Merge branch 'devel' into origin-2019-07-12

doc/additionalDoc/debug-logger.h

@@ -35,11 +35,11 @@ Inside the constructor of the entity:
 \endcode
 
 The first line sets the frequency at which the logger will be updated.<br>
-The second line specifies at which frequency the message should be
+The second line specifies at which frequency the STREAM messages should be
 printed.<br>
 The third line specifies the level of message to accept.<br>
 The fourth line returns the level of verbosity.
-In this case, all messages are accepted. <br>
+In this case, all messages are accepted and the STREAM message are displayed on the output streams once on five. <br>
 
 The full list of options are:
 <ul>
@@ -54,15 +54,19 @@ The full list of options are:
 
 Here is some example on how to display or record some information.
 \code
-      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("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM, __FILE__,__LINE__);
+      sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM, __FILE__,__LINE__);
 
       logger_.countdown();
 \endcode
+
+Specifying the file with __FILE__ and the line inside the file by __LINE__ are necessary for the 
+STREAM messages. Indeed they are indexed using the two values. As the default value are "" and 0 
+the counting will be confused.
 */

include/dynamic-graph/entity.h

@@ -112,7 +112,24 @@ namespace dynamicgraph
 
     /// \brief Get the logger's verbosity level.
     LoggerVerbosity getLoggerVerbosityLevel()
-    { return logger_.getVerbosity(); };
+    { return logger_.getVerbosity(); }
+
+    /// \brief Set the time sample.
+    bool setTimeSample(double t)
+    { return logger_.setTimeSample(t); }
+
+    /// \brief Get the time sample.
+    double getTimeSample()
+    { return logger_.getTimeSample();}
+
+    /// \brief Set the period of the stream period
+    bool setStreamPrintPeriod(double t)
+    { return logger_.setStreamPrintPeriod(t); }
+
+    /// \brief Get the period of the stream period
+    double getStreamPrintPeriod()
+    { return logger_.getStreamPrintPeriod();}
+
   protected:
     void addCommand(const std::string& name,command::Command* command);
 

include/dynamic-graph/logger.h

@@ -178,9 +178,16 @@ namespace dynamicgraph {
        * is going to be called. */
     bool setTimeSample(double t);
 
+    /** Get the sampling time at which the method countdown()
+       * is going to be called. */
+    double getTimeSample();
+
     /** Set the time period for printing of streaming messages. */
     bool setStreamPrintPeriod(double s);
 
+    /** Get the time period for printing of streaming messages. */
+    double getStreamPrintPeriod();
+
     /** Set the verbosity level of the logger. */
     void setVerbosity(LoggerVerbosity lv);
 

include/dynamic-graph/signal-ptr.h

@@ -129,8 +129,9 @@ namespace dynamicgraph
 						std::string next2="" ) const;
 
   protected: // Interdiction of the rest of the heritage
-
+    using Signal<T,Time>::addDependency;
     virtual void addDependency () {}
+    using Signal<T,Time>::removeDependency;
     virtual void removeDependency () {}
     virtual void clearDependencies () {}
 

src/debug/logger.cpp

@@ -62,7 +62,7 @@ namespace dynamicgraph
       return;
 
     // if print is allowed by current verbosity level
-    if(isStreamMsg(type))
+    if( isStreamMsg(type))
       {
         // check whether counter already exists
         string id = file+toString(line);
@@ -78,7 +78,10 @@ namespace dynamicgraph
         if(it->second>0.0)
 	  {
 	    it->second -= m_timeSample;
-	    return;
+	    if (it->second<=0.0)
+	      it->second = m_streamPrintPeriod;
+	    else
+	      return;
 	  }
         else  // otherwise reset counter and print
           it->second = m_streamPrintPeriod;
@@ -101,4 +104,14 @@ namespace dynamicgraph
     m_streamPrintPeriod = s;
     return true;
   }
+
+  double Logger::getTimeSample()
+  {
+    return m_timeSample;
+  }
+
+  double Logger::getStreamPrintPeriod()
+  {
+    return m_streamPrintPeriod;
+  }
 } // namespace dynamicgraph

src/debug/real-time-logger.cpp

@@ -87,22 +87,22 @@ namespace dynamicgraph
       int threadPolicy;
       struct sched_param threadParam;
       if (pthread_getschedparam (pthread_self(), &threadPolicy, &threadParam) == 0)
-      {
-        threadPolicy = SCHED_OTHER;
-        threadParam.sched_priority -= 5;
-        if (threadParam.sched_priority < sched_get_priority_min (threadPolicy))
-          threadParam.sched_priority = sched_get_priority_min (threadPolicy);
+	{
+	  threadPolicy = SCHED_OTHER;
+	  threadParam.sched_priority -= 5;
+	  if (threadParam.sched_priority < sched_get_priority_min (threadPolicy))
+	    threadParam.sched_priority = sched_get_priority_min (threadPolicy);
 
-        pthread_setschedparam (pthread_self(), threadPolicy, &threadParam);
-      }
+	  pthread_setschedparam (pthread_self(), threadPolicy, &threadParam);
+	}
 
       while (!requestShutdown_ || !logger->empty())
-      {
-        // If the logger did not write anything, it means the buffer is empty.
-        // Do a pause
-        if (!logger->spinOnce())
-          boost::this_thread::sleep(boost::posix_time::milliseconds(100));
-      }
+	{
+	  // If the logger did not write anything, it means the buffer is empty.
+	  // Do a pause
+	  if (!logger->spinOnce())
+	    boost::this_thread::sleep(boost::posix_time::milliseconds(100));
+	}
     }
   };
 

tests/CMakeLists.txt

@@ -61,3 +61,4 @@ DYNAMIC_GRAPH_TEST(debug-tracer)
 TARGET_LINK_LIBRARIES(debug-tracer tracer)
 DYNAMIC_GRAPH_TEST(debug-logger)
 DYNAMIC_GRAPH_TEST(debug-logger-winit)
+DYNAMIC_GRAPH_TEST(command-test)

tests/command-test.cpp

+/* Copyright 2019, LAAS-CNRS
+ *
+ * Olivier Stasse
+ *
+ * See LICENSE file
+ *
+ */
+#include <sstream>
+#include <iostream>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-factory.h>
+#include "dynamic-graph/factory.h"
+#include "dynamic-graph/pool.h"
+#include "dynamic-graph/command-bind.h"
+
+#define ENABLE_RT_LOG
+#include <dynamic-graph/real-time-logger.h>
+#include <dynamic-graph/logger.h>
+
+#define BOOST_TEST_MODULE debug-logger
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/output_test_stream.hpp>
+
+using boost::test_tools::output_test_stream;
+
+using namespace dynamicgraph::command;
+
+namespace dynamicgraph
+{
+  class CustomEntity : public Entity
+  {
+  public:
+    static const std::string CLASS_NAME;
+    bool test_zero_arg_;
+    bool test_one_arg_;
+    bool test_two_args_;
+    bool test_three_args_;
+    bool test_four_args_;
+    
+    virtual const std::string& getClassName () const
+    {
+      return CLASS_NAME;
+    }
+    CustomEntity (const std::string n)
+      : Entity (n)
+    {
+      test_zero_arg_ = false;
+      test_one_arg_  = false;
+      test_two_args_ = false;
+      test_three_args_ = false;
+      test_four_args_ = false;      
+      
+      addCommand("0_arg",
+		 makeCommandVoid0(*this, &CustomEntity::zero_arg,
+				  docCommandVoid0("zero arg")));
+      
+      addCommand("1_arg",
+		 makeCommandVoid1(*this, &CustomEntity::one_arg,
+				  docCommandVoid1("one arg",
+						  "int")));
+      
+      addCommand("2_args",
+		 makeCommandVoid2(*this, &CustomEntity::two_args,
+				  docCommandVoid2("two args",
+						  "int",
+						  "int")));
+      
+      addCommand("3_args",
+		 makeCommandVoid3(*this, &CustomEntity::three_args,
+				  docCommandVoid3("three args",
+						  "int","int","int")));
+
+      addCommand("4_args",
+		 makeCommandVoid4(*this, &CustomEntity::four_args,
+				  docCommandVoid4("four args",
+						  "int",
+						  "int",
+						  "int",
+						  "int")));      
+      
+    }
+
+    ~CustomEntity()
+    {
+    }
+
+    void zero_arg()
+    {
+      test_zero_arg_ = true;
+    }
+
+    void one_arg(const int & )
+    {
+      test_one_arg_ = true;
+    }
+
+    void two_args(const int & ,
+		  const int & )
+    {
+      test_two_args_ = true;
+    }
+
+    void three_args(const int & ,
+		    const int & ,
+		    const int & )
+    {
+      test_three_args_ = true;
+    }
+    
+    void four_args(const int & ,
+		   const int & ,
+		   const int & ,
+		   const int & )
+    {
+      test_four_args_ = true;
+    }
+
+  };
+  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CustomEntity,"CustomEntity");
+}
+
+
+BOOST_AUTO_TEST_CASE(command_test)
+{
+  dynamicgraph::CustomEntity& entity =
+    *(dynamic_cast<dynamicgraph::CustomEntity *>
+      (dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
+							      "my-entity")));
+
+  std::map<const std::string,Command *> aCommandMap =
+    entity.getNewStyleCommandMap();
+
+  std::map<const std::string,Command *>::iterator it_map;
+  
+  it_map = aCommandMap.find("0_arg");
+  if (it_map==aCommandMap.end())
+    BOOST_CHECK(false);
+  it_map->second->execute();
+  BOOST_CHECK(entity.test_zero_arg_);
+
+  int first_arg=1;
+  Value aValue(first_arg);
+  std::vector<std::string> vec_fname(4);
+  vec_fname[0]="1_arg";
+  vec_fname[1]="2_args";
+  vec_fname[2]="3_args";
+  vec_fname[3]="4_args";
+  std::vector<Value> values;
+  
+  for (unsigned int i=0;i<4;i++)
+    {
+      it_map = aCommandMap.find(vec_fname[i]);
+      if (it_map==aCommandMap.end())
+	BOOST_CHECK(false);
+      values.push_back(aValue);
+      it_map->second->setParameterValues(values);
+      it_map->second->execute();
+    }
+
+  BOOST_CHECK(entity.test_one_arg_);      
+  BOOST_CHECK(entity.test_two_args_);
+  BOOST_CHECK(entity.test_three_args_);
+  BOOST_CHECK(entity.test_four_args_);
+
+}

tests/debug-logger-winit.cpp

@@ -7,20 +7,25 @@
  */
 #include <sstream>
 #include <iostream>
+
+#define ENABLE_RT_LOG
 #include <dynamic-graph/entity.h>
 #include <dynamic-graph/exception-factory.h>
 #include "dynamic-graph/factory.h"
 #include "dynamic-graph/pool.h"
 
-#define ENABLE_RT_LOG
 #include <dynamic-graph/real-time-logger.h>
 #include <dynamic-graph/logger.h>
 
+
 #define BOOST_TEST_MODULE debug-logger
 
 #include <boost/test/unit_test.hpp>
 #include <boost/test/output_test_stream.hpp>
 
+#include <boost/thread/thread.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
+
 using boost::test_tools::output_test_stream;
 
 
@@ -78,7 +83,7 @@ BOOST_AUTO_TEST_CASE(debug_logger_wrong_initialization)
     dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
 							   "my-entity-2")));
 
-  for(unsigned int i=0;i<10000;i++)
+  for(unsigned int i=0;i<1000;i++)
     {
       entity.testDebugTrace();
     }

tests/debug-logger.cpp

@@ -78,6 +78,11 @@ BOOST_AUTO_TEST_CASE(debug_logger)
     dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
 							   "my-entity")));
 
+  entity.setTimeSample(0.002);
+  BOOST_CHECK_EQUAL(entity.getTimeSample(),0.002);
+  entity.setStreamPrintPeriod(0.004);
+  BOOST_CHECK_EQUAL(entity.getStreamPrintPeriod(),0.004);
+
   for(unsigned int i=0;i<10000;i++)
     {
       entity.testDebugTrace();