feat: add Python bindings for ObjectClientManager

docker/compose.yml

@@ -12,4 +12,5 @@ services:
       && ros2 run sas_common sas_object_test_node
       && ros2 run sas_common sas_object_client_manager_test_node
       && ros2 run sas_common test_python_wrapper.py
+      && ros2 run sas_common test_object_client_manager_wrapper.py
       && ros2 run sas_common sas_simulator_test_node"

sas_common/__init__.py

@@ -28,12 +28,13 @@
 compiled extension module :mod:`sas_common._sas_common` for convenience.
 
 Exports:
-- rclcpp_Init: Initialize rclcpp
+- rclcpp_init: Initialize rclcpp
 - rclcpp_Node: Node wrapper exposed from the C++ extension
 - rclcpp_spin_some: Spin the node briefly
 - rclcpp_shutdown: Shutdown rclcpp
 - ObjectClient, SimulatorClient: C++ client wrappers for object/simulator control
+- ObjectClientManager: Manager for multiple ObjectClient instances
 
 """
 
-from sas_common._sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown, ObjectClient, SimulatorClient
+from sas_common._sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown, ObjectClient, SimulatorClient, ObjectClientManager

scripts/test_object_client_manager_wrapper.py

@@ -0,0 +1,75 @@
+#!/usr/bin/python3
+"""
+# Copyright (c) 2026 Murilo Marques Marinho
+#
+#    This file is part of sas_common.
+#
+#    sas_common is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_common is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_common.  If not, see <https://www.gnu.org/licenses/>.
+#
+# #######################################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
+#
+# #######################################################################################
+"""
+"""Test script for the ObjectClientManager Python bindings.
+
+This script demonstrates usage of the ObjectClientManager exposed via
+the sas_common Python package. It initializes rclcpp, creates a node,
+instantiates an ObjectClientManager, and exercises add/remove/get/list operations.
+
+Run with: python3 test_object_client_manager_wrapper.py
+"""
+from dqrobotics import *
+from sas_common import rclcpp_init, rclcpp_Node, rclcpp_spin_some, rclcpp_shutdown, ObjectClientManager
+
+def main():
+    """Run a basic smoke-test for the ObjectClientManager Python bindings."""
+    try:
+        rclcpp_init()
+        node = rclcpp_Node("sas_common_object_client_manager_test_node")
+
+        mgr = ObjectClientManager(node)
+        print("Initial size:", mgr.size())
+
+        mgr.add_client("arm")
+        mgr.add_client("hand")
+        print("Size after adding arm and hand:", mgr.size())
+
+        print("Has arm:", mgr.has_client("arm"))
+        print("Has hand:", mgr.has_client("hand"))
+        print("Has gripper:", mgr.has_client("gripper"))
+        print("Client names:", mgr.get_client_names())
+
+        arm = mgr.get_client("arm")
+        print("Arm enabled:", arm.is_enabled())
+        print("Arm topic prefix:", arm.get_topic_prefix())
+
+        x = DQ([1])
+        arm.send_pose(x)
+
+        removed = mgr.remove_client("hand")
+        print("Removed hand:", removed)
+        print("Size after removal:", mgr.size())
+        print("Client names after removal:", mgr.get_client_names())
+
+        rclcpp_spin_some(node)
+        rclcpp_shutdown()
+    except KeyboardInterrupt:
+        print("Interrupted by user")
+    except Exception as e:
+        print("Unhandled exception:", e)
+
+if __name__ == '__main__':
+    main()

src/sas_common_py.cpp

@@ -22,13 +22,16 @@
 #
 # ################################################################*/
 #include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
 #include <rclcpp/rclcpp.hpp>
 
 #include <sas_common/sas_object_client.hpp>
+#include <sas_common/sas_object_client_manager.hpp>
 #include <sas_common/sas_simulator_client.hpp>
 
 namespace py = pybind11;
 using OC = sas::ObjectClient;
+using OCM = sas::ObjectClientManager;
 using SC = sas::SimulatorClient;
 
 PYBIND11_MODULE(_sas_common, m) {
@@ -65,4 +68,28 @@ PYBIND11_MODULE(_sas_common, m) {
             .def("is_enabled",&SC::is_enabled,"Returns true if the SimulatorClient is enabled.")
             .def("get_topic_prefix",&SC::get_topic_prefix,
                  "Return the topic/service prefix configured for this client.");
+
+    py::class_<OCM>(m, "ObjectClientManager")
+            .def(py::init<const std::shared_ptr<rclcpp::Node>&>(),
+                 py::arg("node"),
+                 "Construct an ObjectClientManager that manages multiple ObjectClient instances.")
+            .def("add_client", &OCM::add_client,
+                 py::arg("name"),
+                 "Add (or replace) an ObjectClient identified by name.")
+            .def("remove_client", &OCM::remove_client,
+                 py::arg("name"),
+                 "Remove an ObjectClient by name. Returns True if found and removed.")
+            .def("get_client", [](OCM& self, const std::string& name) -> OC& {
+                 return self.get_client(name);
+             },
+                 py::arg("name"),
+                 py::return_value_policy::reference_internal,
+                 "Return a reference to the managed ObjectClient named `name`.")
+            .def("has_client", &OCM::has_client,
+                 py::arg("name"),
+                 "Return True if a client with the given name exists.")
+            .def("get_client_names", &OCM::get_client_names,
+                 "Return a list of all managed client names.")
+            .def("size", &OCM::size,
+                 "Return the number of managed clients.");
 }