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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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src/command/value.cpp
View file @ 2e7a70d5
......@@ -5,6 +5,7 @@
//
#include "dynamic-graph/value.h"
#include "dynamic-graph/exception-abstract.h"
namespace dynamicgraph {
......@@ -21,7 +22,11 @@ EitherType::~EitherType() {
EitherType::operator bool() const { return value_->boolValue(); }
EitherType::operator unsigned() const { return value_->unsignedValue(); }
EitherType::operator unsigned long int() const {
return value_->unsignedlongintValue();
}
EitherType::operator int() const { return value_->intValue(); }
EitherType::operator long int() const { return value_->longintValue(); }
EitherType::operator float() const { return value_->floatValue(); }
EitherType::operator double() const { return value_->doubleValue(); }
EitherType::operator std::string() const { return value_->stringValue(); }
......@@ -33,37 +38,47 @@ EitherType::operator Values() const { return value_->valuesValue(); }
void Value::deleteValue() {
switch (type_) {
case BOOL:
delete (const bool *)value_;
break;
case UNSIGNED:
delete (const unsigned *)value_;
break;
case INT:
delete (const int *)value_;
break;
case FLOAT:
delete (const float *)value_;
break;
case DOUBLE:
delete (const double *)value_;
break;
case STRING:
delete (const std::string *)value_;
break;
case VECTOR:
delete (const Vector *)value_;
break;
case MATRIX:
delete (const Eigen::MatrixXd *)value_;
break;
case MATRIX4D:
delete (const Eigen::Matrix4d *)value_;
break;
case VALUES:
delete (const Values *)value_;
break;
default:;
case BOOL:
delete (const bool *)value_;
break;
case UNSIGNED:
delete (const unsigned *)value_;
break;
case UNSIGNEDLONGINT:
delete (const unsigned long int *)value_;
break;
case INT:
delete (const int *)value_;
break;
case LONGINT:
delete (const long int *)value_;
break;
case FLOAT:
delete (const float *)value_;
break;
case DOUBLE:
delete (const double *)value_;
break;
case STRING:
delete (const std::string *)value_;
break;
case VECTOR:
delete (const Vector *)value_;
break;
case MATRIX:
delete (const Eigen::MatrixXd *)value_;
break;
case MATRIX4D:
delete (const Eigen::Matrix4d *)value_;
break;
case VALUES:
delete (const Values *)value_;
break;
case NONE: /* Equivalent to void */
break;
default:
throw "Value::deleteValue : Undefined type";
;
}
}
......@@ -72,6 +87,8 @@ Value::~Value() { deleteValue(); }
Value::Value(const bool &value) : type_(BOOL), value_(new bool(value)) {}
Value::Value(const unsigned &value)
: type_(UNSIGNED), value_(new unsigned(value)) {}
Value::Value(const unsigned long int &value)
: type_(UNSIGNEDLONGINT), value_(new unsigned long int(value)) {}
Value::Value(const int &value) : type_(INT), value_(new int(value)) {}
Value::Value(const float &value) : type_(FLOAT), value_(new float(value)) {}
Value::Value(const double &value) : type_(DOUBLE), value_(new double(value)) {}
......@@ -90,42 +107,47 @@ Value::Value(const Value &value)
void *copyValue(const Value &value) {
void *copy;
switch (value.type()) {
case Value::NONE:
copy = NULL;
break;
case Value::BOOL:
copy = new bool(value.boolValue());
break;
case Value::UNSIGNED:
copy = new unsigned(value.unsignedValue());
break;
case Value::INT:
copy = new int(value.intValue());
break;
case Value::FLOAT:
copy = new float(value.floatValue());
break;
case Value::DOUBLE:
copy = new double(value.doubleValue());
break;
case Value::STRING:
copy = new std::string(value.stringValue());
break;
case Value::VECTOR:
copy = new Vector(value.vectorValue());
break;
case Value::MATRIX:
copy = new Eigen::MatrixXd(value.matrixXdValue());
break;
case Value::MATRIX4D:
copy = new Eigen::Matrix4d(value.matrix4dValue());
break;
case Value::VALUES:
copy = new Values(value.valuesValue());
break;
default:
abort();
case Value::NONE:
copy = NULL;
break;
case Value::BOOL:
copy = new bool(value.boolValue());
break;
case Value::UNSIGNED:
copy = new unsigned(value.unsignedValue());
break;
case Value::UNSIGNEDLONGINT:
copy = new unsigned long int(value.unsignedlongintValue());
break;
case Value::INT:
copy = new int(value.intValue());
break;
case Value::LONGINT:
copy = new long int(value.longintValue());
break;
case Value::FLOAT:
copy = new float(value.floatValue());
break;
case Value::DOUBLE:
copy = new double(value.doubleValue());
break;
case Value::STRING:
copy = new std::string(value.stringValue());
break;
case Value::VECTOR:
copy = new Vector(value.vectorValue());
break;
case Value::MATRIX:
copy = new Eigen::MatrixXd(value.matrixXdValue());
break;
case Value::MATRIX4D:
copy = new Eigen::Matrix4d(value.matrix4dValue());
break;
case Value::VALUES:
copy = new Values(value.valuesValue());
break;
default:
abort();
}
return copy;
}
......@@ -134,8 +156,7 @@ Value::Value() : type_(NONE), value_(NULL) {}
Value Value::operator=(const Value &value) {
if (&value != this) {
if (value_ != 0x0)
deleteValue();
if (value_ != 0x0) deleteValue();
type_ = value.type_;
void **ptValue = const_cast<void **>(&value_);
*ptValue = copyValue(value);
......@@ -144,33 +165,34 @@ Value Value::operator=(const Value &value) {
}
bool Value::operator==(const Value &other) const {
if (type_ != other.type_)
return false;
if (type_ != other.type_) return false;
switch (type_) {
case Value::BOOL:
return boolValue() == other.boolValue();
case Value::UNSIGNED:
return unsignedValue() == other.unsignedValue();
case Value::INT:
return intValue() == other.intValue();
case Value::DOUBLE:
return doubleValue() == other.doubleValue();
case Value::FLOAT:
return floatValue() == other.floatValue();
case Value::STRING:
return stringValue() == other.stringValue();
case Value::VECTOR:
return vectorValue() == other.vectorValue();
case Value::MATRIX:
return matrixXdValue() == other.matrixXdValue();
case Value::MATRIX4D:
return matrix4dValue() == other.matrix4dValue();
case Value::VALUES:
return constValuesValue() == other.constValuesValue();
case Value::NONE:
break;
default:
break;
case Value::BOOL:
return boolValue() == other.boolValue();
case Value::UNSIGNED:
return unsignedValue() == other.unsignedValue();
case Value::UNSIGNEDLONGINT:
return unsignedlongintValue() == other.unsignedlongintValue();
case Value::INT:
return intValue() == other.intValue();
case Value::DOUBLE:
return doubleValue() == other.doubleValue();
case Value::FLOAT:
return floatValue() == other.floatValue();
case Value::STRING:
return stringValue() == other.stringValue();
case Value::VECTOR:
return vectorValue() == other.vectorValue();
case Value::MATRIX:
return matrixXdValue() == other.matrixXdValue();
case Value::MATRIX4D:
return matrix4dValue() == other.matrix4dValue();
case Value::VALUES:
return constValuesValue() == other.constValuesValue();
case Value::NONE:
break;
default:
break;
}
return false;
}
......@@ -180,22 +202,30 @@ const EitherType Value::value() const { return EitherType(*this); }
Value::Type Value::type() const { return type_; }
bool Value::boolValue() const {
if (type_ == BOOL)
return *((const bool *)value_);
if (type_ == BOOL) return *((const bool *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an bool");
}
unsigned Value::unsignedValue() const {
if (type_ == UNSIGNED)
return *((const unsigned *)value_);
if (type_ == UNSIGNED) return *((const unsigned *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not an unsigned int");
}
unsigned long int Value::unsignedlongintValue() const {
if (type_ == UNSIGNEDLONGINT) return *((const unsigned long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not an unsigned long int");
}
long int Value::longintValue() const {
if (type_ == LONGINT) return *((const long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an long int");
}
int Value::intValue() const {
if (type_ == INT)
return *((const int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int int");
if (type_ == INT) return *((const int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int");
}
float Value::floatValue() const {
......@@ -215,127 +245,138 @@ double Value::doubleValue() const {
}
std::string Value::stringValue() const {
if (type_ == STRING)
return *((const std::string *)value_);
if (type_ == STRING) return *((const std::string *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an string");
}
Vector Value::vectorValue() const {
if (type_ == VECTOR)
return *((const Vector *)value_);
if (type_ == VECTOR) return *((const Vector *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an vector");
}
Eigen::MatrixXd Value::matrixXdValue() const {
if (type_ == MATRIX)
return *((const Eigen::MatrixXd *)value_);
if (type_ == MATRIX) return *((const Eigen::MatrixXd *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a Eigen matrixXd");
}
Eigen::Matrix4d Value::matrix4dValue() const {
if (type_ == MATRIX4D)
return *((const Eigen::Matrix4d *)value_);
if (type_ == MATRIX4D) return *((const Eigen::Matrix4d *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a Eigen matrix4d");
}
Values Value::valuesValue() const {
if (type_ == VALUES)
return *((const Values *)value_);
if (type_ == VALUES) return *((const Values *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a vector of Value");
}
const Values &Value::constValuesValue() const {
if (type_ == VALUES)
return *((const Values *)value_);
if (type_ == VALUES) return *((const Values *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a vector of Value");
}
std::string Value::typeName(Type type) {
switch (type) {
case BOOL:
return std::string("bool");
case UNSIGNED:
return std::string("unsigned int");
case INT:
return std::string("int");
case FLOAT:
return std::string("float");
case DOUBLE:
return std::string("double");
case STRING:
return std::string("string");
case VECTOR:
return std::string("vector");
case MATRIX:
return std::string("matrixXd");
case MATRIX4D:
return std::string("matrix4d");
case VALUES:
return std::string("values");
default:
return std::string("unknown");
case BOOL:
return std::string("bool");
case UNSIGNED:
return std::string("unsigned int");
case UNSIGNEDLONGINT:
return std::string("unsigned long int");
case INT:
return std::string("int");
case FLOAT:
return std::string("float");
case DOUBLE:
return std::string("double");
case STRING:
return std::string("string");
case VECTOR:
return std::string("vector");
case MATRIX:
return std::string("matrixXd");
case MATRIX4D:
return std::string("matrix4d");
case VALUES:
return std::string("values");
default:
return std::string("unknown");
}
}
std::ostream &operator<<(std::ostream &os, const Value &value) {
os << "Type=" << Value::typeName(value.type_) << ", value=";
switch (value.type_) {
case Value::BOOL:
os << value.boolValue();
break;
case Value::UNSIGNED:
os << value.unsignedValue();
break;
case Value::INT:
os << value.intValue();
break;
case Value::DOUBLE:
os << value.doubleValue();
break;
case Value::FLOAT:
os << value.floatValue();
break;
case Value::STRING:
os << value.stringValue();
break;
case Value::VECTOR:
os << value.vectorValue();
break;
case Value::MATRIX:
os << value.matrixXdValue();
break;
case Value::MATRIX4D:
os << value.matrix4dValue();
break;
case Value::VALUES: {
const std::vector<Value> &vals = value.constValuesValue();
os << "[ ";
for (std::size_t i = 0; i < vals.size(); ++i)
os << "Value(" << vals[i] << "), ";
os << "]";
} break;
default:
return os;
case Value::BOOL:
os << value.boolValue();
break;
case Value::UNSIGNED:
os << value.unsignedValue();
break;
case Value::UNSIGNEDLONGINT:
os << value.unsignedlongintValue();
break;
case Value::INT:
os << value.intValue();
break;
case Value::DOUBLE:
os << value.doubleValue();
break;
case Value::FLOAT:
os << value.floatValue();
break;
case Value::STRING:
os << value.stringValue();
break;
case Value::VECTOR:
os << value.vectorValue();
break;
case Value::MATRIX:
os << value.matrixXdValue();
break;
case Value::MATRIX4D:
os << value.matrix4dValue();
break;
case Value::VALUES: {
const std::vector<Value> &vals = value.constValuesValue();
os << "[ ";
for (std::size_t i = 0; i < vals.size(); ++i)
os << "Value(" << vals[i] << "), ";
os << "]";
} break;
default:
return os;
}
return os;
}
template <> const Value::Type ValueHelper<bool>::TypeID = Value::BOOL;
template <> const Value::Type ValueHelper<unsigned>::TypeID = Value::UNSIGNED;
template <> const Value::Type ValueHelper<int>::TypeID = Value::INT;
template <> const Value::Type ValueHelper<float>::TypeID = Value::FLOAT;
template <> const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
template <> const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template <> const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
template <>
const Value::Type ValueHelper<bool>::TypeID = Value::BOOL;
template <>
const Value::Type ValueHelper<unsigned>::TypeID = Value::UNSIGNED;
template <>
const Value::Type ValueHelper<unsigned long int>::TypeID =
Value::UNSIGNEDLONGINT;
template <>
const Value::Type ValueHelper<int>::TypeID = Value::INT;
template <>
const Value::Type ValueHelper<float>::TypeID = Value::FLOAT;
template <>
const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
template <>
const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template <>
const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
template <>
const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
template <>
const Value::Type ValueHelper<Eigen::Matrix4d>::TypeID = Value::MATRIX4D;
template <> const Value::Type ValueHelper<Values>::TypeID = Value::VALUES;
template <>
const Value::Type ValueHelper<Values>::TypeID = Value::VALUES;
} // namespace command
} // namespace dynamicgraph
} // namespace command
} // namespace dynamicgraph
src/debug/debug.cpp
View file @ 2e7a70d5
......@@ -8,6 +8,7 @@
*/
#include <dynamic-graph/debug.h>
#include <fstream>
#include <ios>
......@@ -32,7 +33,7 @@ std::ofstream dg_debugfile("/tmp/dynamic-graph-traces.txt",
#else
std::ofstream dg_debugfile;
class dgDebug_init {
public:
public:
dgDebug_init() { dg_debugfile.setstate(std::ios::failbit); }
};
dgDebug_init dgDebug_initialisator;
......@@ -42,11 +43,10 @@ dgDebug_init dgDebug_initialisator;
namespace dynamicgraph {
DebugTrace dgDEBUGFLOW(dg_debugfile);
DebugTrace dgERRORFLOW(dg_debugfile);
} // namespace dynamicgraph
} // namespace dynamicgraph
void DebugTrace::openFile(const char *filename) {
if (dg_debugfile.good() && dg_debugfile.is_open())
dg_debugfile.close();
if (dg_debugfile.good() && dg_debugfile.is_open()) dg_debugfile.close();
dg_debugfile.clear();
dg_debugfile.open(filename, std::ios::trunc & std::ios::out);
}
......
src/debug/logger.cpp
View file @ 2e7a70d5
......@@ -13,17 +13,18 @@
#define ENABLE_RT_LOG
#include <dynamic-graph/logger.h>
#include <iomanip> // std::setprecision
#include <iostream>
#include <sstream>
#include <dynamic-graph/real-time-logger.h>
#include <stdio.h>
#include <dynamic-graph/real-time-logger.h>
#include <iomanip> // std::setprecision
#include <iostream>
#include <sstream>
namespace dynamicgraph {
Logger::Logger(double timeSample, double streamPrintPeriod)
: m_timeSample(timeSample), m_streamPrintPeriod(streamPrintPeriod),
: m_timeSample(timeSample),
m_streamPrintPeriod(streamPrintPeriod),
m_printCountdown(0.0) {
m_lv = VERBOSITY_ERROR;
}
......@@ -34,8 +35,7 @@ void Logger::setVerbosity(LoggerVerbosity lv) { m_lv = lv; }
LoggerVerbosity Logger::getVerbosity() { return m_lv; }
void Logger::countdown() {
if (m_printCountdown < 0.0)
m_printCountdown = m_streamPrintPeriod;
if (m_printCountdown < 0.0) m_printCountdown = m_streamPrintPeriod;
m_printCountdown -= m_timeSample;
}
......@@ -51,15 +51,13 @@ void Logger::sendMsg(std::string msg, MsgType type, const std::string &file,
}
bool Logger::setTimeSample(double t) {
if (t <= 0.0)
return false;
if (t <= 0.0) return false;
m_timeSample = t;
return true;
}
bool Logger::setStreamPrintPeriod(double s) {
if (s <= 0.0)
return false;
if (s <= 0.0) return false;
m_streamPrintPeriod = s;
return true;
}
......@@ -79,9 +77,9 @@ bool Logger::checkStreamPeriod(const std::string &lineId) {
counter -= m_timeSample;
if (counter > 0.0) {
return false;
} else // otherwise reset counter and print
} else // otherwise reset counter and print
counter = m_streamPrintPeriod;
return true;
}
} // namespace dynamicgraph
} // namespace dynamicgraph
src/debug/real-time-logger.cpp
View file @ 2e7a70d5
......@@ -13,21 +13,21 @@
namespace dynamicgraph {
RealTimeLogger::RealTimeLogger(const std::size_t &bufferSize)
: buffer_(bufferSize, NULL), frontIdx_(0), backIdx_(0), oss_(NULL),
: buffer_(bufferSize, NULL),
frontIdx_(0),
backIdx_(0),
oss_(NULL),
nbDiscarded_(0) {
for (std::size_t i = 0; i < buffer_.size(); ++i)
buffer_[i] = new Data;
for (std::size_t i = 0; i < buffer_.size(); ++i) buffer_[i] = new Data;
}
RealTimeLogger::~RealTimeLogger() {
// Check that we are not spinning...
for (std::size_t i = 0; i < buffer_.size(); ++i)
delete buffer_[i];
for (std::size_t i = 0; i < buffer_.size(); ++i) delete buffer_[i];
}
bool RealTimeLogger::spinOnce() {
if (empty())
return false;
if (empty()) return false;
Data *data = buffer_[frontIdx_];
frontIdx_ = (frontIdx_ + 1) % buffer_.size();
std::string str = data->buf.str();
......@@ -67,8 +67,11 @@ struct RealTimeLogger::thread {
boost::thread t_;
explicit thread(RealTimeLogger *logger)
: requestShutdown_(false), threadPolicy_(SCHED_OTHER), threadPriority_(0),
changedThreadParams(true), t_(&thread::spin, this, logger) {}
: requestShutdown_(false),
threadPolicy_(SCHED_OTHER),
threadPriority_(0),
changedThreadParams(true),
t_(&thread::spin, this, logger) {}
// void setThreadPolicy(int policy) {
// threadPolicy_ = policy;
......@@ -107,8 +110,7 @@ struct RealTimeLogger::thread {
// Do a pause
if (!logger->spinOnce())
boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
if (changedThreadParams)
changeThreadParams();
if (changedThreadParams) changeThreadParams();
}
}
};
......@@ -125,11 +127,10 @@ RealTimeLogger &RealTimeLogger::instance() {
}
void RealTimeLogger::destroy() {
if (instance_ == NULL)
return;
if (instance_ == NULL) return;
thread_->requestShutdown_ = true;
thread_->t_.join();
delete instance_;
delete thread_;
}
} // namespace dynamicgraph
} // namespace dynamicgraph
src/dgraph/entity.cpp
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src/dgraph/factory.cpp
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src/dgraph/pool.cpp
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src/exception/exception-abstract.cpp
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src/exception/exception-factory.cpp
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src/exception/exception-signal.cpp
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src/exception/exception-traces.cpp
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src/mt/process-list.cpp
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src/traces/tracer-real-time.cpp
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src/traces/tracer.cpp
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tests/CMakeLists.txt
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tests/command-test.cpp
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tests/custom-entity.cpp
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tests/debug-logger-winit.cpp
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tests/debug-logger.cpp
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tests/debug-real-time-tracer.cpp
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