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Merge branch 'devel' of github.com:stack-of-tasks/dynamic-graph into devel
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‎doc/additionalDoc/debug-doc.h‎

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\page debug Debugging
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They are several ways to perform debugging in dynamic-graph depending on your needs or situation:
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- Programmatically inside the entity in C++ will write inside a buffer in a different thread and output in a stream
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(either std::cout or a file). It is detailed in \subpage subp_debug_rt_logger.
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- Programmatically inside the entity in C++ using a member of the entities and the previous real-time mechanism.
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It provides 4 levels of messags :(DEBUG,INFO, WARNING, ERROR). It is described in details here:
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\subpage subp_logger
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- Programmatically in C++ to avoid overhead with macros and handling level as an int: \subpage subp_dbg_trace
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- If you just need to collect informations from signals (like rosbag). You can use
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an entity called Tracer inside the graph:\subpage tracerdoc
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- programmatically in C++ with macros \subpage subp_dbg_trace
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- programmatically inside the entity in C++ using member of the entities:
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\subpage tracerrealtimedoc
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an entity called Tracer inside the graph:\subpage tracerdoc . <br>
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A real time version exists
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to write directly inside a memory buffer \subpage tracerrealtimedoc
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**/

‎doc/additionalDoc/debug-logger.h‎

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/**
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\page subp_logger Loggers
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\section sec_logger Initialization of the logger
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\subsection subsec_logger_hcpp Header and preprocessor variable
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In order to activate the logger you need to add the following lines:
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\code
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#define ENABLE_RT_LOG
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#include <dynamic-graph/real-time-logger.h>
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#include <dynamic-graph/logger.h>
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\endcode
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\subsection subsec_logger_ Initialize the output stream
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It is possible to set the output stream of the messages inside a file:
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\code
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dynamicgraph::RealTimeLogger::instance();
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of.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
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dgADD_OSTREAM_TO_RTLOG (of);
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dynamicgraph::RealTimeLogger::destroy();
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\endcode
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Here the file is "/tmp/dg-LOGS.txt".
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\subsection subsec_logger_init Initialization of the logger
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Inside the constructor of the entity:
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\code
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logger_.setTimeSample(0.001);
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logger_.setStreamPrintPeriod(0.005);
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logger_.setVerbosity(VERBOSITY_ALL);
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LoggerVerbosity alv = logger_.getVerbosity();
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\endcode
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The first line sets the frequency at which the logger will be updated.<br>
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The second line specifies at which frequency the message should be
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printed.<br>
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The third line specifies the level of message to accept.<br>
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The fourth line returns the level of verbosity.
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In this case, all messages are accepted. <br>
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The full list of options are:
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<ul>
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<li>VERBOSITY_ALL: Accept all messages</li>
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<li>VERBOSITY_INFO_WARNING_ERROR: Accept messages at minimum level : INFO, WARNING, ERROR</li>
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<li>VERBOSITY_WARNING_ERROR: Accept messages at minimum level : WARNING, ERROR</li>
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<li>VERBOSITY_ERROR: Accept messages at minimum level : ERROR</li>
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</ul>
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\section sec_logger_tests Displaying messages
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Here is some example on how to display or record some information.
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\code
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sendMsg("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG);
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sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO);
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sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING);
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sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR);
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sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM);
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sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM);
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sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM);
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sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM);
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logger_.countdown();
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\endcode
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*/

‎doc/additionalDoc/debug-real-time-logger.h‎

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/**
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\page subp_debug_rt_logger Real-time Logger
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It is intended to be used like this:
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\code
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#define ENABLE_RT_LOG
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#include <dynamic-graph/real-time-logger.h>
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// Somewhere in the main function of your executable
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int main (int argc, char** argv) {
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dgADD_OSTREAM_TO_RTLOG (std::cout);
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}
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// Somewhere in your library
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dgRTLOG() << "your message. Prefer to use \n than std::endl."
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\endcode
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\note Thread safety. This class expects to have:
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- only one reader: the one who take the log entries and write them somewhere.
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- one writer at a time. Writing to the logs is **never** a blocking
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operation. If the resource is busy, the log entry is discarded.
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*/

‎doc/additionalDoc/extension.h‎

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\section usecase How to use this package
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\subsection use_programmatically General introduction
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For control purposes the main use of this package is to create new entities and connect them through signals.
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Objects, which are derived from Entities (base class dynamicgraph::Entity), can be
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declared within the code and compiled to shared libraries (.so/.dll files).
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declared within the code and compiled as shared libraries (.so/.dll files).
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These libraries can be loaded at run-time using the PluginLoader methods,
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and at the same time register their class names to the Factory (see the
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examples in the <a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-core/master/doxygen-html">sot-core documentation</a>
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for advanced control examples).
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The Factory can then create instances of these objects and subsequently
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register them in the Pool, where they can be listed, accessed, and acted upon
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register them in the Pool. From the pool they can be listed, accessed, and acted upon
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(see PoolStorage documentation). Basic commands defined by entities include
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signal connection graph file generation, help and name print, and signals.
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This is usually done through a scripting language such as python (see
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test_pool.cpp (in your package source directory/tests).
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\subsection Tutorial
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A tutorial is available <a href="http://stack-of-tasks.github.io/dynamic-graph-tutorial/">here</a>
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A tutorial is available <a href="http://stack-of-tasks.github.io/dynamic-graph-tutorial/">here</a>.
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It is providing a step-by-step way of building an entity
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\section sec_htw_helpers Helpers
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When writing entities you might use some macros which are very useful to write your class.
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They are given also in the <a href="http://projects.laas.fr/gepetto/doc/stack-of-tasks/sot-core/master/doxygen-html">sot-core</a> package as well.
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\subsection subsec_howto_typedef Entity helpers
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The header <b>entity-helper.h</b> is defining a type called EntityClassName
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\section sec_howto_macros_helpers Macro helpers
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\subsection subsec_howto_macros_helpers Preprocessing macros for signals
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<ul>
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<li> Macro for input signals
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<ul>
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<li> <b>DECLARE_SIGNAL_IN(signal_name,type)</b>:
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Declare an input time dependent signal as a field of the class with the following name:
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\code
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m_signal_nameSIN
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\endcode
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</li>
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<li> <b>CONSTRUCT_SIGNAL_IN(signal_name,type)</b>:
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This macro is used in the constructor of the entity class handling this signal.
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It is calling the signal constructor and set the signal name to:
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\code
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EntityClassName(entity-name)::input(type)::signal_name
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\endcode
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</ul>
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</li>
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<li> Macro for output signals
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<ul>
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<li> <b>DECLARE_SIGNAL_OUT(signal_name,type)</b>:
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Declare an output time dependent signal as a field of the class with the following name:
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\code
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m_signal_nameSOUT
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\endcode
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It also declares a method with the following pattern:
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\code
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type signal_nameSOUT_function(type &,int)
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\endcode
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The second pattern is the time when calling the output.
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</li>
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<li> <b>CONSTRUCT_SIGNAL_OUT(signal_name,type)</b>
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This macro is used in the constructor of the entity class handling this signal.
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It creates the binding to the method described previously, and set the signal name to:
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\code
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EntityClassName(entity_name)::output(type)::signal_name
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\endcode
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where entity_name is the name of the entity currently instanciated.
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</li>
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<li> <b>DEFINE_SIGNAL_OUT_FUNCTION(signal_name, type)</b>:
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This macro is used when implementing the method specific to the output signal.
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It is used in the main body of the entity class to declare the header of the method
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with the following pattern:
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\code
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type EntityClassName::signal_nameSOUT_function(type &, int iter)
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\endcode
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</li>
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</ul>
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<li>
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</li>
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<li> <b> DECLARE_SIGNAL_INNER(signal_name,type)</b>
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Inner signal are signal that depend on a state of the entity and not on input signals.
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This macro declares an inner signal with the following pattern:
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\code
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m_signal_nameSINNER
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\endcode
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</li>
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<li> <b>DEFINE_SIGNAL_INNER_FUNCTION</b>
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This macro
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</li>
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</ul>
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*/

‎tests/CMakeLists.txt‎

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DYNAMIC_GRAPH_TEST(debug-trace)
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DYNAMIC_GRAPH_TEST(debug-tracer)
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TARGET_LINK_LIBRARIES(debug-tracer tracer)
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DYNAMIC_GRAPH_TEST(debug-logger)
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DYNAMIC_GRAPH_TEST(debug-logger-winit)

‎tests/debug-logger.cpp‎

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/* Copyright 2019, LAAS-CNRS
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*
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* Olivier Stasse
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*
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* See LICENSE file
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*
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*/
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#include <sstream>
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#include <iostream>
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#include <dynamic-graph/entity.h>
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#include <dynamic-graph/exception-factory.h>
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#include "dynamic-graph/factory.h"
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#include "dynamic-graph/pool.h"
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#define ENABLE_RT_LOG
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#include <dynamic-graph/real-time-logger.h>
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#include <dynamic-graph/logger.h>
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#define BOOST_TEST_MODULE debug-logger
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#include <boost/test/unit_test.hpp>
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#include <boost/test/output_test_stream.hpp>
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using boost::test_tools::output_test_stream;
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namespace dynamicgraph
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{
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class CustomEntity : public Entity
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{
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public:
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static const std::string CLASS_NAME;
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virtual const std::string& getClassName () const
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{
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return CLASS_NAME;
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}
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CustomEntity (const std::string n)
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: Entity (n)
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{
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logger_.setTimeSample(0.001);
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logger_.setStreamPrintPeriod(0.005);
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logger_.setVerbosity(VERBOSITY_ALL);
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LoggerVerbosity alv = logger_.getVerbosity();
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BOOST_CHECK(alv==VERBOSITY_ALL);
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}
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~CustomEntity()
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{
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}
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void testDebugTrace()
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{
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sendMsg("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG);
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sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO);
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sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING);
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sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR);
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sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM);
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sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM);
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sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM);
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sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM);
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logger_.countdown();
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}
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};
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CustomEntity,"CustomEntity");
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}
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BOOST_AUTO_TEST_CASE(debug_logger)
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{
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std::ofstream of;
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dynamicgraph::RealTimeLogger::instance();
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of.open("/tmp/dg-LOGS.txt",std::ofstream::out|std::ofstream::app);
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dgADD_OSTREAM_TO_RTLOG (of);
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BOOST_CHECK_EQUAL (dynamicgraph::CustomEntity::CLASS_NAME, "CustomEntity");
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dynamicgraph::CustomEntity& entity = *(dynamic_cast<dynamicgraph::CustomEntity *>(
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dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
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"my-entity")));
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for(unsigned int i=0;i<10000;i++)
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{
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entity.testDebugTrace();
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}
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dynamicgraph::RealTimeLogger::destroy();
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}
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