From 77bd735716eae2301697c08d9fbe3782709a9b21 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Thu, 17 Oct 2019 17:10:29 -0400
Subject: [PATCH] Improve doc. Fix debug-tracer.cpp
---
doc/additionalDoc/tracerdoc.h | 23 ++++++++---------------
tests/debug-tracer.cpp | 18 ++++++++++--------
2 files changed, 18 insertions(+), 23 deletions(-)
diff --git a/doc/additionalDoc/tracerdoc.h b/doc/additionalDoc/tracerdoc.h
index 4490d44..e2a0ee6 100644
--- a/doc/additionalDoc/tracerdoc.h
+++ b/doc/additionalDoc/tracerdoc.h
@@ -23,22 +23,15 @@ code documentation of the dynamicgraph::Tracer class.
\n\n
\section tracerdoc_sample Sample usage
-The following code creates a TracerRealTime entity, then sets the tracing buffer
-size to 10MB. It then tells the tracer to create files with names of the form:
-jl_XXX.dat where XXX is the signal name, and adds a few signals after
-clearing the traces;
+The following code creates a TracerRealTime entity and sets the tracing buffer
+size to 80MB. It then tells the tracer to create files with names of the form:
+/tmp/dg_XXX.dat where XXX is the signal name, and call the signal
+after the device has evaluated the control law:
\code
-new TracerRealTime tr
-tr.bufferSize 10485760
-
-tr.open ${TRACE_REPOSITORY} jl_ .dat
-OpenHRP.periodicCall addSignal tr.triger
-(...)
-# --- TRACE ---
-tr.clear
-tr.add OpenHRP.forceRARM
-tr.add dyn.0
-tr.add jgain.gain
+robot.tracer = TracerRealTime("com_tracer")
+robot.tracer.setBufferSize(80*(2**20))
+robot.tracer.open('/tmp','dg_','.dat')
+robot.device.after.addSignal('{0}.triger'.format(robot.tracer.name))
\endcode
\section tracerdoc_addi Additional information
diff --git a/tests/debug-tracer.cpp b/tests/debug-tracer.cpp
index 082f883..738fcbf 100644
--- a/tests/debug-tracer.cpp
+++ b/tests/debug-tracer.cpp
@@ -66,6 +66,13 @@ BOOST_AUTO_TEST_CASE(test_tracer) {
*dynamicgraph::FactoryStorage::getInstance()->newEntity("MyEntity",
"my-entity");
+ std::string rootdir("/tmp");
+ std::string basename("my-tracer");
+ std::string suffix(".dat");
+
+ /// Test openfiles
+ atracer.openFiles(rootdir, basename, suffix);
+
/// Add trace by name
atracer.addSignalToTraceByName("my-entity.out_double", "output");
@@ -80,13 +87,6 @@ BOOST_AUTO_TEST_CASE(test_tracer) {
aSignalInt.setConstant(1.5);
- std::string rootdir("/tmp");
- std::string basename("my-tracer");
- std::string suffix(".dat");
-
- /// Test openfiles
- atracer.openFiles(rootdir, basename, suffix);
-
atracer.start();
for (int i = 0; i < 1000; i++) {
@@ -96,6 +96,8 @@ BOOST_AUTO_TEST_CASE(test_tracer) {
}
atracer.stop();
-
+ atracer.clearSignalToTrace();
atracer.closeFiles();
+
+ atracer.record();
}
--
GitLab