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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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.clang-format deleted 100644 → 0
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# pre-commit run -a (Guilhem Saurel, 2022-07-27)
e9a222fb0a1f236e534e21c66cb623fd8d25b8d6
# pre-commit: details (Guilhem Saurel, 2022-04-14)
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# pre-commit run -a (Guilhem Saurel, 2022-03-30)
0c1e6fb50735d4d6cc93e15d3bef202392d47c5b
# clang format defaults + pre-commit (Guilhem Saurel, 2022-03-30)
b6fc5d81e645a84fa8f4d656371adfb27c2b2b23
# [value] Clang format. (Olivier Stasse, 2022-01-09)
b852eef0d56de04ae91a43b1ddbd837ec69ddbe6
# linters: fix clang-check-12 (Guilhem Saurel, 2021-09-14)
ca1b2fc51540b4fcb2cd0b4fccaa33b02738af41
# reformat for clang-format-12 (Guilhem Saurel, 2021-09-07)
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# format (Guilhem Saurel, 2020-11-13)
c54add29f80f6bcd1d05ca741d472491cf74c180
# format (Guilhem Saurel, 2020-07-22)
f4def3bfeaf0f9c9a6d5c5eb01c3a3b2fbb04b2f
# clang format. (Olivier Stasse, 2020-02-03)
70864112c87365af645f0404f881edf36c1ec734
# [clang] Update format. (Olivier Stasse, 2019-08-26)
384b2078e4962d762db4293bf3396be17df4e5c7
# [clang-format] Comply to Google style. (Olivier Stasse, 2019-08-20)
df48199dd436ba8341ae93c7b1f87eb30d0f457a
.gitignore
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_build*
*~
\ No newline at end of file
.~
compile_commands.json
.gitmodules
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[submodule "jrl-cmakemodules"]
path = jrl-cmakemodules
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule ".travis"]
path = .travis
url = git://github.com/jrl-umi3218/jrl-travis.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
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ci:
autoupdate_branch: 'devel'
repos:
- repo: https://github.com/pre-commit/mirrors-clang-format
rev: v14.0.6
hooks:
- id: clang-format
args: [--style=Google]
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.3.0
hooks:
- id: check-added-large-files
- id: check-ast
- id: check-executables-have-shebangs
- id: check-json
- id: check-merge-conflict
- id: check-symlinks
- id: check-toml
- id: check-yaml
- id: debug-statements
- id: destroyed-symlinks
- id: detect-private-key
- id: end-of-file-fixer
- id: fix-byte-order-marker
- id: mixed-line-ending
- id: trailing-whitespace
- repo: https://github.com/cheshirekow/cmake-format-precommit
rev: v0.6.13
hooks:
- id: cmake-format
.travis @ cbc92f81
Compare cbc92f81...cbc92f81
Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
.travis.yml deleted 100644 → 0
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git:
depth: false
language: cpp
sudo: required
compiler:
- gcc
- clang
env:
global:
- DEBSIGN_KEYID=5AE5CD75
- secure: "lEJYxth3fNsmvNS7Ern9+kEpHk4X3Tjo51GBUQBNL6g+YyZJKm4xwBEfwK+sewlmhY3oLUds+5H/2zE27q517kIcpP2Tlp4sRfooJfnBS7YYyF+1boxbvOXrZ2aqev3rzkyvKKMBg0UJTvAiSf7JgVCkMv33GeAX3/I+djEh23U="
- secure: "QTw5QQDaeQWBz6APcUCyl9P9UPI/T3j1++9o9fPxygS9R/7bQYNCrSH++owcAVCJgUI5oY3RmnYk/PjVygOLM0vbFqB2mMySibAhO/U3pSLtZ/HyPjqI9fX0TV/Cf7ji7soeXKk8p6kI2InMILpODLBaLdfm/jgCdAfecr5sGQI="
- secure: "JEcGQsUgEND64cAGVEHSxg8j7SlwofuYtLamANszs/h8FGYZ82rEjmG7r2zqSfBj/i1WsnSbTSsh8WJuXzvV8fw8enkcLEuJG9scQJzuzY8hnLe81o1fhEkclML0SLkLQ2Fu6rIqlKKeYwmJFFhSIj69ESRIkDhkjA1OrV7szzc="
- APT_DEPENDENCIES="doxygen libboost-dev libboost-test-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev libeigen3-dev"
- PPA_URI="stack-of-tasks/snapshot"
- NSIQCPPSTYLE_FILEFILTERPATH=cmake/filefilter.txt
notifications:
hipchat:
rooms:
- secure: "SP8KX6gPzBT0BCpcL3ybK4Cgx7a7rmK3Hv/fD2lIf/RUdTwtzLh/J/l9xSYuMZisLe1tM+12vfP7r6t1RNdXrB7pSpYvFRNIWmyfBC7KnUFVn5rwxUnDPhKY3D/XaJ1cycbBJqJdUjYjFKCGEm4x6cpRRN61Ii66RAUvm1h9aHQ="
email:
- hpp-source@laas.fr
branches:
only:
- master
- devel
script: ./travis_custom/build_custom
after_success: ./.travis/run after_success
after_failure: ./.travis/run after_failure
before_install: ./travis_custom/custom_before_install
matrix:
allow_failures:
- compiler: clang
CMakeLists.txt
View file @ 2e7a70d5
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
# Setup project properties
SET(PROJECT_ORG stack-of-tasks)
SET(PROJECT_NAME dynamic-graph)
SET(PROJECT_DESCRIPTION "Dynamic graph library")
SET(PROJECT_URL "http://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
SET(PROJECT_SUFFIX "-v3")
# Export CMake Target
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
# Make sure that every header is generated in dynamic-graph
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
# Do not fail on warning
SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/base.cmake)
# Specify the project.
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
# jrl-cmakemodules handling of usual modules
INCLUDE(cmake/pthread.cmake)
INCLUDE(cmake/boost.cmake)
ADD_REQUIRED_DEPENDENCY(eigen3)
SET(BOOST_COMPONENTS serialization system unit_test_framework thread)
SEARCH_FOR_BOOST()
# Allows math in mathjax.
SET(DOXYGEN_USE_MATHJAX YES)
# Defines paths.
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
cmake_minimum_required(VERSION 3.1)
# Project properties
set(PROJECT_ORG stack-of-tasks)
set(PROJECT_NAME dynamic-graph)
set(PROJECT_DESCRIPTION "Dynamic graph library")
set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project options
option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
# Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
set(CXX_DISABLE_WERROR TRUE)
# Doxygen setup
set(DOXYGEN_USE_MATHJAX YES)
set(DOXYGEN_USE_TEMPLATE_CSS YES)
# JRL-cmakemodule setup
include(cmake/base.cmake)
include(cmake/boost.cmake)
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})
check_minimal_cxx_standard(14 ENFORCE)
include(cmake/pthread.cmake) # needs to be included after the CXX definition
# Project dependencies
if(BUILD_TESTING)
find_package(Boost REQUIRED COMPONENTS unit_test_framework)
endif()
add_project_dependency(Boost REQUIRED COMPONENTS serialization system thread)
add_project_dependency(Eigen3 REQUIRED)
search_for_pthread()
if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
# Silence a warning about a deprecated use of boost bind by boost >= 1.73
# without dropping support for boost < 1.73
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
endif()
# Add configuration headers for plug-ins.
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
GENERATE_CONFIGURATION_HEADER(
${HEADER_DIR}
config-tracer-real-time.hh DG_TRACERREALTIME tracer_real_time_EXPORTS)
generate_configuration_header(${HEADER_DIR} config-tracer.hh DG_TRACER
tracer_EXPORTS)
generate_configuration_header(${HEADER_DIR} config-tracer-real-time.hh
DG_TRACERREALTIME tracer_real_time_EXPORTS)
set(PACKAGE_EXTRA_MACROS
"set (DYNAMIC_GRAPH_PLUGINDIR \${CMAKE_CURRENT_LIST_DIR}/../../plugin)")
# Specific to PKG module
# FIXME: to be changed into lib/dynamic-graph
# to avoid name collision when installing dynamic-graph in /usr.
SET(PLUGINDIR "${CMAKE_INSTALL_FULL_LIBDIR}/plugin")
# Add extra keys to pkg-config file to export the location of the
# plug-in directory in a robust manner.
SET(PKG_CONFIG_EXTRA "plugindir=${PLUGINDIR}")
# Add dependency toward dynamic graph library in pkg-config file.
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
# Verbosity level
if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
# Main Library
set(${PROJECT_NAME}_HEADERS
include/${CUSTOM_HEADER_DIR}/fwd.hh
include/${CUSTOM_HEADER_DIR}/debug.h
include/${CUSTOM_HEADER_DIR}/real-time-logger.h
include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
include/${CUSTOM_HEADER_DIR}/entity.h
include/${CUSTOM_HEADER_DIR}/factory.h
include/${CUSTOM_HEADER_DIR}/pool.h
include/${CUSTOM_HEADER_DIR}/exception-abstract.h
include/${CUSTOM_HEADER_DIR}/exception-factory.h
include/${CUSTOM_HEADER_DIR}/exception-signal.h
include/${CUSTOM_HEADER_DIR}/exception-traces.h
include/${CUSTOM_HEADER_DIR}/signal.h
include/${CUSTOM_HEADER_DIR}/signal-array.h
include/${CUSTOM_HEADER_DIR}/signal-base.h
include/${CUSTOM_HEADER_DIR}/signal-ptr.h
include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
include/${CUSTOM_HEADER_DIR}/signal.t.cpp
include/${CUSTOM_HEADER_DIR}/time-dependency.h
include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
# Kept for a brittle backward compatiblity.
include/${CUSTOM_HEADER_DIR}/signal-caster.h
include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
include/${CUSTOM_HEADER_DIR}/all-signals.h
include/${CUSTOM_HEADER_DIR}/signal-helper.h
include/${CUSTOM_HEADER_DIR}/entity-helper.h
include/${CUSTOM_HEADER_DIR}/tracer.h
include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
include/${CUSTOM_HEADER_DIR}/command.h
include/${CUSTOM_HEADER_DIR}/eigen-io.h
include/${CUSTOM_HEADER_DIR}/linear-algebra.h
include/${CUSTOM_HEADER_DIR}/value.h
include/${CUSTOM_HEADER_DIR}/command-setter.h
include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
include/${CUSTOM_HEADER_DIR}/command-getter.h
include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
include/${CUSTOM_HEADER_DIR}/command-bind.h
include/${CUSTOM_HEADER_DIR}/all-commands.h
include/${CUSTOM_HEADER_DIR}/logger.h)
set(${PROJECT_NAME}_SOURCES
src/debug/debug.cpp
src/debug/real-time-logger.cpp
src/debug/logger.cpp
src/dgraph/entity.cpp
src/dgraph/factory.cpp
src/dgraph/pool.cpp
src/exception/exception-abstract.cpp
src/exception/exception-factory.cpp
src/exception/exception-signal.cpp
src/exception/exception-traces.cpp
src/mt/process-list.cpp
src/signal/signal-array.cpp
src/command/value.cpp
src/command/command.cpp)
add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
${${PROJECT_NAME}_HEADERS})
modernize_target_link_libraries(
${PROJECT_NAME}
SCOPE
PUBLIC
TARGETS
Eigen3::Eigen
INCLUDE_DIRS
${EIGEN3_INCLUDE_DIR})
target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME} PUBLIC Boost::serialization Boost::system
Boost::thread)
if(UNIX)
target_link_libraries(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS} pthread)
endif(UNIX)
if(SUFFIX_SO_VERSION)
set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
endif(SUFFIX_SO_VERSION)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION lib)
# Search for Boost.
SEARCH_FOR_PTHREAD()
set(DYNAMIC_GRAPH_PLUGINDIR "lib/${PROJECT_NAME}-plugins")
set(PACKAGE_EXTRA_MACROS
"set(DYNAMIC_GRAPH_PLUGINDIR ${DYNAMIC_GRAPH_PLUGINDIR})")
set(PKG_CONFIG_EXTRA "plugindir=${DYNAMIC_GRAPH_PLUGINDIR}")
add_subdirectory(src)
if(BUILD_TESTING)
add_subdirectory(tests)
endif(BUILD_TESTING)
####################################
### Main Library
####################################
# Verbosity level
IF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
ENDIF (NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
SET(${PROJECT_NAME}_SOURCES
src/debug/debug.cpp
src/debug/real-time-logger.cpp
src/debug/logger.cpp
src/dgraph/entity.cpp
src/dgraph/factory.cpp
src/dgraph/pool.cpp
src/exception/exception-abstract.cpp
src/exception/exception-factory.cpp
src/exception/exception-signal.cpp
src/exception/exception-traces.cpp
src/mt/process-list.cpp
src/signal/signal-array.cpp
src/signal/signal-caster.cpp
src/signal/signal-cast-helper.cpp
src/command/value.cpp
src/command/command.cpp
)
SET(${PROJECT_NAME}_HEADERS
include/dynamic-graph/fwd.hh
include/dynamic-graph/debug.h
include/dynamic-graph/real-time-logger.h
include/dynamic-graph/real-time-logger-def.h
include/dynamic-graph/dynamic-graph-api.h
include/dynamic-graph/entity.h
include/dynamic-graph/factory.h
include/dynamic-graph/pool.h
include/dynamic-graph/exception-abstract.h
include/dynamic-graph/exception-factory.h
include/dynamic-graph/exception-signal.h
include/dynamic-graph/exception-traces.h
include/dynamic-graph/signal.h
include/dynamic-graph/signal-array.h
include/dynamic-graph/signal-base.h
include/dynamic-graph/signal-ptr.h
include/dynamic-graph/signal-time-dependent.h
include/dynamic-graph/signal-ptr.t.cpp
include/dynamic-graph/signal.t.cpp
include/dynamic-graph/time-dependency.h
include/dynamic-graph/time-dependency.t.cpp
include/dynamic-graph/signal-caster.h
include/dynamic-graph/signal-cast-helper.h
include/dynamic-graph/all-signals.h
include/dynamic-graph/signal-helper.h
include/dynamic-graph/entity-helper.h
include/dynamic-graph/tracer.h
include/dynamic-graph/tracer-real-time.h
include/dynamic-graph/command.h
include/dynamic-graph/eigen-io.h
include/dynamic-graph/linear-algebra.h
include/dynamic-graph/value.h
include/dynamic-graph/command-setter.h
include/dynamic-graph/command-setter.t.cpp
include/dynamic-graph/command-getter.h
include/dynamic-graph/command-getter.t.cpp
include/dynamic-graph/command-direct-getter.h
include/dynamic-graph/command-direct-setter.h
include/dynamic-graph/command-bind.h
include/dynamic-graph/all-commands.h
include/dynamic-graph/logger.h
)
ADD_LIBRARY(${PROJECT_NAME}
SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
SET(PUBLIC_HEADER ${${PROJECT_NAME}_HEADERS})
INSTALL(TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
PUBLIC_HEADER
INCLUDES DESTINATION include
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
)
# We need to include Eigen3 because the CMakeFile at 16.04 LTS
# is not so modern.
target_include_directories(${PROJECT_NAME}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_BUILD_DIR}/include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIRS}>
INTERFACE ${EIGEN3_INCLUDE_DIRS}
$<INSTALL_INTERFACE:include>
)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
IF (UNIX)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_DL_LIBS} pthread)
ENDIF (UNIX)
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${Boost_LIBRARIES})
####################################
### Plugins
####################################
SET(plugins_list
src/traces/tracer
src/traces/tracer-real-time
)
SET(tracer-real-time_dependency tracer)
FOREACH(plugin_file ${plugins_list})
GET_FILENAME_COMPONENT(plugin ${plugin_file} NAME)
ADD_LIBRARY(${plugin} SHARED "${plugin_file}.cpp")
TARGET_LINK_LIBRARIES(${plugin}
${PROJECT_NAME} ${${plugin}_dependency}
${Boost_LIBRARIES})
SET_TARGET_PROPERTIES(${plugin}
PROPERTIES
PREFIX ""
)
INSTALL(TARGETS ${plugin}
EXPORT ${TARGET_NAME}
DESTINATION ${PLUGINDIR})
ENDFOREACH(plugin_file)
ADD_SUBDIRECTORY(tests)
get_cmake_property(_variableNames VARIABLES)
list (SORT _variableNames)
foreach (_variableName ${_variableNames})
LIST(APPEND LOGGING_WATCHED_VARIABLES
${_variableName}
)
endforeach()
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
MESSAGE(STATUS "dynamic_graph_VERSION=${dynamic_graph_VERSION}")
pkg_config_append_libs(${PROJECT_NAME})
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
NEWS
View file @ 2e7a70d5
......@@ -129,4 +129,3 @@ stasse (3):
Reinforce the dependant->dependent policy. Merge the florent branch. Makes the test_depend.cpp test works.
Reinforce the dependant->dependent policy.
Adding documentation to cmdPlug.
README.md
View file @ 2e7a70d5
dynamic-graph
=============
[![Building status](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph/commits/master)
[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph/master/coverage/)
[![Building status](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/commits/master)
[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph/master/coverage/)
[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic-graph/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic-graph)
This software provides an efficient way to modelize a C++ data-flow.
......
cmake @ 47c0cbf0
Subproject commit 811bfc472940425a0a96cca7e01331f6cf68fced
Subproject commit 47c0cbf0b29433060682377dcb28266e8dc38995
doc/Doxyfile.extra.in
View file @ 2e7a70d5
This diff is collapsed.
doc/additionalDoc/debug-doc.h
View file @ 2e7a70d5
......@@ -3,14 +3,15 @@
They are several ways to perform debugging in dynamic-graph depending on your
needs or situation:
- Programmatically inside the entity in C++ will write inside a buffer in a
- Programmatically inside the entity in C++, a logger will
write inside a buffer in a
different thread and output in a stream (either std::cout or a file). It is
detailed in \subpage subp_debug_rt_logger.
- Programmatically inside the entity in C++ using a member of the entities and
the previous real-time mechanism. It provides 4 levels of messags :(DEBUG,INFO,
It provides 4 levels of messags :(DEBUG,INFO,
WARNING, ERROR). It is described in details here: \subpage subp_logger
- Programmatically in C++ to avoid overhead with macros and handling level as an
int: \subpage subp_dbg_trace
int: \subpage subp_dbg_trace .
- If you just need to collect informations from signals (like rosbag). You can
use an entity called Tracer inside the graph:\subpage tracerdoc . <br> A real
time version exists to write directly inside a memory buffer
......
doc/additionalDoc/debug-logger.h
View file @ 2e7a70d5
/**
\page subp_logger Loggers
\section sec_logger Initialization of the logger
\section sec_init_rt_logger Initialization of the logger
\subsection subsec_logger_hcpp Header and preprocessor variable
\subsection subsec_init_rt_logger_hcpp Header and preprocessor variable
In order to activate the logger you need to add the following lines:
\code
......@@ -22,57 +22,20 @@ It is possible to set the output stream of the messages inside a file:
dynamicgraph::RealTimeLogger::destroy();
\endcode
Here the file is "/tmp/dg-LOGS.txt".
\subsection subsec_logger_init Initialization of the logger
\section sec_use_rt_logger Using the rt_logger
Inside the constructor of the entity:
\code
logger_.setTimeSample(0.001);
logger_.setStreamPrintPeriod(0.005);
logger_.setVerbosity(VERBOSITY_ALL);
LoggerVerbosity alv = logger_.getVerbosity();
// Somewhere in your library
dgRTLOG() << "your message. Prefer to use \n than std::endl."
\endcode
The first line sets the frequency at which the logger will be updated.<br>
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 and the STREAM message are displayed on
the output streams once on five. <br>
The full list of options are:
<ul>
<li>VERBOSITY_ALL: Accept all messages</li>
<li>VERBOSITY_INFO_WARNING_ERROR: Accept messages at minimum level : INFO,
WARNING, ERROR</li> <li>VERBOSITY_WARNING_ERROR: Accept messages at minimum
level : WARNING, ERROR</li> <li>VERBOSITY_ERROR: Accept messages at minimum
level : ERROR</li>
</ul>
\section sec_logger_tests Displaying messages
Here the output file is "/tmp/dg-LOGS.txt".
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,
__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.
The default values "" and 0 for the counting are not well understood.
*/
doc/additionalDoc/debug-real-time-logger.h deleted 100644 → 0
View file @ eb1f3327
/**
\page subp_debug_rt_logger 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.
*/
doc/additionalDoc/doc-command.h 0 → 100644
View file @ 2e7a70d5
/** \page subpage_command Commands
\section subpage_command_intro Quick introduction
Commands are allowing to expand the entities.
It has no real interest in C++, and is mostly targeted to scripting languages
used to manipulate the control graph.
dynamic-graph-python provides a mecanism which is automatically binding command
to python. The main interest for a programmer is that there is no additional
lines to add. It is realized through CMake rules provided by the submodule
jrl-cmakemodules.
\section subpage_command_using Extending entities
\subsection subpage_command_setters_and_getters Setters and getters
To modify a quantity with a special method of your class, it is recommanded to
use Setter.
For instance to specify the size of the state in one entity and calls the
method setStateSize it is possible to write:
\code
docstring = "\n"
" Set size of state vector\n"
"\n";
addCommand("resize", new command::Setter<Device, unsigned int>(
*this, &Device::setStateSize, docstring));
\endcode
Getting the information of the member of the class can be realized with
the following snippet:
\code
addCommand("getTimeStep",
command::makeDirectGetter(
*this, &this->timestep_,
command::docDirectGetter("Time step", "double")));
\endcode
\subsubsection subsubpage_command_void_multiple_args Implementing a command
Templates are provided to create commands returning no value, but with up to
4 arguments.
In order to call the following method:
\code
void four_args(const int &, const int &, const int &, const int &) {
test_four_args_ = true;
}
\endcode
It is sufficient to add in the constructor:
\code
addCommand("4_args",
makeCommandVoid4(
*this, &CustomEntity::four_args,
docCommandVoid4("four args", "int", "int", "int", "int")));
\endcode
The arguments are limited to the types provided by the class Value.
\subsection subpage_command_void_multiple_args Commands returning a value
The templates with the prefix makeCommandReturnType are allowing to return
a type.
For instance to add a command returning a type with two arguments:
\code
std::string two_args_ret(const int &, const int &)
{ test_two_args_ = true; return std::string("return");}
\endcode
In the constructor, the following snippet shows to create the command:
\code
addCommand("2_args_r",
makeCommandReturnType2(
*this, &CustomEntity::two_args_ret,
docCommandVoid2("two args", "int","int")));
\endcode
\section section_calling_a_generic_command Calling a generic command
Of course calling in C++ a command amounts to call directly the method.
However in the context of writing a wrapper for another language,
one may wants to find a command and build the call.
All the commands of an entity are store in a map. The strings storing the
commands name are the map keys.
Therefore calling the previous command can be done with the following snippet:
\code
std::map<const std::string, Command *> aCommandMap =
this->getNewStyleCommandMap();
std::string cmd_name = "4_args";
std::map<const std::string, Command *>::iterator it_map;
it_map = aCommandMap.find(cmd_name);
if (it_map == aCommandMap.end())
int first_arg = 1;
Value aValue(first_arg);
std::vector<Value> values;
for (unsigned int i = 0; i < 4; i++)
values.push_back(aValue);
it_map->second->setParameterValues(values);
it_map->second->execute();
it_map->second->owner();
it_map->second->getDocstring();
\endcode
when returning a value the line with the call to execute is :
\code
Value aValue =it_map->second->execute();
\endcode
*/
doc/additionalDoc/doc-debug-real-time-logger.h 0 → 100644
View file @ 2e7a70d5
/**
\page subp_debug_rt_logger Real-time Logger
\section real_time_logger_quick_intro Quick introduction
Each entity has a protected logger_ object.
The simplest way to have information while running your graph is to initialize
it in the constructor, and then display information in the methods.
You can then change the level of information you want to display using
either the entity method setLoggerVerbosityLevel()
or the corresponding python bindings.
\section real_time_logger_modifying_entities Putting information in your
entity.
It is possible to define the periodicity of the logger:
\code
logger_.setTimeSample(0.001);
\endcode
To define the periodicity at which one wants to print information:
\code
logger_.setStreamPrintPeriod(0.005);
\endcode
Several level of verbosity are possible:
\code
logger_.setVerbosity(VERBOSITY_ALL);
\endcode
The full list of options are:
<ul>
<li>VERBOSITY_ALL: Accept all messages</li>
<li>VERBOSITY_INFO_WARNING_ERROR: Accept messages at minimum level : INFO,
WARNING, ERROR</li> <li>VERBOSITY_WARNING_ERROR: Accept messages at minimum
level : WARNING, ERROR</li> <li>VERBOSITY_ERROR: Accept messages at minimum
level : ERROR</li>
</ul>
It is specified by the enum LoggerVerbosity
It is possible to display information according to various level of debug:
\code
sendMsg("This is a message of level MSG_TYPE_DEBUG", MSG_TYPE_DEBUG);
\endcode
or
\code
DYNAMIC_GRAPH_ENTITY_DEBUG (*this) << "This is a message of level
MSG_TYPE_DEBUG\n"; DYNAMIC_GRAPH_ENTITY_INFO (*this) << "This is a message of
level MSG_TYPE_INFO\n"; DYNAMIC_GRAPH_ENTITY_WARNING (*this) << "This is a
message of level MSG_TYPE_WARNING\n"; DYNAMIC_GRAPH_ENTITY_ERROR (*this) <<
"This is a message of level MSG_TYPE_ERROR\n"; DYNAMIC_GRAPH_ENTITY_DEBUG_STREAM
(*this) << "This is a message of level MSG_TYPE_DEBUG_STREAM\n";
DYNAMIC_GRAPH_ENTITY_INFO_STREAM (*this) << "This is a message of level
MSG_TYPE_INFO_STREAM\n"; DYNAMIC_GRAPH_ENTITY_WARNING_STREAM (*this) << "This is
a message of level MSG_TYPE_WARNING_STREAM\n"; DYNAMIC_GRAPH_ENTITY_ERROR_STREAM
(*this) << "This is a message of level MSG_TYPE_ERROR_STREAM\n"; \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.
*/
doc/additionalDoc/entity.h
View file @ 2e7a70d5
......@@ -24,7 +24,7 @@ To add flexibility to a node, it is possible to add command with arguments to
modify the internal behavior of the entity or get information from the entity.
As a command is in general asynchronous and rare with respect to the data-flow
scheme for the signals the command is in general executed in a \b none-real-time
thread.
thread. For more details on command see \subpage subpage_command .
\subsection entity_classes Entity class
Entities are implemented as C++ classes and compiled as dynamic libraries. They
......@@ -34,9 +34,9 @@ to load the library, it is not advised to do that during a control-law
computation. Entity instanciation also implies memory allocation which is also
time consuming and thus not advised inside a real-time thread.
The entities will be placed in ${PREFIX}/lib/plugin (since this may change, it
is advised to check the install log or the CMakeLists.txt file to check the
installation path).
The entities will be placed in ${PREFIX}/lib/dynamic-graph-plugin
(since this may change, it is advised to check the install log or the
CMakeLists.txt file to check the installation path).
\subsection entities List of entities in this package
Since most of the functionality in projects using the dynamic-graph framework
......
doc/additionalDoc/graph.h
View file @ 2e7a70d5
......@@ -8,6 +8,8 @@ In dynamic-graph a graph is build with:
- computational nodes which are entities \subpage subpage_entities.
- directed edges which are created by connecting input and output signals
\subpage subp_signals.
- commands which are expanding the capabilities of the entity
\subpage subpage_command
- managing the nodes is done through a factory \subpage subp_factory providing
classes and a way to create instances from this list of classes.
- the instances of node are handled through a pool \subpage subp_pool
......
doc/additionalDoc/installation.h
View file @ 2e7a70d5
......@@ -17,7 +17,7 @@ The sources are available through github at the following URL:
href="https://github.com/stack-of-tasks/dynamic-graph">https://github.com/stack-of-tasks/dynamic-graph</a>
To clone:
\code
\code{.sh}
git clone https://github.com/stack-of-tasks/dynamic-graph.git
\endcode
......