(sofa::core::objectmodel::Base& self);
     static pybind11::object clearLoggedMessages(sofa::core::objectmodel::Base& self);
     static std::string getPathName(sofa::core::objectmodel::Base& self);
+    static std::string getLinkPath(sofa::core::objectmodel::Base& self);
 };
 
 

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseData.cpp

@@ -112,6 +112,7 @@ py::object writeableArray(BaseData* self)
 
 void __setattr__(py::object self, const std::string& s, py::object value)
 {
+    SOFA_UNUSED(s);
     BaseData* selfdata = py::cast<BaseData*>(self);
 
     if(py::isinstance<DataContainer>(value))
@@ -137,6 +138,9 @@ py::object __getattr__(py::object self, const std::string& s)
     if(s == "value")
         return PythonFactory::valueToPython_ro(py::cast<BaseData*>(self));
 
+    if(s == "linkpath")
+        return py::cast((py::cast<BaseData*>(self))->getLinkPath());
+
     /// BaseData does not support dynamic attributes, if you think this is an important feature
     /// please request for its integration.
     throw py::attribute_error("There is no attribute '"+s+"'");

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Base_doc.h

@@ -63,6 +63,22 @@ static auto findData =
         :type name: string
         :return: the data field
         )";
+static auto getLinkPath =
+        R"(
+        returns the path name as a parsable string.
+        eg:
+            if object.getPathName() is "/child1/object"
+            then the linkPath is @"/child1/object"
+        )";
+static auto getPathName =
+        R"(
+        returns the path name as a string.
+        .. code-block:: python
+            a = Sofa.Core.Node("root")
+            b.addObject("Camera", name="camera")
+            b.getPathName() # should returns "/root/camera"
+        ```
+        )";
 static auto setDataValues =
         R"(
         Set values for a the given data field, multiple pairs of args are allowed.

bindings/Sofa/tests/Core/Base.py

@@ -123,7 +123,11 @@ def test_getTemplateName(self):
         c = root.addObject("MechanicalObject", name="t")
         self.assertEqual(c.getTemplateName(),"Vec3d")
 
-
+    def test_getLinkPath(self):
+        root = create_scene("root")
+        obj = root.addObject("MechanicalObject", name="obj")
+        self.assertEqual(obj.getPathName(),"/obj")
+        self.assertEqual(obj.getLinkPath(),"@/obj")
 
     def test_addExistingDataAsParentOfNewData(self):
         # TODO(@marques-bruno)

bindings/Sofa/tests/Core/BaseData.py

@@ -292,6 +292,11 @@ def t(c):
             self.assertEqual(wa[2, 2], 8.0)
             numpy.testing.assert_array_equal(wa, v*4.0)
 
+    def test_linkpath(self):
+        n = create_scene("rootNode")
+        m = n. addObject("MechanicalObject", name="dofs")
+        self.assertEqual(m.position.linkpath, "@/dofs.position")
+
     def test_set_value_from_string(self):
         n = create_scene("rootNode")
         n.gravity.value = [1.0,2.0,3.0]