diff --git a/include/dynamic-graph/#shell-procedure.h# b/include/dynamic-graph/#shell-procedure.h#
new file mode 100644
index 0000000000000000000000000000000000000000..3f80f0109a1da2b456545a95623c4b99183830ca
--- /dev/null
+++ b/include/dynamic-graph/#shell-procedure.h#
@@ -0,0 +1,97 @@
+// -*- mode: c++ -*-
+// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse,
+// JRL, CNRS/AIST.
+//
+// This file is part of dynamic-graph.
+// dynamic-graph 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.
+//
+// dynamic-graph 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
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_SHELL_PROCEDURE_H
+# define DYNAMIC_GRAPH_SHELL_PROCEDURE_H
+# incxlude <string>
+# include <map>
+# include <sstream>
+# include <list>
+# include <vector>
+
+# include <dynamic-graph/exception-factory.h>
+# include <dynamic-graph/interpreter.h>
+# include <dynamic-graph/config-shell-procedure.hh>
+
+/// \ingroup dgraph
+///
+/// \brief This plugin exposes shell commands relative to the script
+/// language constructs such as procedures and for loops.
+///
+/// For more information, load the plugin and type help in a shell.
+class DG_SHELLPROCEDURE_DLLAPI ShellProcedure
+{
+ public:
+ /// \brief Symbolizes a function call in the dynamic-graph language.
+ struct Instruction
+ {
+ /// \brief Command name.
+ std::string cmd;
+ /// \brief Arguments lists.
+ std::vector<std::string> args;
+
+ std::vector<int> params;
+ };
+
+ /// \brief Symbolizes a procedure in the dynamic-graph language.
+ struct Procedure
+ {
+ /// \brief Store the procedure body.
+ std::list<Instruction> instructions;
+ /// \brief Store the procedure arguments.
+ std::vector<std::string> params;
+
+ /// \brief Reset the procedure.
+ void clear ()
+ {
+ instructions.clear ();
+ params.clear ();
+ }
+ };
+
+ /// \brief Map procedure name to their body.
+ typedef std::map<std::string, Procedure> ProcedureList;
+
+ public:
+ std::string procName;
+ ProcedureList procedureList;
+ Procedure currentProc;
+
+ public:
+ void cmdStartProcedure (const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os);
+
+ void cmdContinueProcedure (const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os);
+
+ void cmdEndProcedure (const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os);
+
+ void cmdProcedure (const std::string& procname,
+ const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os);
+
+ static void cmdFor (const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os);
+};
+
+#endif //! DYNAMIC_GRAPH_SHELL_PROCEDURE_H
diff --git a/include/dynamic-graph/.#shell-procedure.h b/include/dynamic-graph/.#shell-procedure.h
new file mode 120000
index 0000000000000000000000000000000000000000..0287ba36e7a1769d634cd17e7ab431d83a0b052d
--- /dev/null
+++ b/include/dynamic-graph/.#shell-procedure.h
@@ -0,0 +1 @@
+thomas@cleo.16209:1293725997
\ No newline at end of file
diff --git a/include/dynamic-graph/debug.h b/include/dynamic-graph/debug.h
index e55a25087c1eeb6ef18b31caba844141145fdee3..cef0eed9edac5586a463ddb0a85271b940bb4cfe 100644
--- a/include/dynamic-graph/debug.h
+++ b/include/dynamic-graph/debug.h
@@ -46,67 +46,73 @@
namespace dynamicgraph
{
- class DYNAMIC_GRAPH_DLLAPI DebugTrace
+ /// \ingroup debug
+ ///
+ /// \brief Logging class.
+ ///
+ /// This class should never be used directly, please use the
+ /// debugging macro instead.
+ class DYNAMIC_GRAPH_DLLAPI DebugTrace
+ {
+ public:
+ static const int SIZE = 512;
+
+ std::stringstream tmpbuffer;
+ std::ostream& outputbuffer;
+ char charbuffer[SIZE+1];
+ int traceLevel;
+ int traceLevelTemplate;
+
+ DebugTrace (std::ostream& os)
+ : outputbuffer (os)
+ {}
+
+ inline void trace (const int level, const char* format, ...)
{
- public:
- static const int SIZE = 512;
-
- std::stringstream tmpbuffer;
- std::ostream& outputbuffer;
- char charbuffer[SIZE+1];
- int traceLevel;
- int traceLevelTemplate;
-
- DebugTrace (std::ostream& os)
- : outputbuffer (os)
- {}
-
- inline void trace (const int level, const char* format, ...)
- {
- if (level <= traceLevel)
- DG_COMMON_TRACES; tmpbuffer.str("");
- }
-
- inline void trace (const char* format, ...)
- {
- DG_COMMON_TRACES;
- tmpbuffer.str("");
- }
-
- inline void trace (const int level=-1)
- {
- if (level <= traceLevel)
- outputbuffer << tmpbuffer.str (); tmpbuffer.str("");
- }
-
- inline void traceTemplate (const int level, const char* format, ...)
- {
- if (level <= traceLevelTemplate)
- DG_COMMON_TRACES;
- tmpbuffer.str("");
- }
-
- inline void traceTemplate (const char* format, ...)
- {
+ if (level <= traceLevel)
+ DG_COMMON_TRACES; tmpbuffer.str("");
+ }
+
+ inline void trace (const char* format, ...)
+ {
+ DG_COMMON_TRACES;
+ tmpbuffer.str("");
+ }
+
+ inline void trace (const int level=-1)
+ {
+ if (level <= traceLevel)
+ outputbuffer << tmpbuffer.str (); tmpbuffer.str("");
+ }
+
+ inline void traceTemplate (const int level, const char* format, ...)
+ {
+ if (level <= traceLevelTemplate)
DG_COMMON_TRACES;
- tmpbuffer.str("");
- }
-
- inline DebugTrace& pre (const std::ostream&)
- {
- return *this;
- }
-
- inline DebugTrace& pre (const std::ostream&, int level)
- {
- traceLevel = level;
- return *this;
- }
-
- static const char* DEBUG_FILENAME_DEFAULT;
- static void openFile (const char* filename = DEBUG_FILENAME_DEFAULT);
- static void closeFile( const char* filename = DEBUG_FILENAME_DEFAULT);
- };
+ tmpbuffer.str("");
+ }
+
+ inline void traceTemplate (const char* format, ...)
+ {
+ DG_COMMON_TRACES;
+ tmpbuffer.str("");
+ }
+
+ inline DebugTrace& pre (const std::ostream&)
+ {
+ return *this;
+ }
+
+ inline DebugTrace& pre (const std::ostream&, int level)
+ {
+ traceLevel = level;
+ return *this;
+ }
+
+ static const char* DEBUG_FILENAME_DEFAULT;
+ static void openFile (const char* filename = DEBUG_FILENAME_DEFAULT);
+ static void closeFile( const char* filename = DEBUG_FILENAME_DEFAULT);
+ };
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgDEBUGFLOW;
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgERRORFLOW;
diff --git a/include/dynamic-graph/entity.h b/include/dynamic-graph/entity.h
index 5f8cfa5400469cf512d561a686c8de2e6b59779d..921bcad60b17795b92f75ec64b3925f75e0e399d 100644
--- a/include/dynamic-graph/entity.h
+++ b/include/dynamic-graph/entity.h
@@ -32,18 +32,18 @@
namespace dynamicgraph
{
- /*! \ingroup dgraph
- \brief This class represents an entity, i.e. a generic
- computational unit that provides input and output signals.
-
- These signals link the entities together to form a complete
- computation graph. To declare a new entity, please see the
- DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in g_factory.h. A
- command-line interface provided by the entity can be used by a sot
- shell to call methods from entities and display the result of
- their execution. Classes that derive from Entity can customize
- the command-line by overriding commandLine ().
- */
+ /// \ingroup dgraph
+ ///
+ /// \brief This class represents an entity, i.e. a generic
+ /// computational unit that provides input and output signals.
+ ///
+ /// These signals link the entities together to form a complete
+ /// computation graph. To declare a new entity, please see the
+ /// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in g_factory.h. A
+ /// command-line interface provided by the entity can be used by a
+ /// sot shell to call methods from entities and display the result
+ /// of their execution. Classes that derive from Entity can
+ /// customize the command-line by overriding commandLine ().
class DYNAMIC_GRAPH_DLLAPI Entity : private boost::noncopyable
{
public:
diff --git a/include/dynamic-graph/exception-abstract.h b/include/dynamic-graph/exception-abstract.h
index 64036b4044ce7e811c6c04e71621710a74773890..155f6b8e073a43a190a2ddd16a15176e9714377b 100644
--- a/include/dynamic-graph/exception-abstract.h
+++ b/include/dynamic-graph/exception-abstract.h
@@ -44,9 +44,15 @@
namespace dynamicgraph
{
+ /// \ingroup error
+ ///
+ /// \brief Abstract root class for all dynamic-graph exceptions.
class DYNAMIC_GRAPH_DLLAPI ExceptionAbstract : public std::exception
{
public:
+ /// \ingroup error
+ ///
+ /// \brief Class owned by exceptions to store error locations.
class Param
{
public:
@@ -73,7 +79,13 @@ namespace dynamicgraph
bool set;
};
-
+ /// \brief Categories error code.
+ ///
+ /// Each value matches categories used by a subclass of
+ /// ExceptionAbstract.
+ ///
+ /// This is the programmer responsibility to make sure there is
+ /// enough room between two categories error code.
enum ExceptionEnum
{
ABSTRACT = 0,
@@ -94,16 +106,16 @@ namespace dynamicgraph
return EXCEPTION_NAME;
}
- /** Access to the error code. */
+ /// \brief Access to the error code.
int getCode () const;
- /** Reference access to the error message (can be empty). */
+ /// \brief Reference access to the error message (can be empty).
const std::string& getStringMessage () const;
- /** Access to the pointer on the array of \e char related to the
- * error string.
- * Cannot be \e NULL.
- */
+ /// \brief Access to the pointer on the array of \e char related
+ /// to the error string.
+ ///
+ /// Cannot be \e NULL.
const char* getMessage () const;
virtual const char* what () const throw ()
@@ -111,20 +123,24 @@ namespace dynamicgraph
return getStringMessage ().c_str ();
}
- /** Print the error structure. */
- DYNAMIC_GRAPH_DLLAPI friend std::ostream &
+ /// \brief Print the error structure.
+ DYNAMIC_GRAPH_DLLAPI friend std::ostream&
operator << (std::ostream & os, const ExceptionAbstract & err);
protected:
- /** Error code.
- * \sa ErrorCodeEnum */
+ /// \brief Error code.
+ /// \sa ErrorCodeEnum
int code;
- /** Error message (can be empty). */
+ /// \brief Error message (can be empty).
std::string message;
# ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
+ /// \brief Optional mutable attribute to store exception location.
+ ///
+ /// Only present if DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
+ /// preprocessor symbol exists.
mutable Param p;
template<class Exc>
@@ -146,7 +162,7 @@ namespace dynamicgraph
# endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
private:
- /// forbid the empty constructor (private).
+ /// \brief Forbid the empty constructor (private).
ExceptionAbstract ();
};
} // end of namespace dynamicgraph
diff --git a/include/dynamic-graph/exception-factory.h b/include/dynamic-graph/exception-factory.h
index 55e53e1a9287036d4789f0ef169cea0047895e15..214c8e28d375e0b9261e08958f6473e2c1bb7da6 100644
--- a/include/dynamic-graph/exception-factory.h
+++ b/include/dynamic-graph/exception-factory.h
@@ -25,7 +25,10 @@
namespace dynamicgraph
{
- class DYNAMIC_GRAPH_DLLAPI ExceptionFactory :public ExceptionAbstract
+ /// \ingroup error
+ ///
+ /// \brief Generic error class.
+ class DYNAMIC_GRAPH_DLLAPI ExceptionFactory : public ExceptionAbstract
{
public:
enum ErrorCodeEnum
@@ -46,10 +49,10 @@ namespace dynamicgraph
explicit ExceptionFactory (const ExceptionFactory::ErrorCodeEnum& errcode,
const std::string & msg = "");
-
+
ExceptionFactory (const ExceptionFactory::ErrorCodeEnum& errcode,
const std::string& msg, const char* format, ...);
-
+
virtual ~ExceptionFactory () throw ()
{}
diff --git a/include/dynamic-graph/exception-signal.h b/include/dynamic-graph/exception-signal.h
index 5d25fd21c80f02f9894d240e85b238e7ad81b95e..fcf379cc30db4ce1ac9c785a5753cfe4110ec76e 100644
--- a/include/dynamic-graph/exception-signal.h
+++ b/include/dynamic-graph/exception-signal.h
@@ -24,6 +24,10 @@
namespace dynamicgraph
{
+ /// \ingroup error
+ ///
+ /// \brief Exceptions raised when an error related to signals
+ /// happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionSignal : public ExceptionAbstract
{
public:
diff --git a/include/dynamic-graph/exception-traces.h b/include/dynamic-graph/exception-traces.h
index 463447eb0a56275af67c2d898bcc2ea0859be64a..81ab6767857bba9012e1670849fd7b40cba99c12 100644
--- a/include/dynamic-graph/exception-traces.h
+++ b/include/dynamic-graph/exception-traces.h
@@ -25,6 +25,9 @@
namespace dynamicgraph
{
+ /// \ingroup error
+ ///
+ /// \brief Exceptions raised when an error related to traces happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionTraces : public ExceptionAbstract
{
public:
diff --git a/include/dynamic-graph/factory.h b/include/dynamic-graph/factory.h
index c62a1fc655ddf7032e61e98050fc25b0701dd5fa..b51b11b055b95a2f0eb351cd70657400be0172be 100644
--- a/include/dynamic-graph/factory.h
+++ b/include/dynamic-graph/factory.h
@@ -27,7 +27,8 @@
# include <dynamic-graph/exception-factory.h>
# include <dynamic-graph/dynamic-graph-api.h>
-
+/// \ingroup dgraph
+///
/// \brief Automatically register a class to the global factory
/// by relying on the static initialization.
///
@@ -192,6 +193,8 @@ namespace dynamicgraph
EntityMap entityMap;
};
+ /// \ingroup dgraph
+ ///
/// \brief Global factory.
///
/// This global variable is the only valid instance of the
@@ -208,6 +211,8 @@ namespace dynamicgraph
DYNAMIC_GRAPH_DLLAPI extern FactoryStorage g_factory;
+ /// \ingroup dgraph
+ ///
/// \brief This class automatically register an Entity to the
/// global factory at initialization and unregister it during
/// instance destruction.
diff --git a/include/dynamic-graph/shell-procedure.h b/include/dynamic-graph/shell-procedure.h
index 6a3af44ddbcc7fd6ddfc76d02199dadd9a42c06c..8b865087ac318a3f4a0c855946ea1fa97b1f7049 100644
--- a/include/dynamic-graph/shell-procedure.h
+++ b/include/dynamic-graph/shell-procedure.h
@@ -27,27 +27,35 @@
# include <dynamic-graph/interpreter.h>
# include <dynamic-graph/config-shell-procedure.hh>
-/*! @ingroup dgraph
- \brief This plugin exposes shell commands relative to the script language
- constructs such as procedures and for loops.
-
- For more information, load the plugin and type help on a sot shell.
-*/
+/// \ingroup dgraph
+///
+/// \brief This plugin exposes shell commands relative to the script
+/// language constructs such as procedures and for loops.
+///
+/// For more information, load the plugin and type help in a shell.
class DG_SHELLPROCEDURE_DLLAPI ShellProcedure
{
public:
+ /// \brief Symbolizes a function call in the dynamic-graph language.
struct Instruction
{
+ /// \brief Command name.
std::string cmd;
+ /// \brief Arguments lists.
std::vector<std::string> args;
+
std::vector<int> params;
};
+ /// \brief Symbolizes a procedure in the dynamic-graph language.
struct Procedure
{
+ /// \brief Store the procedure body.
std::list<Instruction> instructions;
+ /// \brief Store the procedure arguments.
std::vector<std::string> params;
+ /// \brief Reset the procedure.
void clear ()
{
instructions.clear ();
@@ -55,12 +63,12 @@ class DG_SHELLPROCEDURE_DLLAPI ShellProcedure
}
};
+ /// \brief Map procedure name to their body.
typedef std::map<std::string, Procedure> ProcedureList;
public:
std::string procName;
ProcedureList procedureList;
-
Procedure currentProc;
public:
diff --git a/include/dynamic-graph/signal-array.h b/include/dynamic-graph/signal-array.h
index 19fad5a80fdc65fe77e288d03c62ee123dfc980c..fe12d09a3657f699f12fb35d5d27de0067d86c4a 100644
--- a/include/dynamic-graph/signal-array.h
+++ b/include/dynamic-graph/signal-array.h
@@ -22,6 +22,9 @@
namespace dynamicgraph
{
+ /// \ingroup dgraph
+ ///
+ /// \brief TODO
template<class Time>
class SignalArray_const
{
@@ -118,7 +121,9 @@ namespace dynamicgraph
return res;
}
-
+ /// \ingroup dgraph
+ ///
+ /// \brief TODO
template<class Time>
class SignalArray : public SignalArray_const<Time>
{
diff --git a/include/dynamic-graph/signal-ptr.h b/include/dynamic-graph/signal-ptr.h
index 6d1ad06d48747a3b88b93ef7fba66313403c9809..f048f8e8ec03ebedd404ae2f7071d222a6275998 100644
--- a/include/dynamic-graph/signal-ptr.h
+++ b/include/dynamic-graph/signal-ptr.h
@@ -24,14 +24,14 @@
namespace dynamicgraph
{
-
- /** \brief This is the only type of signal that can be plugged to,
- using the plug () command.
-
- In that sense, when plugged into, it acts as a "pointer" to the
- input signal, hence the name. Operator -> is also overloaded and
- can be used to access the pointed signal.
- */
+ /// \ingroup dgraph
+ ///
+ /// \brief This is the only type of signal that can be plugged to,
+ /// using the plug () command.
+ ///
+ /// In that sense, when plugged into, it acts as a "pointer" to the
+ /// input signal, hence the name. Operator -> is also overloaded and
+ /// can be used to access the pointed signal.
template<class T, class Time>
class SignalPtr : public virtual Signal<T,Time>
{
diff --git a/include/dynamic-graph/tracer-real-time.h b/include/dynamic-graph/tracer-real-time.h
index 64f553f7cb60446db4a7da63cc9fe70aeaea126a..2a4939ba4bd6be9e421800147cfa9e70c0f00b9b 100644
--- a/include/dynamic-graph/tracer-real-time.h
+++ b/include/dynamic-graph/tracer-real-time.h
@@ -25,6 +25,9 @@
namespace dynamicgraph
{
+ /// \ingroup plugin
+ ///
+ /// \brief Stream for the tracer real-time.
class DG_TRACERREALTIME_DLLAPI OutStringStream : public std::ostringstream
{
public:
@@ -44,6 +47,9 @@ namespace dynamicgraph
void empty ();
};
+ /// \ingroup plugin
+ ///
+ /// \brief Main class of the tracer real-time plug-in.
class DG_TRACERREALTIME_DLLAPI TracerRealTime : public Tracer
{
public:
@@ -53,20 +59,21 @@ namespace dynamicgraph
return CLASS_NAME;
}
- protected:
- int bufferSize;
- static const int BUFFER_SIZE_DEFAULT = 1048576; // 1Mo
- typedef std::list<std::ofstream*> HardFileList;
- HardFileList hardFiles;
-
- public:
TracerRealTime (const std::string n);
virtual ~TracerRealTime ()
{}
- public:
virtual void closeFiles ();
virtual void trace ();
+
+ void display (std::ostream& os) const;
+ DG_TRACERREALTIME_DLLAPI friend std::ostream& operator<<
+ (std::ostream& os, const TracerRealTime& t);
+
+ virtual void commandLine (const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os);
+
protected:
virtual void openFile (const SignalBase<int>& sig,
const std::string& filename);
@@ -75,7 +82,6 @@ namespace dynamicgraph
const SignalBase<int>& sig);
void emptyBuffers ();
- public:
void setBufferSize (const int& SIZE)
{
bufferSize=SIZE;
@@ -86,16 +92,11 @@ namespace dynamicgraph
return bufferSize;
}
- public:
- /* --- DISPLAY ---------------------------------------------------------- */
- void display (std::ostream& os) const;
- DG_TRACERREALTIME_DLLAPI friend std::ostream& operator<<
- (std::ostream& os, const TracerRealTime& t);
+ typedef std::list<std::ofstream*> HardFileList;
+ static const int BUFFER_SIZE_DEFAULT = 1048576; // 1Mo
- /* --- PARAMS --- */
- virtual void commandLine (const std::string& cmdLine
- ,std::istringstream& cmdArgs
- ,std::ostream& os);
+ int bufferSize;
+ HardFileList hardFiles;
};
} // end of namespace dynamicgraph
diff --git a/include/dynamic-graph/tracer.h b/include/dynamic-graph/tracer.h
index 24044ddf2ce1523c5242527cfceecf8e2c1343eb..c335820a7fb94778355a2dd47c0ab40a6dc5fcad 100644
--- a/include/dynamic-graph/tracer.h
+++ b/include/dynamic-graph/tracer.h
@@ -31,6 +31,9 @@
namespace dynamicgraph
{
+ /// \ingroup plugin
+ ///
+ /// \brief Tracer plug-in main class.
class DG_TRACER_DLLAPI Tracer : public Entity
{
protected:
diff --git a/src/plugins/shell-procedure.cpp b/src/plugins/shell-procedure.cpp
index 38f00a1142f0e0816b087734bed3562b319d341e..772583ca3bcaed81ccdc82de48b444a888711c20 100644
--- a/src/plugins/shell-procedure.cpp
+++ b/src/plugins/shell-procedure.cpp
@@ -99,15 +99,6 @@ cmdEndProcedure( const std::string& cmdLine,std::istringstream&, std::ostream& o
dgDEBUG(5)<<"Proc <" <<procName<<">: endproc"<<endl;
procedureList[ procName ] = currentProc;
-
-// std::string toto="toto";
-// for( Procedure::iterator ins=procedureList[ toto ].begin ();
-// ins!=procedureList[ toto ].end (); ++ins )
-// {
-// dgDEBUG(15) << "Proc <" << procName << "> : "
-// << ins->cmd << " -> " << ins->args <<endl;
-// }
-
currentProc.clear ();
if( g_shell.deregisterFunction( procName ))