From 2cac3dcd49837a6ce10e956ee86e236e534dd171 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 11 Apr 2019 18:20:08 +0200
Subject: [PATCH] Adding setLoggerVerbosityLevel and getLoggerVerbosityLevel.
---
src/dynamic-graph-py.cc | 10 ++++
src/dynamic_graph/entity.py | 36 +++++++++++++
src/entity-py.cc | 84 +++++++++++++++++++++++++++++++
unitTesting/CMakeLists.txt | 62 ++++++++++++++++++++++-
unitTesting/custom_entity.cpp | 61 ++++++++++++++++++++++
unitTesting/test_custom_entity.py | 18 +++++++
6 files changed, 269 insertions(+), 2 deletions(-)
create mode 100644 unitTesting/custom_entity.cpp
create mode 100644 unitTesting/test_custom_entity.py
diff --git a/src/dynamic-graph-py.cc b/src/dynamic-graph-py.cc
index ab7519b..bed4c26 100644
--- a/src/dynamic-graph-py.cc
+++ b/src/dynamic-graph-py.cc
@@ -58,6 +58,8 @@ namespace dynamicgraph {
extern PyObject* listCommands(PyObject* self, PyObject* args);
extern PyObject* getCommandDocstring(PyObject* self, PyObject* args);
extern PyObject* getDocString(PyObject* self, PyObject* args);
+ extern PyObject* setLoggerVerbosityLevel(PyObject*self, PyObject *args);
+ extern PyObject* getLoggerVerbosityLevel(PyObject *self, PyObject *args);
}
namespace factory {
@@ -227,6 +229,14 @@ static PyMethodDef dynamicGraphMethods[] = {
dynamicgraph::python::pool::getEntityList,
METH_VARARGS,
"return the list of instanciated entities"},
+ {"entity_set_logger_verbosity",
+ dynamicgraph::python::entity::setLoggerVerbosityLevel,
+ METH_VARARGS,
+ "set the verbosity level of the entity"},
+ {"entity_get_logger_verbosity",
+ dynamicgraph::python::entity::getLoggerVerbosityLevel,
+ METH_VARARGS,
+ "get the verbosity level of the entity"},
{NULL, NULL, 0, NULL} /* Sentinel */
};
diff --git a/src/dynamic_graph/entity.py b/src/dynamic_graph/entity.py
index ea4dd36..9872488 100644
--- a/src/dynamic_graph/entity.py
+++ b/src/dynamic_graph/entity.py
@@ -61,6 +61,17 @@ def updateEntityClasses(dictionary):
# --- ENTITY -------------------------------------------------------------------
# --- ENTITY -------------------------------------------------------------------
+from enum import Enum
+class VerbosityLevel(Enum):
+ """
+ Enum class for setVerbosityLevel
+ """
+ VERBOSITY_ALL =0
+ VERBOSITY_INFO_WARNING_ERROR = 1
+ VERBOSITY_WARNING_ERROR = 2
+ VERBOSITY_ERROR = 3
+ VERBOSITY_NONE = 4
+
class Entity (object) :
"""
This class binds dynamicgraph::Entity C++ class
@@ -72,6 +83,8 @@ class Entity (object) :
"""
entities = dict ()
+
+
def __init__(self, className, instanceName):
"""
Constructor: if not called by a child class, create and store a pointer
@@ -191,6 +204,7 @@ class Entity (object) :
"It is not advised to set a new attribute of the same name.")
object.__setattr__(self, name, value)
+
# --- COMMANDS BINDER -----------------------------------------------------
# List of all the entity classes from the c++ factory, that have been bound
# bind the py factory.
@@ -241,3 +255,25 @@ class Entity (object) :
cmdList = filter(lambda x: not x in self.__class__.__dict__, cmdList)
for cmd in cmdList:
self.boundNewCommand( cmd )
+
+ def setLoggerVerbosityLevel(self, verbosity):
+ """
+ Specify for the entity the verbosity level
+ """
+ #return
+ wrap.entity_set_logger_verbosity(self.obj,verbosity)
+
+ def getLoggerVerbosityLevel(self):
+ """
+ Returns the entity's verbosity level
+ """
+ r=wrap.entity_get_logger_verbosity(self.obj)
+ if r==0:
+ return VerbosityLevel.VERBOSITY_ALL
+ elif r==1:
+ return VerbosityLevel.VERBOSITY_INFO_WARNING_ERROR
+ elif r==2:
+ return VerbosityLevel.VERBOSITY_WARNING_ERROR
+ elif r==3:
+ return VerbosityLevel.VERBOSITY_ERROR
+ return VerbosityLevel.VERBOSITY_NONE
diff --git a/src/entity-py.cc b/src/entity-py.cc
index 0cdf8f4..ca890c7 100644
--- a/src/entity-py.cc
+++ b/src/entity-py.cc
@@ -1,3 +1,4 @@
+
// Copyright 2010, Florent Lamiraux, Thomas Moulard, LAAS-CNRS.
//
// This file is part of dynamic-graph-python.
@@ -413,6 +414,89 @@ namespace dynamicgraph {
/* Return the resulting string. */
return Py_BuildValue("s", oss.str().c_str());
}
+
+
+ /**
+ \brief Get verbosity Level
+ */
+ PyObject* getLoggerVerbosityLevel(PyObject* /*self*/, PyObject* args)
+ {
+ PyObject* object = NULL;
+ if (!PyArg_ParseTuple(args, "O", &object))
+ return NULL;
+
+ // Retrieve the entity instance
+ if (!PyCObject_Check(object)) {
+ PyErr_SetString(PyExc_TypeError,
+ "first argument is not an object");
+ return NULL;
+ }
+
+ void *pointer = PyCObject_AsVoidPtr(object);
+ Entity* entity = (Entity*)pointer;
+
+ LoggerVerbosity alv ;
+ try {
+ alv = entity->getLoggerVerbosityLevel();
+ } CATCH_ALL_EXCEPTIONS();
+
+ int ares= (int)alv;
+ return Py_BuildValue("i",ares);
+ }
+
+ /**
+ \brief Set verbosity Level
+ */
+ PyObject* setLoggerVerbosityLevel(PyObject* /*self*/, PyObject* /* args */)
+ {
+#if 0
+ PyObject* object = NULL;
+ PyObject* objectVerbosityLevel = NULL;
+ if (!PyArg_ParseTuple(args, "OO", &object,&objectVerbosityLevel))
+ return NULL;
+
+ // Retrieve the entity instance
+ if (!PyCObject_Check(object)) {
+ PyErr_SetString(PyExc_TypeError,
+ "First argument should be an object");
+ return NULL;
+ }
+
+ void *pointer = PyCObject_AsVoidPtr(object);
+ Entity* entity = (Entity*)pointer;
+
+ // Retrieve object verbosity level
+ PyObject* valueOfVerbosityLevel = PyObject_GetAttrString(objectVerbosityLevel, "value");
+ long verbosityLevel = PyLong_AsLong(valueOfVerbosityLevel);//*((int*) lpointer);
+
+ try {
+ switch(verbosityLevel)
+ {
+ case 0: entity->setLoggerVerbosityLevel(VERBOSITY_ALL);
+ break;
+ case 1: entity->setLoggerVerbosityLevel(VERBOSITY_INFO_WARNING_ERROR);
+ break;
+ case 2: entity->setLoggerVerbosityLevel(VERBOSITY_WARNING_ERROR);
+ break;
+ case 3: entity->setLoggerVerbosityLevel(VERBOSITY_ERROR);
+ break;
+ default: entity->setLoggerVerbosityLevel(VERBOSITY_NONE);
+ break;
+ }
+ } catch (const std::exception& exc) {
+ PyErr_SetString(dgpyError, exc.what());
+ return NULL;
+ } catch (const char* s) {
+ PyErr_SetString(dgpyError, s);
+ return NULL;
+ } catch (...) {
+ PyErr_SetString(dgpyError, "Unknown exception");
+ return NULL;
+ }
+#endif
+ return NULL;
+ }
+
}
}
}
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 88ae862..13e5a13 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -9,7 +9,6 @@ INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
LINK_DIRECTORIES(${Boost_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS})
-
ADD_DEFINITIONS(-DDEBUG=2)
# provide path to library libdynamic-graph.so
@@ -45,6 +44,65 @@ ADD_CUSTOM_COMMAND(TARGET interpreter-test-runfile POST_BUILD
${CMAKE_BINARY_DIR}/unitTesting
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_SOURCE_DIR}/unitTesting/test_python-restart_interpreter.py
${CMAKE_BINARY_DIR}/unitTesting
-
)
+#### Build entity library ####
+set(LIBRARY_NAME custom_entity)
+ADD_LIBRARY(${LIBRARY_NAME} SHARED ${LIBRARY_NAME}.cpp)
+
+#remove the "lib" prefix from the publig output name
+SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES PREFIX "")
+
+SET_TARGET_PROPERTIES(${LIBRARY_NAME}
+ PROPERTIES
+ SOVERSION ${PROJECT_VERSION}
+ INSTALL_RPATH ${DYNAMIC_GRAPH_PLUGINDIR})
+
+#add_dependencies(${LIBRARY_NAME} dynamic-graph)
+target_link_libraries(${LIBRARY_NAME} dynamic-graph)
+
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} dynamic-graph)
+
+STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
+MESSAGE(STATUS "dynamic_graph_plugindir: ${DYNAMIC_GRAPH_PLUGINDIR}")
+
+
+# Generates a local module in unitTesting
+FILE(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph_tests/${LIBRARY_NAME}")
+CONFIGURE_FILE(
+ ${PROJECT_SOURCE_DIR}/cmake/dynamic_graph/submodule/__init__.py.cmake
+ ${PROJECT_BINARY_DIR}/unitTesting/dynamic_graph_tests/${LIBRARY_NAME}/__init__.py
+ )
+FILE(WRITE ${CMAKE_CURRENT_BINARY_DIR}/dynamic_graph_tests/__init__.py
+ "")
+
+# Generates a local wrap.so library
+
+SET(SOURCE_PYTHON_MODULE "cmake/dynamic_graph/python-module-py.cc")
+
+SET(PYTHON_MODULE ${PYTHON_LIBRARY_NAME}-wrap)
+CMAKE_POLICY(PUSH)
+IF(POLICY CMP0037)
+ CMAKE_POLICY(SET CMP0037 OLD)
+ENDIF()
+
+ADD_LIBRARY(${PYTHON_MODULE}
+ MODULE
+ ${PROJECT_SOURCE_DIR}/${SOURCE_PYTHON_MODULE})
+
+SET_TARGET_PROPERTIES(${PYTHON_MODULE}
+ PROPERTIES PREFIX ""
+ OUTPUT_NAME dynamic_graph_tests/${LIBRARY_NAME}/wrap
+ )
+
+CMAKE_POLICY(POP)
+
+TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} "-Wl,--no-as-needed")
+TARGET_LINK_LIBRARIES(${PYTHON_MODULE} ${PUBLIC_KEYWORD} ${LIBRARY_NAME} ${PYTHON_LIBRARY})
+
+INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
+
+FILE(COPY
+ ${CMAKE_SOURCE_DIR}/unitTesting/test_custom_entity.py DESTINATION
+ ${CMAKE_BINARY_DIR}/unitTesting/ )
+
diff --git a/unitTesting/custom_entity.cpp b/unitTesting/custom_entity.cpp
new file mode 100644
index 0000000..5f5aa33
--- /dev/null
+++ b/unitTesting/custom_entity.cpp
@@ -0,0 +1,61 @@
+/* Copyright 2010-2019 LAAS, CNRS
+ * Thomas Moulard.
+ *
+ */
+
+#define ENABLE_RT_LOG
+
+#include <sstream>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-factory.h>
+#include "dynamic-graph/factory.h"
+#include "dynamic-graph/pool.h"
+#include <dynamic-graph/real-time-logger.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+
+
+namespace dynamicgraph
+{
+ class CustomEntity : public Entity
+ {
+ public:
+ dynamicgraph::SignalPtr<double, int> m_sigdSIN;
+ dynamicgraph::SignalTimeDependent<double, int> m_sigdTimeDepSOUT;
+
+ static const std::string CLASS_NAME;
+ virtual const std::string& getClassName () const
+ {
+ return CLASS_NAME;
+ }
+ CustomEntity (const std::string n)
+ : Entity (n)
+ ,m_sigdSIN(NULL,"CustomEntity("+name+")::input(double)::in_double")
+ ,m_sigdTimeDepSOUT(boost::bind(&CustomEntity::update,this,_1,_2),
+ m_sigdSIN,
+ "CustomEntity("+name+")::input(double)::out_double")
+
+ {
+ }
+
+ void addSignal()
+ {
+ signalRegistration(m_sigdSIN << m_sigdTimeDepSOUT);
+ }
+
+ void rmValidSignal()
+ {
+ signalDeregistration("in_double");
+ signalDeregistration("out_double");
+ }
+
+ double & update(double &res, const int &inTime)
+ {
+ const double &aDouble = m_sigdSIN(inTime);
+ res = aDouble;
+ return res;
+ }
+
+ };
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CustomEntity,"CustomEntity");
+}
diff --git a/unitTesting/test_custom_entity.py b/unitTesting/test_custom_entity.py
new file mode 100644
index 0000000..9c8e1f6
--- /dev/null
+++ b/unitTesting/test_custom_entity.py
@@ -0,0 +1,18 @@
+import sys, os
+# Put local python module at first priority
+sys.path.insert(0,os.getcwd()+'/../src')
+sys.path.insert(0,os.getcwd())
+
+print(os.getcwd())
+from dynamic_graph_tests.custom_entity import *
+from dynamic_graph.entity import VerbosityLevel
+
+aCustomEntity = CustomEntity("a_custom_entity")
+
+aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_WARNING_ERROR)
+
+
+
+print(aCustomEntity.getLoggerVerbosityLevel())
+
+
--
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