src/debug/debug.cpp

@@ -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

@@ -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

@@ -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

@@ -14,9 +14,10 @@
 #include <dynamic-graph/pool.h>
 
 /*! System includes */
-#include <sstream>
 #include <stdlib.h>
 
+#include <sstream>
+
 using namespace std;
 using namespace dynamicgraph;
 using dynamicgraph::command::Command;
@@ -68,7 +69,7 @@ void Entity::signalRegistration(const SignalArray<int> &signals) {
     const string &signame(buffer);
 
     SignalMap::iterator sigkey = signalMap.find(signame);
-    if (sigkey != signalMap.end()) // key does exist
+    if (sigkey != signalMap.end())  // key does exist
     {
       dgERRORF("Key %s already exist in the signalMap.", signame.c_str());
       if (sigkey->second != &sig) {
@@ -87,7 +88,7 @@ void Entity::signalRegistration(const SignalArray<int> &signals) {
 
 void Entity::signalDeregistration(const std::string &signame) {
   SignalMap::iterator sigkey = signalMap.find(signame);
-  if (sigkey == signalMap.end()) // key does not exist
+  if (sigkey == signalMap.end())  // key does not exist
   {
     dgERRORF("Key %s does not exist in the signalMap.", signame.c_str());
     throw ExceptionFactory(ExceptionFactory::UNREFERED_SIGNAL,
@@ -105,14 +106,14 @@ std::string Entity::getDocString() const {
   return docString;
 }
 
-#define __DG_ENTITY_GET_SIGNAL__(ITER_TYPE)                                    \
-  SignalMap::ITER_TYPE sigkey = signalMap.find(signame);                       \
-  if (sigkey == signalMap.end()) /* key does NOT exist */                      \
-  {                                                                            \
-    throw ExceptionFactory(ExceptionFactory::UNREFERED_SIGNAL,                 \
-                           "The requested signal is not registered", ": %s",   \
-                           signame.c_str());                                   \
-  }                                                                            \
+#define __DG_ENTITY_GET_SIGNAL__(ITER_TYPE)                                  \
+  SignalMap::ITER_TYPE sigkey = signalMap.find(signame);                     \
+  if (sigkey == signalMap.end()) /* key does NOT exist */                    \
+  {                                                                          \
+    throw ExceptionFactory(ExceptionFactory::UNREFERED_SIGNAL,               \
+                           "The requested signal is not registered", ": %s", \
+                           signame.c_str());                                 \
+  }                                                                          \
   return *(sigkey->second);
 
 bool Entity::hasSignal(const string &signame) const {
@@ -185,9 +186,9 @@ const std::string &Entity::getCommandList() const {
 /// Add a command to Entity
 void Entity::addCommand(const std::string &inName, Command *command) {
   if (commandMap.count(inName) != 0) {
-    DG_THROW ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,
-                              "Command " + inName +
-                                  " already registered in Entity.");
+    DG_THROW ExceptionFactory(
+        ExceptionFactory::OBJECT_CONFLICT,
+        "Command " + inName + " already registered in Entity.");
   }
   std::pair<const std::string, Command *> item(inName, command);
   commandMap.insert(item);
@@ -200,14 +201,14 @@ std::map<const std::string, Command *> Entity::getNewStyleCommandMap() {
 
 Command *Entity::getNewStyleCommand(const std::string &commandName) {
   if (commandMap.count(commandName) != 1) {
-    DG_THROW ExceptionFactory(ExceptionFactory::UNREFERED_FUNCTION,
-                              "Command <" + commandName +
-                                  "> is not registered in Entity.");
+    DG_THROW ExceptionFactory(
+        ExceptionFactory::UNREFERED_FUNCTION,
+        "Command <" + commandName + "> is not registered in Entity.");
   }
   return commandMap[commandName];
 }
 
 void Entity::sendMsg(const std::string &msg, MsgType t,
                      const std::string &lineId) {
-  logger_.sendMsg("[" + name + "]" + msg, t, lineId);
+  logger_.stream(t, lineId) << "[" << name << "]" << msg << '\n';
 }

src/dgraph/factory.cpp

@@ -2,10 +2,11 @@
 // JRL, CNRS/AIST.
 //
 
+#include "dynamic-graph/factory.h"
+
 #include <boost/foreach.hpp>
 
 #include "dynamic-graph/debug.h"
-#include "dynamic-graph/factory.h"
 
 using namespace std;
 using namespace dynamicgraph;
@@ -39,9 +40,10 @@ void FactoryStorage::registerEntity(const std::string &entname,
         "Another entity class already defined with the same name. ",
         "(while adding entity class <%s> inside the factory).",
         entname.c_str());
-    dgERRORF("Another entity class already defined with the same name. "
-             "(while adding entity class <%s> inside the factory).",
-             entname.c_str());
+    dgERRORF(
+        "Another entity class already defined with the same name. "
+        "(while adding entity class <%s> inside the factory).",
+        entname.c_str());
   } else {
     if (!ent) {
       // FIXME: we should have a better error code for that.
@@ -118,4 +120,4 @@ EntityRegisterer::~EntityRegisterer() {
 
 // The global factory.
 FactoryStorage *FactoryStorage::instance_ = NULL;
-} // end of namespace dynamicgraph.
+}  // end of namespace dynamicgraph.

src/dgraph/pool.cpp

@@ -13,13 +13,15 @@
 
 /* --- DYNAMIC-GRAPH --- */
 #include "dynamic-graph/pool.h"
-#include "dynamic-graph/debug.h"
-#include "dynamic-graph/entity.h"
+
 #include <list>
 #include <sstream>
 #include <string>
 #include <typeinfo>
 
+#include "dynamic-graph/debug.h"
+#include "dynamic-graph/entity.h"
+
 using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */
@@ -57,7 +59,7 @@ PoolStorage::~PoolStorage() {
 /* --------------------------------------------------------------------- */
 void PoolStorage::registerEntity(const std::string &entname, Entity *ent) {
   Entities::iterator entkey = entityMap.find(entname);
-  if (entkey != entityMap.end()) // key does exist
+  if (entkey != entityMap.end())  // key does exist
   {
     throw ExceptionFactory(
         ExceptionFactory::OBJECT_CONFLICT,
@@ -72,7 +74,7 @@ void PoolStorage::registerEntity(const std::string &entname, Entity *ent) {
 
 void PoolStorage::deregisterEntity(const std::string &entname) {
   Entities::iterator entkey = entityMap.find(entname);
-  if (entkey == entityMap.end()) // key doesnot exist
+  if (entkey == entityMap.end())  // key doesnot exist
   {
     throw ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,
                            "Entity not defined yet. ", "Entity name is <%s>.",
@@ -207,7 +209,7 @@ static bool objectNameParser(std::istringstream &cmdparse, std::string &objName,
   char buffer[SIZE];
   cmdparse >> std::ws;
   cmdparse.getline(buffer, SIZE, '.');
-  if (!cmdparse.good()) // The callback is not an object method
+  if (!cmdparse.good())  // The callback is not an object method
     return false;
 
   objName = buffer;

src/exception/exception-factory.cpp

@@ -7,11 +7,12 @@
  *
  */
 
-#include <cstdio>
 #include <dynamic-graph/debug.h>
 #include <dynamic-graph/exception-factory.h>
 #include <stdarg.h>
 
+#include <cstdio>
+
 using namespace dynamicgraph;
 
 /* --------------------------------------------------------------------- */

tests/custom-entity.cpp

@@ -5,6 +5,7 @@
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/pool.h>
+
 #include <sstream>
 
 #define BOOST_TEST_MODULE customEntity