diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index bd0008b1b2639ccf6354dae8ff497a54ff986eac..8ddf198c5a15dcc81dd97a25458daf242a16acfa 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -54,16 +54,17 @@ INSTALL(TARGETS ${LIBRARY_NAME}
SET(PYTHON_MODULE wrap)
ADD_LIBRARY(${PYTHON_MODULE}
- MODULE
- exception-python.cc
- convert-dg-to-py.cc
- dynamic-graph-py.cc
- signal-base-py.cc
- entity-py.cc
- factory-py.cc
- pool-py.cc
- signal-caster-py.cc
- signal-wrapper.cc
+ MODULE
+ convert-dg-to-py.cc
+ debug-py.cc
+ dynamic-graph-py.cc
+ entity-py.cc
+ exception-python.cc
+ factory-py.cc
+ pool-py.cc
+ signal-base-py.cc
+ signal-caster-py.cc
+ signal-wrapper.cc
)
# Remove prefix lib
@@ -117,5 +118,3 @@ ELSE(WIN32)
SET(TRACERREALTIME_PLUGIN ${DYNAMIC_GRAPH_PLUGINDIR}/tracer-real-time${CMAKE_SHARED_LIBRARY_SUFFIX})
ENDIF(WIN32)
DYNAMIC_GRAPH_PYTHON_MODULE("tracer_real_time" ${TRACERREALTIME_PLUGIN} tracer_real_time-wrap)
-
-
diff --git a/src/debug-py.cc b/src/debug-py.cc
new file mode 100644
index 0000000000000000000000000000000000000000..d12b1b356f8cad9683bd793964d4ff1dc0bd874e
--- /dev/null
+++ b/src/debug-py.cc
@@ -0,0 +1,95 @@
+// Copyright 2019, Olivier Stasse, LAAS-CNRS.
+//
+// See LICENSE
+
+#include <iostream>
+
+#define ENABLE_RT_LOG
+#include <dynamic-graph/real-time-logger.h>
+
+#include <map>
+#include <Python.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/entity.h>
+#include <vector>
+#include "exception.hh"
+
+#include <boost/shared_ptr.hpp>
+
+typedef boost::shared_ptr<std::ofstream> ofstreamShrPtr;
+
+namespace dynamicgraph {
+ namespace python {
+
+ extern PyObject* dgpyError;
+ namespace debug {
+
+ std::map<std::string, ofstreamShrPtr > mapOfFiles_;
+
+ PyObject* addLoggerFileOutputStream (PyObject* /*self*/, PyObject* args)
+ {
+ char* filename;
+ if (!PyArg_ParseTuple(args, "s", &filename))
+ return NULL;
+ std::string sfilename(filename);
+ try {
+ std::ofstream *aofs = new std::ofstream;
+ ofstreamShrPtr ofs_shrptr = boost::shared_ptr<std::ofstream>(aofs);
+ aofs->open(filename,
+ std::ofstream::out);
+ dynamicgraph::RealTimeLogger::instance();
+ dgADD_OSTREAM_TO_RTLOG(*aofs);
+ dgRTLOG() << "Added " << filename << " as an output stream \n";
+ mapOfFiles_[sfilename]= ofs_shrptr;
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ PyObject* closeLoggerFileOutputStream (PyObject* /*self*/, PyObject* /*args */)
+ {
+ try {
+ for (std::map<std::string,ofstreamShrPtr>::iterator
+ it=mapOfFiles_.begin();
+ it!=mapOfFiles_.end(); ++it)
+ {
+ it->second->close();
+ }
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ PyObject* addLoggerCoutOutputStream (PyObject* /*self*/, PyObject* /*args*/)
+ {
+ try {
+ dgADD_OSTREAM_TO_RTLOG(std::cout);
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ PyObject* realTimeLoggerDestroy (PyObject* /*self*/, PyObject* /*args*/)
+ {
+ try {
+ RealTimeLogger::destroy();
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ PyObject* realTimeLoggerSpinOnce (PyObject* /*self*/, PyObject* /*args*/)
+ {
+ try {
+ RealTimeLogger::instance().spinOnce();
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ PyObject* realTimeLoggerInstance (PyObject* /*self*/, PyObject* /*args*/)
+ {
+ try {
+ RealTimeLogger::instance();
+ } CATCH_ALL_EXCEPTIONS();
+ return Py_BuildValue ("");
+ }
+
+ } // python
+ } // namespace debug
+} // dynamicgraph
diff --git a/src/dynamic-graph-py.cc b/src/dynamic-graph-py.cc
index bed9a046fae96390801aba005cc307e6c1ea3ccc..8021647b87f50c05b9c8fb2dd35fdd1f7e9c90d0 100644
--- a/src/dynamic-graph-py.cc
+++ b/src/dynamic-graph-py.cc
@@ -60,6 +60,10 @@ namespace dynamicgraph {
extern PyObject* getDocString(PyObject* self, PyObject* args);
extern PyObject* setLoggerVerbosityLevel(PyObject*self, PyObject *args);
extern PyObject* getLoggerVerbosityLevel(PyObject *self, PyObject *args);
+ extern PyObject* setTimeSample(PyObject*self, PyObject *args);
+ extern PyObject* getTimeSample(PyObject *self, PyObject *args);
+ extern PyObject* setStreamPrintPeriod(PyObject*self, PyObject *args);
+ extern PyObject* getStreamPrintPeriod(PyObject *self, PyObject *args);
}
namespace factory {
@@ -72,6 +76,15 @@ namespace dynamicgraph {
extern PyObject* writeGraph (PyObject* self, PyObject* args);
extern PyObject* getEntityList(PyObject* self, PyObject* args);
}
+ namespace debug {
+ extern PyObject* addLoggerFileOutputStream(PyObject* self, PyObject* args);
+ extern PyObject* addLoggerCoutOutputStream(PyObject* self, PyObject* args);
+ extern PyObject* closeLoggerFileOutputStream(PyObject* self, PyObject* args);
+ extern PyObject* realTimeLoggerSpinOnce(PyObject* self, PyObject* args);
+ extern PyObject* realTimeLoggerDestroy(PyObject* self, PyObject* args);
+ extern PyObject* realTimeLoggerInstance(PyObject* self, PyObject* args);
+
+ }
PyObject* dgpyError;
@@ -237,6 +250,46 @@ static PyMethodDef dynamicGraphMethods[] = {
dynamicgraph::python::entity::getLoggerVerbosityLevel,
METH_VARARGS,
"get the verbosity level of the entity"},
+ {"addLoggerFileOutputStream",
+ dynamicgraph::python::debug::addLoggerFileOutputStream,
+ METH_VARARGS,
+ "add a output file stream to the logger by filename"},
+ {"addLoggerCoutOutputStream",
+ dynamicgraph::python::debug::addLoggerCoutOutputStream,
+ METH_VARARGS,
+ "add std::cout as output stream to the logger"},
+ {"closeLoggerFileOutputStream",
+ dynamicgraph::python::debug::closeLoggerFileOutputStream,
+ METH_VARARGS,
+ "close all the loggers file output streams."},
+ {"entity_set_time_sample",
+ dynamicgraph::python::entity::setTimeSample,
+ METH_VARARGS,
+ "set the time sample for printing debugging information"},
+ {"entity_get_time_sample",
+ dynamicgraph::python::entity::getTimeSample,
+ METH_VARARGS,
+ "get the time sample for printing debugging information"},
+ {"entity_set_stream_print_period",
+ dynamicgraph::python::entity::setStreamPrintPeriod,
+ METH_VARARGS,
+ "set the period at which debugging information are printed"},
+ {"entity_get_stream_print_period",
+ dynamicgraph::python::entity::getStreamPrintPeriod,
+ METH_VARARGS,
+ "get the period at which debugging information are printed"},
+ {"real_time_logger_destroy",
+ dynamicgraph::python::debug::realTimeLoggerDestroy,
+ METH_VARARGS,
+ "Destroy the real time logger."},
+ {"real_time_logger_spin_once",
+ dynamicgraph::python::debug::realTimeLoggerSpinOnce,
+ METH_VARARGS,
+ "Destroy the real time logger."},
+ {"real_time_logger_instance",
+ dynamicgraph::python::debug::realTimeLoggerInstance,
+ METH_VARARGS,
+ "Starts the real time logger."},
{NULL, NULL, 0, NULL} /* Sentinel */
};
diff --git a/src/dynamic_graph/entity.py b/src/dynamic_graph/entity.py
index e28e18d3a8d2d3e5d3b6193680a1a99a0c6aa6af..d95964bed7b9b9fa971d79069fb8c210070bd226 100644
--- a/src/dynamic_graph/entity.py
+++ b/src/dynamic_graph/entity.py
@@ -63,13 +63,13 @@ def updateEntityClasses(dictionary):
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_ERROR = 3
VERBOSITY_NONE = 4
class Entity (object) :
@@ -84,7 +84,7 @@ class Entity (object) :
entities = dict ()
-
+
def __init__(self, className, instanceName):
"""
Constructor: if not called by a child class, create and store a pointer
@@ -257,13 +257,13 @@ class Entity (object) :
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)
@@ -276,3 +276,27 @@ class Entity (object) :
elif r==3:
return VerbosityLevel.VERBOSITY_ERROR
return VerbosityLevel.VERBOSITY_NONE
+
+ def setTimeSample(self,timeSample):
+ """
+ Specify for the entity the time at which call is counted.
+ """
+ return wrap.entity_set_time_sample(self.obj, timeSample)
+
+ def getTimeSample(self):
+ """
+ Returns for the entity the time at which call is counted.
+ """
+ return wrap.entity_get_time_sample(self.obj)
+
+ def setStreamPrintPeriod(self,streamPrintPeriod):
+ """
+ Specify for the entity the period at which debugging information is printed
+ """
+ return wrap.entity_set_stream_print_period(self.obj, streamPrintPeriod)
+
+ def getStreamPrintPeriod(self):
+ """
+ Returns for the entity the period at which debugging information is printed
+ """
+ return wrap.entity_get_stream_print_period(self.obj)
diff --git a/src/entity-py.cc b/src/entity-py.cc
index 63fb344d6deda7d198888a99a0b4181083ca3b46..325e3e7ac2ea4dbdb3ea138851be4203d06aa0cb 100644
--- a/src/entity-py.cc
+++ b/src/entity-py.cc
@@ -437,7 +437,7 @@ namespace dynamicgraph {
// Retrieve object verbosity level
PyObject* valueOfVerbosityLevel = PyObject_GetAttrString(objectVerbosityLevel, "value");
- long verbosityLevel = PyLong_AsLong(valueOfVerbosityLevel);//*((int*) lpointer);
+ long verbosityLevel = PyLong_AsLong(valueOfVerbosityLevel);
try {
switch(verbosityLevel)
@@ -457,11 +457,11 @@ namespace dynamicgraph {
PyErr_SetString(dgpyError, exc.what());
return NULL;
} catch (const char* s) {
- PyErr_SetString(dgpyError, s);
- return NULL;
+ PyErr_SetString(dgpyError, s);
+ return NULL;
} catch (...) {
- PyErr_SetString(dgpyError, "Unknown exception");
- return NULL;
+ PyErr_SetString(dgpyError, "Unknown exception");
+ return NULL;
}
return Py_BuildValue("");
@@ -495,6 +495,136 @@ namespace dynamicgraph {
return Py_BuildValue("i",ares);
}
+ /**
+ \brief Get stream print period
+ */
+ PyObject* getStreamPrintPeriod(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;
+
+ double r ;
+ try {
+ r = entity->getStreamPrintPeriod();
+ } CATCH_ALL_EXCEPTIONS();
+
+ return Py_BuildValue("d",r);
+ }
+
+ /**
+ \brief Set print period
+ */
+ PyObject* setStreamPrintPeriod(PyObject* /*self*/, PyObject* args )
+ {
+
+ PyObject* object = NULL;
+ double streamPrintPeriod=0;
+ if (!PyArg_ParseTuple(args, "Od", &object,&streamPrintPeriod))
+ 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;
+
+ try {
+ entity->setStreamPrintPeriod(streamPrintPeriod);
+
+ } 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;
+ }
+
+ return Py_BuildValue("");
+ }
+
+ /**
+ \brief Get stream print period
+ */
+ PyObject* getTimeSample(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;
+
+ double r ;
+ try {
+ r = entity->getTimeSample();
+ } CATCH_ALL_EXCEPTIONS();
+
+ return Py_BuildValue("d",r);
+ }
+
+ /**
+ \brief Set time sample
+ */
+ PyObject* setTimeSample(PyObject* /*self*/, PyObject* args )
+ {
+
+ PyObject* object = NULL;
+ double timeSample;
+ if (!PyArg_ParseTuple(args, "Od", &object,&timeSample))
+ 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;
+
+ try {
+ entity->setTimeSample(timeSample);
+
+ } 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;
+ }
+
+ return Py_BuildValue("");
+ }
+
}
}
diff --git a/src/pool-py.cc b/src/pool-py.cc
index c9085c2442745dba144805b428229c0b724addba..2caa96cc42a566b097d1fdb6ce2814bdfc8eb0c6 100644
--- a/src/pool-py.cc
+++ b/src/pool-py.cc
@@ -24,6 +24,7 @@ namespace dynamicgraph {
extern PyObject* dgpyError;
namespace pool {
+
PyObject* writeGraph (PyObject* /*self*/, PyObject* args)
{
char* filename;
@@ -52,16 +53,16 @@ namespace dynamicgraph {
Py_ssize_t classNumber = listOfEntities.size();
// Build a tuple object
PyObject* classTuple = PyTuple_New(classNumber);
-
+
Py_ssize_t iEntity = 0;
- for (PoolStorage::Entities::const_iterator entity_it =
+ for (PoolStorage::Entities::const_iterator entity_it =
listOfEntities.begin();
entity_it != listOfEntities.end();
++entity_it)
{
const std::string & aname = entity_it->second->getName();
-
- PyObject* className =
+
+ PyObject* className =
Py_BuildValue("s", aname.c_str());
PyTuple_SetItem(classTuple, iEntity, className);
iEntity++;
@@ -71,6 +72,7 @@ namespace dynamicgraph {
return NULL;
}
+
} // python
- } // dynamicgraph
-} // namespace pool
+ } // namespace pool
+} // dynamicgraph
diff --git a/unitTesting/custom_entity.cpp b/unitTesting/custom_entity.cpp
index 5f5aa33a1ca5781d8ce8191fbb0d5057c483f9af..12e9fd7e4d48d0abb32e36de8531eaa5185494ca 100644
--- a/unitTesting/custom_entity.cpp
+++ b/unitTesting/custom_entity.cpp
@@ -36,6 +36,7 @@ namespace dynamicgraph
"CustomEntity("+name+")::input(double)::out_double")
{
+ addSignal();
}
void addSignal()
@@ -53,6 +54,18 @@ namespace dynamicgraph
{
const double &aDouble = m_sigdSIN(inTime);
res = aDouble;
+ std::ostringstream oss;
+ oss << "start update " << res;
+ sendMsg(oss.str().c_str(),MSG_TYPE_ERROR);
+ sendMsg("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG);
+ sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO);
+ sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING);
+ sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR);
+ sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM);
+ sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM);
+ sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM);
+ sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM);
+ sendMsg("end update",MSG_TYPE_ERROR);
return res;
}
diff --git a/unitTesting/test_custom_entity.py b/unitTesting/test_custom_entity.py
index 92903c0231674fed34f97b79d4cc1850f15f47bf..b9c264c25c89fbf04c2df2fe18682e5e219642f9 100644
--- a/unitTesting/test_custom_entity.py
+++ b/unitTesting/test_custom_entity.py
@@ -1,7 +1,9 @@
# Olivier Stasse
# 2019 CNRS
-#
+#
import sys, os
+import time
+
# Put local python module at first priority
sys.path.insert(0,os.getcwd()+'/../src')
sys.path.insert(0,os.getcwd())
@@ -9,18 +11,63 @@ sys.path.insert(0,os.getcwd())
print(os.getcwd())
from dynamic_graph_tests.custom_entity import *
from dynamic_graph.entity import VerbosityLevel
+from dynamic_graph import addLoggerFileOutputStream, addLoggerCoutOutputStream, closeLoggerFileOutputStream
+from dynamic_graph import real_time_logger_instance, real_time_logger_spin_once, real_time_logger_destroy
+
+# Starts the real time logger instance
+real_time_logger_instance()
aCustomEntity = CustomEntity("a_custom_entity")
-print(dir(aCustomEntity))
+
+addLoggerFileOutputStream("/tmp/output.dat")
aCustomEntity.signals()
+
+aCustomEntity.setTimeSample(0.001)
+print(aCustomEntity.getTimeSample())
+aCustomEntity.setStreamPrintPeriod(0.002)
+print(aCustomEntity.getStreamPrintPeriod())
+
aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_INFO_WARNING_ERROR)
print(aCustomEntity.getLoggerVerbosityLevel())
+for i in range(0,5):
+ aCustomEntity.in_double.value=i
+ aCustomEntity.out_double.recompute(i)
+ real_time_logger_spin_once()
+ print(i)
+
aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_WARNING_ERROR)
print(aCustomEntity.getLoggerVerbosityLevel())
+for i in range(5,10):
+ aCustomEntity.in_double.value=i
+ aCustomEntity.out_double.recompute(i)
+ real_time_logger_spin_once()
+
aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_ERROR)
print(aCustomEntity.getLoggerVerbosityLevel())
+for i in range(10,15):
+ aCustomEntity.in_double.value=i
+ aCustomEntity.out_double.recompute(i)
+ real_time_logger_spin_once()
+
+addLoggerCoutOutputStream()
+
aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_NONE)
print(aCustomEntity.getLoggerVerbosityLevel())
+for i in range(15,20):
+ aCustomEntity.in_double.value=i
+ aCustomEntity.out_double.recompute(i)
+ real_time_logger_spin_once()
+
aCustomEntity.setLoggerVerbosityLevel(VerbosityLevel.VERBOSITY_ALL)
print(aCustomEntity.getLoggerVerbosityLevel())
+for i in range(20,25):
+ aCustomEntity.in_double.value=i
+ aCustomEntity.out_double.recompute(i)
+ real_time_logger_spin_once()
+
+
+# End the real time logger
+real_time_logger_destroy()
+# Close all the output stream
+closeLoggerFileOutputStream()