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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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include/dynamic-graph/command.h
View file @ 2e7a70d5
......@@ -7,13 +7,15 @@
#ifndef DYNAMIC_GRAPH_COMMAND_H
#define DYNAMIC_GRAPH_COMMAND_H
#include <vector>
#include "dynamic-graph/dynamic-graph-api.h"
#include "dynamic-graph/value.h"
#include <vector>
namespace dynamicgraph {
class Entity;
namespace command {
/// \ingroup dgraph
/// Abstract class for entity commands
///
/// This class provide a mean to control entities from external
......@@ -31,7 +33,7 @@ namespace command {
/// vector of Values the types of which should fit the vector specified
/// at construction.
class DYNAMIC_GRAPH_DLLAPI Command {
public:
public:
virtual ~Command();
/// Store the owner entity and a vector of value types
/// \param entity reference to Entity owning this command.
......@@ -52,20 +54,20 @@ public:
/// Get documentation string
std::string getDocstring() const;
protected:
protected:
/// Specific action performed by the command
virtual Value doExecute() = 0;
private:
private:
Entity &owner_;
std::vector<Value::Type> valueTypeVector_;
std::vector<Value> valueVector_;
std::string docstring_;
public:
public:
static const std::vector<Value::Type> EMPTY_ARG;
};
} // namespace command
} // namespace dynamicgraph
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_COMMAND_H
#endif // DYNAMIC_GRAPH_COMMAND_H
include/dynamic-graph/debug.h
View file @ 2e7a70d5
......@@ -5,29 +5,29 @@
#ifndef DYNAMIC_GRAPH_DEBUG_HH
#define DYNAMIC_GRAPH_DEBUG_HH
#include <dynamic-graph/dynamic-graph-api.h>
#include <cstdarg>
#include <cstdio>
#include <dynamic-graph/fwd.hh>
#include <fstream>
#include <sstream>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/fwd.hh>
#ifndef VP_DEBUG_MODE
#define VP_DEBUG_MODE 0
#endif //! VP_DEBUG_MODE
#endif //! VP_DEBUG_MODE
#ifndef VP_TEMPLATE_DEBUG_MODE
#define VP_TEMPLATE_DEBUG_MODE 0
#endif //! VP_TEMPLATE_DEBUG_MODE
#define DG_COMMON_TRACES \
do { \
va_list arg; \
va_start(arg, format); \
vsnprintf(charbuffer, SIZE, format, arg); \
va_end(arg); \
outputbuffer << tmpbuffer.str() << charbuffer << std::endl; \
#endif //! VP_TEMPLATE_DEBUG_MODE
#define DG_COMMON_TRACES \
do { \
va_list arg; \
va_start(arg, format); \
vsnprintf(charbuffer, SIZE, format, arg); \
va_end(arg); \
outputbuffer << tmpbuffer.str() << charbuffer << std::endl; \
} while (0)
namespace dynamicgraph {
......@@ -38,7 +38,7 @@ namespace dynamicgraph {
/// This class should never be used directly, please use the
/// debugging macro instead.
class DYNAMIC_GRAPH_DLLAPI DebugTrace {
public:
public:
static const int SIZE = 512;
std::stringstream tmpbuffer;
......@@ -50,8 +50,7 @@ public:
DebugTrace(std::ostream &os) : outputbuffer(os) {}
inline void trace(const int level, const char *format, ...) {
if (level <= traceLevel)
DG_COMMON_TRACES;
if (level <= traceLevel) DG_COMMON_TRACES;
tmpbuffer.str("");
}
......@@ -68,8 +67,7 @@ public:
}
inline void traceTemplate(const int level, const char *format, ...) {
if (level <= traceLevelTemplate)
DG_COMMON_TRACES;
if (level <= traceLevelTemplate) DG_COMMON_TRACES;
tmpbuffer.str("");
}
......@@ -92,57 +90,57 @@ public:
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgDEBUGFLOW;
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgERRORFLOW;
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#ifdef VP_DEBUG
#define dgPREDEBUG __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
#define dgPREERROR \
#define dgPREERROR \
"\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
#define dgDEBUG(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
#define dgDEBUG(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer << dgPREDEBUG
#define dgDEBUGMUTE(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
#define dgDEBUGMUTE(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer
#define dgERROR \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
#define dgERROR \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgERRORFLOW.outputbuffer << dgPREERROR
#define dgDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
#define dgDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgDEBUGFLOW.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_DEBUG_MODE).trace
#define dgERRORF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
#define dgERRORF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgERRORFLOW.pre(dgERRORFLOW.tmpbuffer << dgPREERROR).trace
// TEMPLATE
#define dgTDEBUG(level) \
if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
#define dgTDEBUG(level) \
if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer << dgPREDEBUG
#define dgTDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgDEBUGFLOW \
.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE) \
#define dgTDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgDEBUGFLOW \
.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE) \
.trace
inline bool dgDEBUG_ENABLE(const int &level) { return level <= VP_DEBUG_MODE; }
......@@ -151,19 +149,19 @@ inline bool dgTDEBUG_ENABLE(const int &level) {
return level <= VP_TEMPLATE_DEBUG_MODE;
}
#else // VP_DEBUG
#else // VP_DEBUG
#define dgPREERROR \
#define dgPREERROR \
"\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
#define dgDEBUG(level) \
if (1) \
; \
else \
#define dgDEBUG(level) \
if (1) \
; \
else \
::dynamicgraph::__null_stream()
#define dgDEBUGMUTE \
(level) if (1); \
#define dgDEBUGMUTE \
(level) if (1); \
else ::dynamicgraph::__null_stream()
#define dgERROR dgERRORFLOW.outputbuffer << dgPREERROR
......@@ -183,13 +181,13 @@ inline std::ostream &__null_stream() {
static std::ostream os(NULL);
return os;
}
} // namespace dynamicgraph
} // namespace dynamicgraph
// TEMPLATE
#define dgTDEBUG(level) \
if (1) \
; \
else \
#define dgTDEBUG(level) \
if (1) \
; \
else \
::dynamicgraph::__null_stream()
inline void dgTDEBUGF(const int, const char *, ...) { return; }
......@@ -199,7 +197,7 @@ inline void dgTDEBUGF(const char *, ...) { return; }
#define dgDEBUG_ENABLE(level) false
#define dgTDEBUG_ENABLE(level) false
#endif //! VP_DEBUG
#endif //! VP_DEBUG
#define dgDEBUGIN(level) dgDEBUG(level) << "# In {" << std::endl
......@@ -213,4 +211,4 @@ inline void dgTDEBUGF(const char *, ...) { return; }
#define dgTDEBUGINOUT(level) dgTDEBUG(level) << "# In/Out { }" << std::endl
#endif //! DYNAMIC_GRAPH_DEBUG_HH
#endif //! DYNAMIC_GRAPH_DEBUG_HH
include/dynamic-graph/dynamic-graph-api.h
View file @ 2e7a70d5
......@@ -6,4 +6,4 @@
#ifndef DYNAMIC_GRAPH_API_H
#define DYNAMIC_GRAPH_API_H
#include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
#endif //! DYNAMIC_GRAPH_API_H
include/dynamic-graph/eigen-io.h
View file @ 2e7a70d5
......@@ -7,13 +7,13 @@
#ifndef DYNAMIC_GRAPH_EIGEN_IO_H
#define DYNAMIC_GRAPH_EIGEN_IO_H
#include <boost/format.hpp>
#include <boost/numeric/conversion/cast.hpp>
#include <Eigen/Geometry>
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/linear-algebra.h>
#include <Eigen/Geometry>
#include <boost/format.hpp>
#include <boost/numeric/conversion/cast.hpp>
using dynamicgraph::ExceptionSignal;
// TODO: Eigen 3.3 onwards has a global Eigen::Index definition.
......@@ -32,8 +32,9 @@ inline std::istringstream &operator>>(std::istringstream &iss,
unsigned int _size;
double _dbl_val;
char _ch;
boost::format fmt("Failed to enter %s as vector."
" Reenter as [N](val1,val2,val3,...,valN)");
boost::format fmt(
"Failed to enter %s as vector."
" Reenter as [N](val1,val2,val3,...,valN)");
fmt % iss.str();
if (iss >> _ch && _ch != '[') {
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
......@@ -50,8 +51,7 @@ inline std::istringstream &operator>>(std::istringstream &iss,
else {
for (unsigned int i = 0; i < _size; i++) {
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
inst(i) = _dbl_val;
}
if (iss >> _ch && _ch != ')')
......@@ -76,17 +76,17 @@ inline std::istringstream &operator>>(std::istringstream &iss,
unsigned int _rowsize;
double _dbl_val;
char _ch;
boost::format fmt("Failed to enter %s as matrix. Reenter as "
"((val11,val12,val13,...,val1N),"
"...,(valM1,valM2,...,valMN))");
boost::format fmt(
"Failed to enter %s as matrix. Reenter as "
"((val11,val12,val13,...,val1N),"
"...,(valM1,valM2,...,valMN))");
MatrixXd _tmp_matrix;
fmt % iss.str();
if (iss >> _ch && _ch != '[') {
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
} else {
iss >> _rowsize;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
iss >> _colsize;
if (iss.fail())
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
......@@ -103,14 +103,12 @@ inline std::istringstream &operator>>(std::istringstream &iss,
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
for (unsigned int i = 0; i < _colsize; i++) {
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
_tmp_matrix(j, i) = _dbl_val;
}
if (iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
}
if (iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
......@@ -163,6 +161,6 @@ inline std::istringstream &operator>>(std::istringstream &iss,
return iss;
}
} // namespace Eigen
} // namespace Eigen
#endif // DYNAMIC_GRAPH_EIGEN_IO_H
#endif // DYNAMIC_GRAPH_EIGEN_IO_H
include/dynamic-graph/entity-helper.h
View file @ 2e7a70d5
......@@ -8,11 +8,12 @@
namespace dynamicgraph {
template <typename Ent> struct EntityHelper {
template <typename Ent>
struct EntityHelper {
typedef Ent EntityClassName;
// static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
};
} // namespace dynamicgraph
} // namespace dynamicgraph
#endif // __sot_core_entity_helper_H__
#endif // __sot_core_entity_helper_H__
include/dynamic-graph/entity.h
View file @ 2e7a70d5
......@@ -5,20 +5,19 @@
#ifndef DYNAMIC_GRAPH_ENTITY_H
#define DYNAMIC_GRAPH_ENTITY_H
#include <iosfwd>
#include <map>
#include <sstream>
#include <string>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/fwd.hh>
#include <dynamic-graph/logger.h>
#include <dynamic-graph/signal-array.h>
#include <dynamic-graph/signal-base.h>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/fwd.hh>
#include <iosfwd>
#include <map>
#include <sstream>
#include <string>
/// \brief Helper macro for entity declaration.
///
/// This macro should be called in the declaration of all entities.
......@@ -36,9 +35,9 @@
/// Caution: you *MUST* call DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN in the
/// associated source file to ensure that the attributes generated by
/// this macro are correctly initialized.
#define DYNAMIC_GRAPH_ENTITY_DECL() \
public: \
virtual const std::string &getClassName() const { return CLASS_NAME; } \
#define DYNAMIC_GRAPH_ENTITY_DECL() \
public: \
virtual const std::string &getClassName() const { return CLASS_NAME; } \
static const std::string CLASS_NAME
namespace dynamicgraph {
......@@ -51,7 +50,7 @@ namespace dynamicgraph {
/// computation graph. To declare a new entity, please see the
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in factory.h.
class DYNAMIC_GRAPH_DLLAPI Entity : private boost::noncopyable {
public:
public:
typedef std::map<std::string, SignalBase<int> *> SignalMap;
typedef std::map<const std::string, command::Command *> CommandMap_t;
......@@ -63,14 +62,50 @@ public:
static std::string ret("Entity");
return ret;
}
/** \brief Returns the Entity documentation
\return The documentation is provided as std::string object.
*/
virtual std::string getDocString() const;
/** \brief Test if a signal of name signame is present.
\return True if the signal is present, False otherwise
*/
bool hasSignal(const std::string &signame) const;
/** \brief Provides a reference to the signal named signalName.
\param signalName: Name of the signal
\return A reference to the signal with a temporal dependency.
*/
SignalBase<int> &getSignal(const std::string &signalName);
/** \brief Provides a const reference to the signal named signalName.
\param signalName: Name of the signal
\return A const reference to the signal with a temporal dependency.
*/
const SignalBase<int> &getSignal(const std::string &signalName) const;
/** \brief Display the list of signals of this entity in output stream os.
\param os: the output stream where to display the list of signals.
\returns The output stream given in parameter.
*/
std::ostream &displaySignalList(std::ostream &os) const;
/** \brief This method is used to write down in os the edges of the graph
by calling the signals writeGraph method.
\param os: The output stream where to write the informations.
\return os: The output stream.
*/
virtual std::ostream &writeGraph(std::ostream &os) const;
/** \brief This method is used write in the output stream os the
signals names and the commands of the entity.
\param os: The output stream where to write the list of objects
related to the entity.
*/
virtual std::ostream &writeCompletionList(std::ostream &os) const;
/** \brief Display information on the entity inside the output stream os.
*/
virtual void display(std::ostream &os) const;
virtual SignalBase<int> *test() { return 0; }
......@@ -78,17 +113,32 @@ public:
virtual void test2(SignalBase<int> *) { return; }
const std::string &getCommandList() const;
/** \brief Provides the std::map where all the commands are registered
\returns A map of pointers towards Command objects
*/
CommandMap_t getNewStyleCommandMap();
/** \brief Provides the pointer towards the Command object cmdName.
\param cmdName: Name of the command
*/
command::Command *getNewStyleCommand(const std::string &cmdName);
/** \brief Provides a map of all the signals.
\returns A copy of the map with all the pointers towards
the entity signals.
*/
SignalMap getSignalMap() const;
/** \name Logger related methods */
/** \{*/
/// \name Logger related methods
/// \{
Logger &logger() { return logger_; };
Logger const &logger() const { return logger_; };
/// \brief Send messages \c msg with level \c t.
/// Add string file and line to message.
void sendMsg(const std::string &msg, MsgType t = MSG_TYPE_INFO,
const char *file = "", int line = 0);
const std::string &lineId = "");
/// \brief Specify the verbosity level of the logger.
void setLoggerVerbosityLevel(LoggerVerbosity lv) { logger_.setVerbosity(lv); }
......@@ -110,7 +160,9 @@ public:
/// \brief Get the period of the stream period
double getStreamPrintPeriod() { return logger_.getStreamPrintPeriod(); }
protected:
/// \}
protected:
void addCommand(const std::string &name, command::Command *command);
void entityRegistration();
......@@ -127,6 +179,6 @@ protected:
DYNAMIC_GRAPH_DLLAPI std::ostream &operator<<(std::ostream &os,
const dynamicgraph::Entity &ent);
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_ENTITY_H
#endif //! DYNAMIC_GRAPH_ENTITY_H
include/dynamic-graph/exception-abstract.h
View file @ 2e7a70d5
......@@ -5,42 +5,47 @@
#ifndef DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
#define DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
#include <string>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/fwd.hh>
#include <string>
// Uncomment this macros to have lines parameter on the throw display
// #define DYNAMIC-GRAPH_EXCEPTION_PASSING_PARAM
#define DG_RETHROW \
#define DG_RETHROW \
(const ::dynamicgraph::ExceptionAbstract &err) { throw err; }
#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
#define DG_THROW \
throw ::dynamicgraph::ExceptionAbstract::Param(__LINE__, __FUNCTION__, \
#define DG_THROW \
throw ::dynamicgraph::ExceptionAbstract::Param(__LINE__, __FUNCTION__, \
__FILE__) +
#else
#define DG_THROW throw
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Abstract root class for all dynamic-graph exceptions.
class DYNAMIC_GRAPH_DLLAPI ExceptionAbstract : public std::exception {
public:
public:
/// \ingroup error
///
/// \brief Class owned by exceptions to store error locations.
class Param {
public:
public:
static const int BUFFER_SIZE = 80;
Param(const int &_line, const char *_function, const char *_file);
Param()
: functionPTR(), function(), line(), filePTR(), file(),
pointersSet(false), set(false) {}
: functionPTR(),
function(),
line(),
filePTR(),
file(),
pointersSet(false),
set(false) {}
Param &initCopy(const Param &p);
const char *functionPTR;
......@@ -91,10 +96,10 @@ public:
}
/// \brief Print the error structure.
DYNAMIC_GRAPH_DLLAPI friend std::ostream &
operator<<(std::ostream &os, const ExceptionAbstract &err);
DYNAMIC_GRAPH_DLLAPI friend std::ostream &operator<<(
std::ostream &os, const ExceptionAbstract &err);
protected:
protected:
/// \brief Error code.
/// \sa ErrorCodeEnum
int code;
......@@ -121,12 +126,12 @@ protected:
return e;
}
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
private:
private:
/// \brief Forbid the empty constructor (private).
ExceptionAbstract();
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
include/dynamic-graph/exception-factory.h
View file @ 2e7a70d5
......@@ -5,18 +5,18 @@
#ifndef DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
#define DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
#include <string>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
#include <string>
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Generic error class.
class DYNAMIC_GRAPH_DLLAPI ExceptionFactory : public ExceptionAbstract {
public:
public:
enum ErrorCodeEnum {
GENERIC = ExceptionAbstract::FACTORY,
UNREFERED_OBJECT,
......@@ -44,6 +44,6 @@ public:
return ExceptionFactory::EXCEPTION_NAME;
}
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
include/dynamic-graph/exception-signal.h
View file @ 2e7a70d5
......@@ -8,6 +8,7 @@
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
namespace dynamicgraph {
......@@ -16,7 +17,7 @@ namespace dynamicgraph {
/// \brief Exceptions raised when an error related to signals
/// happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionSignal : public ExceptionAbstract {
public:
public:
enum ErrorCodeEnum {
GENERIC = ExceptionAbstract::SIGNAL,
READWRITE_LOCK,
......@@ -38,6 +39,6 @@ public:
virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
include/dynamic-graph/exception-traces.h
View file @ 2e7a70d5
......@@ -5,18 +5,18 @@
#ifndef DYNAMIC_GRAPH_EXCEPTION_TRACES_H
#define DYNAMIC_GRAPH_EXCEPTION_TRACES_H
#include <string>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
#include <string>
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Exceptions raised when an error related to traces happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionTraces : public ExceptionAbstract {
public:
public:
enum ErrorCodeEnum { GENERIC = ExceptionAbstract::TRACES, NOT_OPEN };
static const std::string EXCEPTION_NAME;
......@@ -29,6 +29,6 @@ public:
virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
};
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_EXCEPTION_TRACES_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_TRACES_H
include/dynamic-graph/factory.h
View file @ 2e7a70d5
......@@ -5,15 +5,14 @@
#ifndef DYNAMIC_GRAPH_FACTORY_HH
#define DYNAMIC_GRAPH_FACTORY_HH
#include <map>
#include <string>
#include <vector>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-factory.h>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/fwd.hh>
#include <map>
#include <string>
#include <vector>
/// \ingroup dgraph
///
......@@ -24,16 +23,16 @@
/// \param CLASSNAME the name of the Entity to be registered (this must
/// be a std::string or a type implicitly castable into a std::string
/// such as classic C string delimited by double quotes).
#define DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CLASSTYPE, CLASSNAME) \
const std::string CLASSTYPE::CLASS_NAME = CLASSNAME; \
extern "C" { \
::dynamicgraph::Entity * \
EntityMaker_##CLASSTYPE(const std::string &objname) { \
return new CLASSTYPE(objname); \
} \
::dynamicgraph::EntityRegisterer reg_##CLASSTYPE(CLASSNAME, \
&EntityMaker_##CLASSTYPE); \
} \
#define DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CLASSTYPE, CLASSNAME) \
const std::string CLASSTYPE::CLASS_NAME = CLASSNAME; \
extern "C" { \
::dynamicgraph::Entity *EntityMaker_##CLASSTYPE( \
const std::string &objname) { \
return new CLASSTYPE(objname); \
} \
::dynamicgraph::EntityRegisterer reg_##CLASSTYPE(CLASSNAME, \
&EntityMaker_##CLASSTYPE); \
} \
struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
namespace dynamicgraph {
......@@ -80,7 +79,7 @@ namespace dynamicgraph {
/// instance of this class enforces this behavior, instantiating one
/// yourself would break this property.
class DYNAMIC_GRAPH_DLLAPI FactoryStorage : private boost::noncopyable {
public:
public:
/// \brief Function pointer providing an entity instance from its
/// name.
typedef Entity *(*EntityConstructor_ptr)(const std::string &);
......@@ -151,7 +150,7 @@ public:
/// \param list Available entities will be appended to list.
void listEntities(std::vector<std::string> &list) const;
private:
private:
/// \brief Constructor the factory.
///
/// After the initialization, no entities will be available.
......@@ -183,7 +182,7 @@ private:
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro and is of little interest
/// by itself.
class DYNAMIC_GRAPH_DLLAPI EntityRegisterer : private boost::noncopyable {
public:
public:
/// \brief Register entity to the global factory.
explicit EntityRegisterer(const std::string &entityClassName,
FactoryStorage::EntityConstructor_ptr maker);
......@@ -191,13 +190,13 @@ public:
/// \brief Unregister entity to the global factory.
~EntityRegisterer();
private:
private:
/// \brief Name of the entity registered when the instance has
/// been initialized.
const std::string entityName;
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_FACTORY_HH
#endif //! DYNAMIC_GRAPH_FACTORY_HH
// LocalWords: unregister
include/dynamic-graph/fwd.hh
View file @ 2e7a70d5
......@@ -5,7 +5,18 @@
#ifndef DYNAMIC_GRAPH_FWD_HH
#define DYNAMIC_GRAPH_FWD_HH
#include <boost/smart_ptr.hpp>
namespace dynamicgraph {
// to be replace by std:: when we switch to C++11 and later
using boost::const_pointer_cast;
using boost::dynamic_pointer_cast;
using boost::make_shared;
using boost::shared_ptr;
using boost::static_pointer_cast;
using boost::weak_ptr;
class DebugTrace;
class PluginRefMap;
......@@ -17,36 +28,39 @@ class ExceptionSignal;
class ExceptionTraces;
class FactoryStorage;
class Interpreter;
typedef shared_ptr<Interpreter> InterpreterShPtr_t;
class InterpreterHelper;
class Logger;
class OutStringStream;
class PluginLoader;
class PoolStorage;
class SignalCaster;
class SignalCastRegisterer;
class Tracer;
class TracerRealTime;
template <typename T> class DefaultCastRegisterer;
template <typename T, typename Time> class Signal;
template <typename T, typename Time>
class Signal;
template <typename Time> class SignalArray;
template <typename Time>
class SignalArray;
template <typename Time> class SignalArray_const;
template <typename Time>
class SignalArray_const;
template <typename Time> class SignalBase;
template <typename Time>
class SignalBase;
template <typename T, typename Time> class SignalPtr;
template <typename T, typename Time> class SignalTimeDependent;
template <typename Time> class TimeDependency;
template <typename T, typename Time>
class SignalPtr;
template <typename T, typename Time>
class SignalTimeDependent;
template <typename Time>
class TimeDependency;
namespace command {
class Command;
} // end of namespace command.
} // end of namespace command.
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_FWD_HH
#endif //! DYNAMIC_GRAPH_FWD_HH
include/dynamic-graph/linear-algebra.h
View file @ 2e7a70d5
......@@ -12,6 +12,6 @@
namespace dynamicgraph {
typedef Eigen::MatrixXd Matrix;
typedef Eigen::VectorXd Vector;
} // namespace dynamicgraph
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
#endif // DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
include/dynamic-graph/logger.h
View file @ 2e7a70d5
......@@ -27,26 +27,34 @@ namespace dynamicgraph {
/** Enum representing the different kind of messages.
*/
enum MsgType {
MSG_TYPE_DEBUG = 0,
MSG_TYPE_INFO = 1,
MSG_TYPE_WARNING = 2,
MSG_TYPE_ERROR = 3,
MSG_TYPE_DEBUG_STREAM = 4,
MSG_TYPE_INFO_STREAM = 5,
MSG_TYPE_WARNING_STREAM = 6,
MSG_TYPE_ERROR_STREAM = 7
MSG_TYPE_TYPE_BITS = 1 << 0 | 1 << 1 | 1 << 2 | 1 << 3, // 15
MSG_TYPE_STREAM_BIT = 1 << 4, // 16
MSG_TYPE_DEBUG = 1 << 3, // 1
MSG_TYPE_INFO = 1 << 2, // 2
MSG_TYPE_WARNING = 1 << 1, // 4
MSG_TYPE_ERROR = 1 << 0, // 8
MSG_TYPE_DEBUG_STREAM = MSG_TYPE_DEBUG | MSG_TYPE_STREAM_BIT, // 17
MSG_TYPE_INFO_STREAM = MSG_TYPE_INFO | MSG_TYPE_STREAM_BIT, // 18
MSG_TYPE_WARNING_STREAM = MSG_TYPE_WARNING | MSG_TYPE_STREAM_BIT, // 20
MSG_TYPE_ERROR_STREAM = MSG_TYPE_ERROR | MSG_TYPE_STREAM_BIT // 24
};
} // namespace dynamicgraph
} // namespace dynamicgraph
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include "boost/assign.hpp"
#include <map>
/// \todo These 3 headers should be removed.
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/real-time-logger-def.h>
#include <boost/assign.hpp>
#include <boost/preprocessor/stringize.hpp>
#include <dynamic-graph/deprecated.hh>
#include <fstream>
#include <iomanip> // std::setprecision
#include <map>
#include <iomanip> // std::setprecision
#include <sstream>
namespace dynamicgraph {
......@@ -54,13 +62,35 @@ namespace dynamicgraph {
//#define LOGGER_VERBOSITY_INFO_WARNING_ERROR
#define LOGGER_VERBOSITY_ALL
#define SEND_MSG(msg, type) sendMsg(msg, type, __FILE__, __LINE__)
#define SEND_MSG(msg, type) \
sendMsg(msg, type, __FILE__ ":" BOOST_PP_STRINGIZE(__LINE__))
#define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG_STREAM)
#define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
#define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
#define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
#define _DYNAMIC_GRAPH_ENTITY_MSG(entity, type) \
(entity).logger().stream(type, __FILE__ BOOST_PP_STRINGIZE(__LINE__))
#define DYNAMIC_GRAPH_ENTITY_DEBUG(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_DEBUG)
#define DYNAMIC_GRAPH_ENTITY_INFO(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_INFO)
#define DYNAMIC_GRAPH_ENTITY_WARNING(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_WARNING)
#define DYNAMIC_GRAPH_ENTITY_ERROR(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_ERROR)
#define DYNAMIC_GRAPH_ENTITY_DEBUG_STREAM(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_DEBUG_STREAM)
#define DYNAMIC_GRAPH_ENTITY_INFO_STREAM(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_INFO_STREAM)
#define DYNAMIC_GRAPH_ENTITY_WARNING_STREAM(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_WARNING_STREAM)
#define DYNAMIC_GRAPH_ENTITY_ERROR_STREAM(entity) \
_DYNAMIC_GRAPH_ENTITY_MSG(entity, MSG_TYPE_ERROR_STREAM)
template <typename T>
std::string toString(const T &v, const int precision = 3,
const int width = -1) {
......@@ -111,11 +141,11 @@ std::string toString(const Eigen::MatrixBase<T> &v, const int precision = 3,
}
enum LoggerVerbosity {
VERBOSITY_ALL,
VERBOSITY_INFO_WARNING_ERROR,
VERBOSITY_WARNING_ERROR,
VERBOSITY_ERROR,
VERBOSITY_NONE
VERBOSITY_ALL = MSG_TYPE_DEBUG,
VERBOSITY_INFO_WARNING_ERROR = MSG_TYPE_INFO,
VERBOSITY_WARNING_ERROR = MSG_TYPE_WARNING,
VERBOSITY_ERROR = MSG_TYPE_ERROR,
VERBOSITY_NONE = 0
};
/// \ingroup debug
......@@ -139,14 +169,22 @@ enum LoggerVerbosity {
/// VERBOSITY_WARNING_ERROR;
/// entity.setLoggerVerbosityLevel(aLoggerVerbosityLevel);
/// ...
/// std::string aMsg=aBaseMsg+" WARNING";
/// entity.sendMsg(aMsg,dynamicgraph::MSG_TYPE_WARNING, __FILE__,__LINE__);
/// // using macros
/// DYNAMIC_GRAPH_ENTITY_WARNING(entity) << "your message\n";
///
/// \endcode
/// // or the equivalent code without macros:
/// // Please use '\n' instead of std::endl and flushing will have no effect
/// entity.logger.stream(dynamicgraph::MSG_TYPE_WARNING,
/// __FILE__ BOOST_PP_STRINGIZE(__LINE__))
/// << your message << '\n';
///
/// \endcode
///
/// \todo remove m_timeSample and streamPrintPeriod to rather use a simple
/// integer counting the number of calls. This will achieve exactly the
/// same behaviour without rouding numerical errors.
class Logger {
public:
public:
/** Constructor */
Logger(double timeSample = 0.001, double streamPrintPeriod = 1.0);
......@@ -157,13 +195,40 @@ public:
* to decrement the internal Logger's counter. */
void countdown();
/** Get an output stream independently of the debug level.
*/
RTLoggerStream stream() {
return ::dynamicgraph::RealTimeLogger::instance().front();
}
/** Print the specified message on standard output if the verbosity level
* allows it. The file name and the line number are used to identify
* the point where sendMsg is called so that streaming messages are
* printed only every streamPrintPeriod iterations.
* allows it. The lineId is used to identify the point where sendMsg is
* called so that streaming messages are printed only every streamPrintPeriod
* iterations.
* \param type specifies the verbosity level, for instance MSG_TYPE_DEBUG
* \param lineId typically __FILE__ ":" BOOST_PP_STRINGIZE(__LINE__)
*/
void sendMsg(std::string msg, MsgType type, const char *file = "",
int line = 0);
RTLoggerStream stream(MsgType type, const std::string &lineId = "") {
RealTimeLogger &rtlogger = ::dynamicgraph::RealTimeLogger::instance();
if (acceptMsg(type, lineId)) return rtlogger.front();
return rtlogger.emptyStream();
}
/** \deprecated instead, use
* \code
* stream(type, lineId) << msg << '\n';
* \endcode
*/
[[deprecated("use stream(type, lineId) << msg")]] void sendMsg(
std::string msg, MsgType type, const std::string &lineId = "");
/** \deprecated instead, use
* \code
* stream(type, lineId) << msg << '\n';
* \endcode
*/
[[deprecated("use stream(type, lineId) << msg")]] void sendMsg(
std::string msg, MsgType type, const std::string &file, int line);
/** Set the sampling time at which the method countdown()
* is going to be called. */
......@@ -185,40 +250,40 @@ public:
/** Get the verbosity level of the logger. */
LoggerVerbosity getVerbosity();
protected:
LoggerVerbosity m_lv; /// verbosity of the logger
protected:
LoggerVerbosity m_lv; /// verbosity of the logger
double m_timeSample;
/// specify the period of call of the countdown method
double m_streamPrintPeriod; /// specify the time period of the stream prints
double m_streamPrintPeriod; /// specify the time period of the stream prints
double m_printCountdown;
/// every time this is < 0 (i.e. every _streamPrintPeriod sec) print stuff
typedef std::map<std::string, double> StreamCounterMap_t;
/** Pointer to the dynamic structure which holds
the collection of streaming messages */
std::map<std::string, double> m_stream_msg_counters;
bool isStreamMsg(MsgType m) {
return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_DEBUG_STREAM ||
m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_WARNING_STREAM;
}
StreamCounterMap_t m_stream_msg_counters;
bool isDebugMsg(MsgType m) {
return m == MSG_TYPE_DEBUG_STREAM || m == MSG_TYPE_DEBUG;
}
inline bool isStreamMsg(MsgType m) { return (m & MSG_TYPE_STREAM_BIT); }
bool isInfoMsg(MsgType m) {
return m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_INFO;
}
/** Check whether a message of type \p m and from \p c lineId should be
* accepted. \note If \p m is a stream type, the internal counter associated
* to \p lineId is updated.
*/
bool acceptMsg(MsgType m, const std::string &lineId) {
// If more verbose than the current verbosity level
if ((m & MSG_TYPE_TYPE_BITS) > m_lv) return false;
bool isWarningMsg(MsgType m) {
return m == MSG_TYPE_WARNING_STREAM || m == MSG_TYPE_WARNING;
// if print is allowed by current verbosity level
if (isStreamMsg(m)) return checkStreamPeriod(lineId);
return true;
}
bool isErrorMsg(MsgType m) {
return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_ERROR;
}
/** Check whether a message from \c lineId should be accepted.
* \note The internal counter associated to \c lineId is updated.
*/
bool checkStreamPeriod(const std::string &lineId);
};
} // namespace dynamicgraph
} // namespace dynamicgraph
#endif // #ifndef __sot_torque_control_logger_H__
#endif // #ifndef __sot_torque_control_logger_H__
include/dynamic-graph/null-ptr.hh deleted 100644 → 0
View file @ db25cb65
// Copyright 2010, Thomas Moulard, JRL, CNRS/AIST
//
#ifndef DYNAMIC_GRAPH_NULL_PTR_HH
#define DYNAMIC_GRAPH_NULL_PTR_HH
namespace dynamicgraph {
/// \cond
const class {
public:
template <class T> operator T *() const { return 0; }
template <class C, class T> operator T C::*() const { return 0; }
private:
void operator&() const;
} nullptr = {};
/// \endcond
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_NULL_PTR_HH
include/dynamic-graph/pool.h
View file @ 2e7a70d5
......@@ -5,15 +5,15 @@
#ifndef DYNAMIC_GRAPH_POOL_H
#define DYNAMIC_GRAPH_POOL_H
#include <map>
#include <sstream>
#include <string>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/fwd.hh>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/fwd.hh>
#include <map>
#include <sstream>
#include <string>
namespace dynamicgraph {
/*! @ingroup dgraph
\brief Singleton that keeps track of all the entities.
......@@ -31,7 +31,7 @@ namespace dynamicgraph {
*/
class DYNAMIC_GRAPH_DLLAPI PoolStorage {
public:
public:
/*! \name Define types to simplify the writing
@{
*/
......@@ -98,7 +98,7 @@ public:
void writeGraph(const std::string &aFileName);
void writeCompletionList(std::ostream &os);
protected:
protected:
/*! \name Fields of the class to manage the three entities.
Also the name is singular, those are true sets.
@{
......@@ -106,13 +106,13 @@ protected:
/*! \brief Set of basic objects of the SoT */
Entities entityMap;
private:
private:
PoolStorage() {}
static PoolStorage *instance_;
};
inline PoolStorage &g_pool() { return *PoolStorage::getInstance(); }
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_POOL_H
#endif //! DYNAMIC_GRAPH_POOL_H
include/dynamic-graph/process-list.hh
View file @ 2e7a70d5
......@@ -4,13 +4,13 @@
*/
#ifndef DYNAMIC_GRAPH_PROCESS_LIST_H_
#define DYNAMIC_GRAPH_PROCESS_LIST_H
#define DYNAMIC_GRAPH_PROCESS_LIST_H_
#include <dynamic-graph/dynamic-graph-api.h>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/vector.hpp>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/fwd.hh>
namespace dynamicgraph {
......@@ -18,14 +18,14 @@ namespace CPU {
class DYNAMIC_GRAPH_DLLAPI ProcessData {};
class DYNAMIC_GRAPH_DLLAPI ProcessList {
public:
public:
ProcessList();
};
/// This class gather information on a specific CPU.
///
class DYNAMIC_GRAPH_DLLAPI CPUData {
public:
public:
CPUData();
int cpu_id_;
......@@ -126,10 +126,10 @@ public:
/// This class gathers information on a computer.
/// This includes a list of CPU
class DYNAMIC_GRAPH_DLLAPI System {
private:
private:
bool init_;
public:
public:
System();
/// Read /proc/state file to extract CPU count.
......@@ -160,7 +160,7 @@ public:
ar &vCPUData_;
}
};
} // namespace CPU
} // namespace dynamicgraph
} // namespace CPU
} // namespace dynamicgraph
#endif /* DYNAMIC_GRAPH_PROCESS_LIST_H_ */
include/dynamic-graph/real-time-logger-def.h 0 → 100644
View file @ 2e7a70d5
// -*- mode: c++ -*-
// Copyright 2018, Joseph Mirabel LAAS-CNRS
//
#ifndef DYNAMIC_GRAPH_LOGGER_REAL_TIME_DEF_H
#define DYNAMIC_GRAPH_LOGGER_REAL_TIME_DEF_H
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <dynamic-graph/config.hh>
#include <sstream>
#include <vector>
namespace dynamicgraph {
/// \ingroup debug
///
/// \brief Stream for the real-time logger.
///
/// You should inherit from this class in order to redirect the logs where you
/// want.
/// \sa LoggerIOStream
class LoggerStream {
public:
virtual void write(const char *c) = 0;
};
/// Write to an ostream object.
///
/// The easieast is to use the macro dgADD_OSTREAM_TO_RTLOG(ostr) where
/// `ostr` can be `std::cout` or an std::ofstream...
class LoggerIOStream : public LoggerStream {
public:
LoggerIOStream(std::ostream &os) : os_(os) {}
virtual ~LoggerIOStream() {}
virtual void write(const char *c) { os_ << c; }
private:
std::ostream &os_;
};
typedef boost::shared_ptr<LoggerStream> LoggerStreamPtr_t;
class RealTimeLogger;
/// \cond DEVEL
/// \brief write entries to intenal buffer.
///
/// The entry starts when an instance is created and ends when is is deleted.
/// This class is only used by RealTimeLogger.
class RTLoggerStream {
public:
inline RTLoggerStream(RealTimeLogger *logger, std::ostream &os)
: ok_(logger != NULL), logger_(logger), os_(os) {}
template <typename T>
inline RTLoggerStream &operator<<(T t) {
if (ok_) os_ << t;
return *this;
}
inline RTLoggerStream &operator<<(std::ostream &(*pf)(std::ostream &)) {
if (ok_) os_ << pf;
return *this;
}
inline ~RTLoggerStream();
inline bool isNull() { return !ok_; }
private:
const bool ok_;
RealTimeLogger *logger_;
std::ostream &os_;
};
/// \endcond DEVEL
/// \ingroup debug
///
/// \brief Main class of the real-time logger.
///
/// It is intended to be used like this:
/// \code
/// #define ENABLE_RT_LOG
/// #include <dynamic-graph/real-time-logger.h>
///
/// // Somewhere in the main function of your executable
/// int main (int argc, char** argv) {
/// dgADD_OSTREAM_TO_RTLOG (std::cout);
/// }
///
/// // Somewhere in your library
/// dgRTLOG() << "your message. Prefer to use \n than std::endl."
/// \endcode
///
/// \note Thread safety. This class expects to have:
/// - only one reader: the one who take the log entries and write them
/// somewhere.
/// - one writer at a time. Writing to the logs is **never** a blocking
/// operation. If the resource is busy, the log entry is discarded.
class DYNAMIC_GRAPH_DLLAPI RealTimeLogger {
public:
static RealTimeLogger &instance();
static void destroy();
/// \todo add an argument to preallocate the internal string
/// to a given size.
RealTimeLogger(const std::size_t &bufferSize);
inline void clearOutputStreams() { outputs_.clear(); }
inline void addOutputStream(const LoggerStreamPtr_t &os) {
outputs_.push_back(os);
}
/// Write next message to output.
/// It does nothing if the buffer is empty.
/// \return true if it wrote something
bool spinOnce();
/// Return an object onto which a real-time thread can write.
/// The message is considered finished when the object is destroyed.
RTLoggerStream front();
/// Return an empty stream object.
RTLoggerStream emptyStream() { return RTLoggerStream(NULL, oss_); }
inline void frontReady() {
backIdx_ = (backIdx_ + 1) % buffer_.size();
wmutex.unlock();
}
inline bool empty() const { return frontIdx_ == backIdx_; }
inline bool full() const {
return ((backIdx_ + 1) % buffer_.size()) == frontIdx_;
}
inline std::size_t size() const {
if (frontIdx_ <= backIdx_)
return backIdx_ - frontIdx_;
else
return backIdx_ + buffer_.size() - frontIdx_;
}
inline std::size_t getBufferSize() { return buffer_.size(); }
~RealTimeLogger();
private:
struct Data {
std::stringbuf buf;
};
std::vector<LoggerStreamPtr_t> outputs_;
std::vector<Data *> buffer_;
/// Index of the next value to be read.
std::size_t frontIdx_;
/// Index of the slot where to write next value
/// (does not contain valid data).
std::size_t backIdx_;
std::ostream oss_;
/// The writer mutex.
boost::mutex wmutex;
std::size_t nbDiscarded_;
struct thread;
static RealTimeLogger *instance_;
static thread *thread_;
};
RTLoggerStream::~RTLoggerStream() {
if (ok_) {
os_ << std::ends;
logger_->frontReady();
}
}
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_LOGGER_REAL_TIME_DEF_H
include/dynamic-graph/real-time-logger.h
View file @ 2e7a70d5
......@@ -4,182 +4,23 @@
#ifndef DYNAMIC_GRAPH_LOGGER_REAL_TIME_H
#define DYNAMIC_GRAPH_LOGGER_REAL_TIME_H
#include <sstream>
#include <vector>
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <dynamic-graph/config.hh>
#include <dynamic-graph/debug.h>
namespace dynamicgraph {
/// \ingroup debug
///
/// \brief Stream for the real-time logger.
///
/// You should inherit from this class in order to redirect the logs where you
/// want.
/// \sa LoggerIOStream
class LoggerStream {
public:
virtual void write(const char *c) = 0;
};
/// Write to an ostream object.
///
/// The easieast is to use the macro \ref dgADD_OSTREAM_TO_RTLOG(ostr) where
/// `ostr` can be `std::cout` or an std::ofstream...
class LoggerIOStream : public LoggerStream {
public:
LoggerIOStream(std::ostream &os) : os_(os) {}
virtual void write(const char *c) { os_ << c; }
private:
std::ostream &os_;
};
typedef boost::shared_ptr<LoggerStream> LoggerStreamPtr_t;
class RealTimeLogger;
/// \cond DEVEL
/// \brief write entries to intenal buffer.
///
/// The entry starts when an instance is created and ends when is is deleted.
/// This class is only used by RealTimeLogger.
class RTLoggerStream {
public:
RTLoggerStream(RealTimeLogger *logger, std::ostream &os)
: logger_(logger), os_(os) {}
template <typename T> inline RTLoggerStream &operator<<(T t) {
if (logger_ != NULL)
os_ << t;
return *this;
}
inline RTLoggerStream &operator<<(std::ostream &(*pf)(std::ostream &)) {
if (logger_ != NULL)
os_ << pf;
return *this;
}
~RTLoggerStream();
private:
RealTimeLogger *logger_;
std::ostream &os_;
};
/// \endcond DEVEL
/// \ingroup debug
///
/// \brief Main class of the real-time logger.
///
/// It is intended to be used like this:
/// \code
/// #define ENABLE_RT_LOG
/// #include <dynamic-graph/real-time-logger.h>
///
/// // Somewhere in the main function of your executable
/// int main (int argc, char** argv) {
/// dgADD_OSTREAM_TO_RTLOG (std::cout);
/// }
///
/// // Somewhere in your library
/// dgRTLOG() << "your message. Prefer to use \n than std::endl."
/// \endcode
///
/// \note Thread safety. This class expects to have:
/// - only one reader: the one who take the log entries and write them
/// somewhere.
/// - one writer at a time. Writing to the logs is **never** a blocking
/// operation. If the resource is busy, the log entry is discarded.
class DYNAMIC_GRAPH_DLLAPI RealTimeLogger {
public:
static RealTimeLogger &instance();
static void destroy();
/// \todo add an argument to preallocate the internal string
/// to a given size.
RealTimeLogger(const std::size_t &bufferSize);
inline void clearOutputStreams() { outputs_.clear(); }
inline void addOutputStream(const LoggerStreamPtr_t &os) {
outputs_.push_back(os);
}
/// Write next message to output.
/// It does nothing if the buffer is empty.
/// \return true if it wrote something
bool spinOnce();
/// Return an object onto which a real-time thread can write.
/// The message is considered finished when the object is destroyed.
RTLoggerStream front();
inline void frontReady() {
backIdx_ = (backIdx_ + 1) % buffer_.size();
wmutex.unlock();
}
inline bool empty() const { return frontIdx_ == backIdx_; }
inline bool full() const {
return ((backIdx_ + 1) % buffer_.size()) == frontIdx_;
}
inline std::size_t size() const {
if (frontIdx_ <= backIdx_)
return backIdx_ - frontIdx_;
else
return backIdx_ + buffer_.size() - frontIdx_;
}
inline std::size_t getBufferSize() { return buffer_.size(); }
~RealTimeLogger();
private:
struct Data {
std::stringbuf buf;
};
std::vector<LoggerStreamPtr_t> outputs_;
std::vector<Data *> buffer_;
/// Index of the next value to be read.
std::size_t frontIdx_;
/// Index of the slot where to write next value
/// (does not contain valid data).
std::size_t backIdx_;
std::ostream oss_;
/// The writer mutex.
boost::mutex wmutex;
std::size_t nbDiscarded_;
struct thread;
static RealTimeLogger *instance_;
static thread *thread_;
};
} // end of namespace dynamicgraph
#ifdef ENABLE_RT_LOG
#define dgADD_OSTREAM_TO_RTLOG(ostr) \
::dynamicgraph::RealTimeLogger::instance().addOutputStream( \
::dynamicgraph::LoggerStreamPtr_t( \
#define dgADD_OSTREAM_TO_RTLOG(ostr) \
::dynamicgraph::RealTimeLogger::instance().addOutputStream( \
::dynamicgraph::LoggerStreamPtr_t( \
new ::dynamicgraph::LoggerIOStream(ostr)))
#define dgRTLOG() ::dynamicgraph::RealTimeLogger::instance().front()
#else // ENABLE_RT_LOG
#else // ENABLE_RT_LOG
#define dgADD_OSTREAM_TO_RTLOG(ostr) struct __end_with_semicolon
#define dgRTLOG() \
if (1) \
; \
else \
#define dgRTLOG() \
if (1) \
; \
else \
__null_stream()
#endif
#endif //! DYNAMIC_GRAPH_LOGGER_REAL_TIME_H
#include <dynamic-graph/real-time-logger-def.h>
#endif //! DYNAMIC_GRAPH_LOGGER_REAL_TIME_H
include/dynamic-graph/signal-array.h
View file @ 2e7a70d5
......@@ -8,6 +8,7 @@
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/signal-base.h>
#include <stdio.h>
#include <vector>
namespace dynamicgraph {
......@@ -15,16 +16,16 @@ namespace dynamicgraph {
/// \ingroup dgraph
///
/// \brief TODO
template <class Time> class SignalArray_const {
public:
template <class Time>
class SignalArray_const {
public:
static const int DEFAULT_SIZE = 20;
protected:
protected:
std::vector<const SignalBase<Time> *> const_array;
unsigned int size, rank;
public:
public:
SignalArray_const<Time>(const unsigned int &sizeARG = DEFAULT_SIZE)
: const_array(sizeARG), size(sizeARG), rank(0) {}
......@@ -34,22 +35,22 @@ public:
}
SignalArray_const<Time>(const SignalArray<Time> &siga)
: const_array(siga.getSize()), size(siga.getSize()),
: const_array(siga.getSize()),
size(siga.getSize()),
rank(siga.getSize()) {
for (unsigned int i = 0; i < rank; ++i)
const_array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) const_array[i] = &siga[i];
}
SignalArray_const<Time>(const SignalArray_const<Time> &siga)
: const_array(siga.getSize()), size(siga.getSize()),
: const_array(siga.getSize()),
size(siga.getSize()),
rank(siga.getSize()) {
for (unsigned int i = 0; i < rank; ++i)
const_array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) const_array[i] = &siga[i];
}
virtual ~SignalArray_const<Time>() {}
protected:
protected:
void addElmt(const SignalBase<Time> *el) {
if (rank >= size) {
size += DEFAULT_SIZE;
......@@ -58,13 +59,13 @@ protected:
const_array[rank++] = el;
}
public:
public:
virtual SignalArray_const<Time> &operator<<(const SignalBase<Time> &sig) {
addElmt(&sig);
return *this;
}
public:
public:
virtual const SignalBase<Time> &operator[](const unsigned int &idx) const {
return *const_array[idx];
}
......@@ -82,16 +83,17 @@ SignalArray_const<Time> operator<<(const SignalBase<Time> &sig1,
/// \ingroup dgraph
///
/// \brief TODO
template <class Time> class SignalArray : public SignalArray_const<Time> {
public:
template <class Time>
class SignalArray : public SignalArray_const<Time> {
public:
using SignalArray_const<Time>::DEFAULT_SIZE;
using SignalArray_const<Time>::size;
using SignalArray_const<Time>::rank;
protected:
protected:
mutable std::vector<SignalBase<Time> *> array;
public:
public:
SignalArray<Time>(const unsigned int &sizeARG = DEFAULT_SIZE)
: SignalArray_const<Time>(0), array(sizeARG) {
size = sizeARG;
......@@ -106,13 +108,12 @@ public:
SignalArray<Time>(const SignalArray<Time> &siga)
: SignalArray_const<Time>(siga.getSize()), array(siga.getSize()) {
rank = siga.getSize();
for (unsigned int i = 0; i < rank; ++i)
array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) array[i] = &siga[i];
}
virtual ~SignalArray<Time>() {}
protected:
protected:
void addElmt(SignalBase<Time> *el) {
if (rank >= size) {
size += DEFAULT_SIZE;
......@@ -121,14 +122,14 @@ protected:
array[rank++] = el;
}
public:
public:
virtual SignalArray<Time> &operator<<(SignalBase<Time> &sig) {
addElmt(&sig);
return *this;
}
virtual SignalArray_const<Time>
operator<<(const SignalBase<Time> &sig) const {
virtual SignalArray_const<Time> operator<<(
const SignalBase<Time> &sig) const {
SignalArray_const<Time> res(*this);
res << sig;
return res;
......@@ -148,6 +149,6 @@ SignalArray<Time> operator<<(SignalBase<Time> &sig1, SignalBase<Time> &sig2) {
DYNAMIC_GRAPH_DLLAPI extern SignalArray<int> sotNOSIGNAL;
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_SIGNAL_ARRAY_H
#endif //! DYNAMIC_GRAPH_SIGNAL_ARRAY_H