Added tracer plugin to source.

include/dynamic-graph/exception-abstract.h

@@ -53,6 +53,7 @@ class DYNAMICGRAPH_EXPORT ExceptionAbstract
       ABSTRACT = 0
       ,SIGNAL = 100
       ,FACTORY = 200
+      ,TRACES = 300
     };
 
   static const std::string EXCEPTION_NAME;

include/dynamic-graph/exception-traces.h

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      ExceptionTraces.h
+ * Project:   SOT
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __TRACES_EXCEPTION_H
+#define __TRACES_EXCEPTION_H
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+#include <dynamic-graph/exception-abstract.h>
+#include <dynamic-graph/dynamic-graph-api.h>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace dynamicgraph {
+
+/* \class ExceptionTraces
+ */
+class DYNAMICGRAPH_EXPORT ExceptionTraces
+:public ExceptionAbstract
+
+{
+ public:
+  enum ErrorCodeEnum
+    {
+      GENERIC = ExceptionAbstract::TRACES
+
+      ,NOT_OPEN
+    };
+
+  static const std::string EXCEPTION_NAME;
+  virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
+
+public:
+
+  ExceptionTraces ( const ExceptionTraces::ErrorCodeEnum& errcode,
+		       const std::string & msg = "" );
+  ExceptionTraces( const ExceptionTraces::ErrorCodeEnum& errcode,
+			const std::string & msg,const char* format, ... );
+  virtual ~ExceptionTraces( void ){}
+
+
+};
+
+
+
+} //namespace dynamicgraph
+
+
+
+
+#endif /* #ifndef __TRACES_EXCEPTION_H */
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */

include/dynamic-graph/tracer-real-time.h

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      Tracer.h
+ * Project:   DG
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __TRACER_RT_H__
+#define __TRACER_RT_H__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* STD */
+#include <sstream>
+
+/* DG */
+#include <dynamic-graph/tracer.h>
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32) 
+#  if defined (tracer_real_time_EXPORTS)
+#    define DGTRACERREALTIME_EXPORT __declspec(dllexport)
+#  else  
+#    define DGTRACERREALTIME_EXPORT __declspec(dllimport)
+#  endif 
+#else
+#  define DGTRACERREALTIME_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- TRACER ---------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace dynamicgraph {
+
+class DGTRACERREALTIME_EXPORT OutStringStream
+  : public std::ostringstream
+{
+public:
+  char * buffer;
+  unsigned int index;
+  unsigned int bufferSize;
+  bool full;
+  std::string givenname;
+
+public:
+
+  OutStringStream( void );
+  ~OutStringStream( void );    
+
+  void resize( const unsigned int & size );
+  bool addData( const char * data, const unsigned int & size );
+  void dump( std::ostream& os );
+  void empty( void );
+  
+};
+
+class DGTRACERREALTIME_EXPORT TracerRealTime
+: public Tracer
+{
+ public: 
+  static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) { return CLASS_NAME; }
+
+ protected:
+  int bufferSize;
+  static const int BUFFER_SIZE_DEFAULT = 1048576; //  1Mo
+  typedef std::list< std::ofstream* > HardFileList;
+  HardFileList hardFiles;
+
+ public:
+  TracerRealTime( const std::string n );
+  virtual ~TracerRealTime( void ){ }
+
+ public:
+  virtual void closeFiles( void );
+  virtual void trace( void );
+ protected:
+  virtual void openFile( const SignalBase<int> & sig,
+			 const std::string& filename );
+  virtual void recordSignal( std::ostream& os,
+			     const SignalBase<int>& sig );
+  void emptyBuffers( void );
+
+ public:
+  void setBufferSize( const int & SIZE ) { bufferSize=SIZE; }
+  const int & getBufferSize( void ) { return bufferSize; }
+
+ public:
+
+  /* --- DISPLAY ------------------------------------------------------------ */
+  void display( std::ostream& os ) const;
+  DGTRACERREALTIME_EXPORT friend std::ostream& operator<< ( std::ostream& os,const TracerRealTime& t );
+
+  /* --- PARAMS --- */
+  virtual void commandLine( const std::string& cmdLine
+			    ,std::istringstream& cmdArgs
+			    ,std::ostream& os );
+};
+
+
+} // namespace dynamicgraph
+
+
+#endif /* #ifndef __TRACER_RT_H__ */
+
+

include/dynamic-graph/tracer.h

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      Tracer.h
+ * Project:   DG
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __TRACER_H__
+#define __TRACER_H__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* STD */
+#include <string>
+#include <list>
+#include <boost/function.hpp>
+
+/* DG */
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/time-dependency.h>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-traces.h>
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32) 
+#  if defined (tracer_EXPORTS)
+#    define DGTRACER_EXPORT __declspec(dllexport)
+#  else  
+#    define DGTRACER_EXPORT __declspec(dllimport)
+#  endif 
+#else
+#  define DGTRACER_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- TRACER ---------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace dynamicgraph {
+
+class DGTRACER_EXPORT Tracer
+: public Entity
+{
+ protected:
+  typedef std::list< const SignalBase<int>* > SignalList;
+  SignalList toTraceSignals;
+
+
+ public: 
+  static const std::string CLASS_NAME;
+  virtual const std::string& getClassName( void ) { return CLASS_NAME; }
+
+ public: 
+  enum TraceStyle
+    {
+      WHEN_SAID   /// Record, then trace to file only when said to.
+      ,EACH_TIME  /// Record and trace to file immediately.
+      ,FREQUENTLY /// Record X time then trace (X is tuned by setFrenquence() ).
+    };
+  TraceStyle traceStyle;
+  static const TraceStyle TRACE_STYLE_DEFAULT = EACH_TIME;
+  double frequency;
+
+  std::string basename;
+  std::string suffix;
+  std::string rootdir;
+  bool namesSet;
+  typedef std::list< std::ostream* > FileList;
+  FileList files;
+  typedef std::list< std::string > NameList;
+  NameList names;
+  bool play;
+  int timeStart;
+
+ public:
+  Tracer( const std::string n );
+  virtual ~Tracer( void ){ closeFiles(); }
+
+  void addSignalToTrace( const SignalBase<int>& sig,
+			 const std::string& filename="" );
+  void clearSignalToTrace( void );
+  //void parasite( SignalBase<int>& sig );
+  void openFiles( const std::string& rootdir, const std::string& basename,
+		  const std::string& suffix );
+  virtual void closeFiles( void );
+
+ protected:
+  virtual void openFile( const SignalBase<int> & sig,
+			 const std::string& filename );
+
+ public:
+  void setTraceStyle( const TraceStyle& style ){ traceStyle = style; }
+  TraceStyle getTraceStyle( void ){ return traceStyle; }
+  
+  void setFrenquency( const double& frqu ){ frequency = frqu; }
+  double getFrequency( void ){ return frequency; }
+
+  void record( void );
+  virtual void recordSignal( std::ostream& os,
+			     const SignalBase<int>& sig );
+  int& recordTrigger( int& dummy, const int& time );
+
+  virtual void trace( void );
+
+ public:
+  //SignalTrigerer<int> triger;
+  SignalTimeDependent<int,int> triger;
+
+  /* --- DISPLAY ------------------------------------------------------------ */
+  DGTRACER_EXPORT friend std::ostream& operator<< ( std::ostream& os,const Tracer& t );
+
+  /* --- PARAMS --- */
+  void display( std::ostream& os ) const;
+  virtual void commandLine( const std::string& cmdLine
+			    ,std::istringstream& cmdArgs
+			    ,std::ostream& os );
+};
+
+
+} // namespace dynamicgraph
+
+
+#endif /* #ifndef __TRACER_H__ */
+
+

src/CMakeLists.txt

@@ -55,6 +55,8 @@ SET(plugins_list
 	plugins/shell-functions
 	plugins/shell-procedure
 	debug/contiifstream
+	traces/tracer
+	traces/tracer-real-time
 )
 
 FOREACH(plugin_file ${plugins_list})

src/exception/exception-traces.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      ExceptionTraces.cpp
+ * Project:   SOT
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+#include <dynamic-graph/exception-traces.h>
+#include <stdarg.h>
+#include <cstdio>
+
+
+using namespace dynamicgraph;
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+const std::string ExceptionTraces::EXCEPTION_NAME = "Traces";
+
+ExceptionTraces::
+ExceptionTraces ( const ExceptionTraces::ErrorCodeEnum& errcode,
+		     const std::string & msg )
+  :ExceptionAbstract(errcode,msg)
+{
+}
+
+ExceptionTraces::
+ExceptionTraces ( const ExceptionTraces::ErrorCodeEnum& errcode,
+			const std::string & msg,const char* format, ... )
+  :ExceptionAbstract(errcode,msg)
+{
+  va_list args;
+  va_start(args,format);
+
+  const unsigned int SIZE = 256;
+  char  buffer[SIZE];
+  vsnprintf(buffer,SIZE,format,args);
+
+  message += buffer;
+
+  va_end(args);
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */

src/traces/tracer-real-time.cpp

+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File:      Tracer.cpp
+ * Project:   DG
+ * Author:    Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ *  $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* DG */
+#include <iomanip>
+#include <boost/bind.hpp>
+
+#include <dynamic-graph/tracer-real-time.h>
+#include <dynamic-graph/debug.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/factory.h>
+
+using namespace std;
+using namespace dynamicgraph;
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TracerRealTime,"TracerRealTime");
+
+/* --------------------------------------------------------------------- */
+/* --- DGOUTSTRINGSTREAM ---------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+OutStringStream::
+OutStringStream( void )
+  : std::ostringstream()
+    ,buffer( 0 ),index(0),bufferSize(0),full(false)
+{ 
+  dgDEBUGINOUT(15);
+}
+
+OutStringStream::
+~OutStringStream( void )
+{
+  dgDEBUGIN(15);
+  if( buffer ) delete [] buffer ;
+  dgDEBUGOUT(15);
+}
+
+void OutStringStream::
+resize( const unsigned int & size )
+{
+  dgDEBUGIN(15);
+  index=0; bufferSize = size;  full=false;
+  if( 0!=buffer ) delete [] buffer;
+  buffer = new char [size];
+  dgDEBUGOUT(15);
+}
+
+bool OutStringStream::
+addData( const char * data, const unsigned int & size )
+{
+  dgDEBUGIN(15);
+  unsigned int towrite = size; 
+  if( index+towrite>bufferSize ) 
+    {
+      dgDEBUGOUT(15);
+      full=true;
+      return false;
+    }//towrite=bufferSize-index;
+  memcpy( buffer+index,data,towrite );
+  index+=towrite;
+  dgDEBUGOUT(15);
+  return true;
+  }
+
+void OutStringStream::
+dump( std::ostream& os )
+{
+  dgDEBUGIN(15);
+  os.write( buffer,index );
+  dgDEBUGOUT(15);
+}
+
+void OutStringStream::
+empty( void ) 
+{
+  dgDEBUGIN(15);
+  index=0; full=false;
+  dgDEBUGOUT(15);
+}
+
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+TracerRealTime::TracerRealTime( const std::string n )
+  :Tracer(n)
+   ,bufferSize( BUFFER_SIZE_DEFAULT )
+{
+  dgDEBUGINOUT(15);
+}  
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+void TracerRealTime::
+openFile( const SignalBase<int> & sig,
+	  const std::string& givenname )
+{
+  dgDEBUGIN(15);
+  string signame;
+  if( givenname.length() )  
+    { signame = givenname;  } else { signame = sig.shortName(); }
+
+  string filename = rootdir + basename + signame + suffix;
+  dgDEBUG(5) << "Sig <"<<sig.getName()
+	      << ">: new file "<< filename << endl;
+  std::ofstream * newfile = new std::ofstream( filename.c_str() );
+  hardFiles.push_back( newfile );
+
+  //std::stringstream * newbuffer = new std::stringstream();
+  OutStringStream * newbuffer = new OutStringStream(); // std::stringstream();
+  newbuffer->resize( bufferSize );
+  newbuffer->givenname = givenname;
+  files.push_back( newbuffer );
+
+  dgDEBUGOUT(15);
+}
+
+
+void TracerRealTime::
+closeFiles( void )
+{
+  dgDEBUGIN(15);
+
+  FileList::iterator iter = files.begin();
+  HardFileList::iterator hardIter = hardFiles.begin();
+
+  while( files.end()!=iter )
+    {
+      dgDEBUG(25) << "Close the files." << endl;
+    
+      std::stringstream * file = dynamic_cast< stringstream* >(*iter);
+      std::ofstream * hardFile = *hardIter;
+      
+      (*hardFile) <<flush; hardFile->close();
+      delete file;
+      delete hardFile;
+
+      ++iter; ++hardIter;
+    }
+
+  dgDEBUG(25) << "Clear the lists." << endl;
+  files.clear();
+  hardFiles.clear();
+
+  dgDEBUGOUT(15);
+}
+
+void TracerRealTime::
+trace( void )
+{
+  dgDEBUGIN(15);
+
+  FileList::iterator iter = files.begin();
+  HardFileList::iterator hardIter = hardFiles.begin();
+
+  while( files.end()!=iter )
+    {
+      dgDEBUG(35) << "Next" << endl;
+      std::ostream * os = *iter;