GCC Code Coverage Report

Directory: ./
File: include/hpp/centroidal-dynamics/logger.hh
Date: 2025-05-17 04:04:54
Exec Total Coverage
Lines: 5 15 33.3%
Functions: 1 12 8.3%
Branches: 3 26 11.5%
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1 /*
2 * Copyright 2015, LAAS-CNRS
3 * Author: Andrea Del Prete
4 */
5
6 #ifndef HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
7 #define HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
8
9 /* --------------------------------------------------------------------- */
10 /* --- INCLUDE --------------------------------------------------------- */
11 /* --------------------------------------------------------------------- */
12
13 #include <Eigen/Dense>
14 #include <hpp/centroidal-dynamics/local_config.hh>
15 #include <map>
16 #include <sstream>
17
18 #include "boost/assign.hpp"
19
20 namespace centroidal_dynamics {
21
22 // #define LOGGER_VERBOSITY_ERROR
23 // #define LOGGER_VERBOSITY_WARNING_ERROR
24 // #define LOGGER_VERBOSITY_INFO_WARNING_ERROR
25 // #define LOGGER_VERBOSITY_ALL
26 #define LOGGER_VERBOSITY_ALL
27
28 #define SEND_MSG(msg, type) getLogger().sendMsg(msg, type, __FILE__, __LINE__)
29
30 #ifdef LOGGER_VERBOSITY_ERROR
31 #define SEND_DEBUG_MSG(msg)
32 #define SEND_INFO_MSG(msg)
33 #define SEND_WARNING_MSG(msg)
34 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
35 #define SEND_DEBUG_STREAM_MSG(msg)
36 #define SEND_INFO_STREAM_MSG(msg)
37 #define SEND_WARNING_STREAM_MSG(msg)
38 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
39 #endif
40
41 #ifdef LOGGER_VERBOSITY_WARNING_ERROR
42 #define SEND_DEBUG_MSG(msg)
43 #define SEND_INFO_MSG(msg)
44 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
45 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
46 #define SEND_DEBUG_STREAM_MSG(msg)
47 #define SEND_INFO_STREAM_MSG(msg) \
48 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
49 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
50 #endif
51
52 #ifdef LOGGER_VERBOSITY_INFO_WARNING_ERROR
53 #define SEND_DEBUG_MSG(msg)
54 #define SEND_INFO_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO)
55 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
56 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
57 #define SEND_DEBUG_STREAM_MSG(msg)
58 #define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
59 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
60 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
61 #endif
62
63 #ifdef LOGGER_VERBOSITY_ALL
64 #define SEND_DEBUG_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG)
65 #define SEND_INFO_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO)
66 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
67 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
68 #define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG_STREAM)
69 #define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
70 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
71 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
72 #endif
73
74 /** Enum representing the different kind of messages.
75 */
76 enum CENTROIDAL_DYNAMICS_DLLAPI MsgType {
77 MSG_TYPE_DEBUG = 0,
78 MSG_TYPE_INFO = 1,
79 MSG_TYPE_WARNING = 2,
80 MSG_TYPE_ERROR = 3,
81 MSG_TYPE_DEBUG_STREAM = 4,
82 MSG_TYPE_INFO_STREAM = 5,
83 MSG_TYPE_WARNING_STREAM = 6,
84 MSG_TYPE_ERROR_STREAM = 7
85 };
86
87 template <typename T>
88 120 std::string toString(const T& v) {
89
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 120 std::stringstream ss;
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 120 ss << v;
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 240 return ss.str();
92 120 }
93
94 template <typename T>
95 std::string toString(const std::vector<T>& v,
96 const std::string separator = ", ") {
97 std::stringstream ss;
98 for (int i = 0; i < v.size() - 1; i++) ss << v[i] << separator;
99 ss << v[v.size() - 1];
100 return ss.str();
101 }
102
103 template <typename T, int n>
104 std::string toString(const Eigen::MatrixBase<T>& v,
105 const std::string separator = ", ") {
106 if (v.rows() > v.cols()) return toString(v.transpose(), separator);
107 std::stringstream ss;
108 ss << v;
109 return ss.str();
110 }
111
112 enum CENTROIDAL_DYNAMICS_DLLAPI LoggerVerbosity {
113 VERBOSITY_ALL,
114 VERBOSITY_INFO_WARNING_ERROR,
115 VERBOSITY_WARNING_ERROR,
116 VERBOSITY_ERROR,
117 VERBOSITY_NONE
118 };
119
120 /** A simple class for logging messages
121 */
122 class CENTROIDAL_DYNAMICS_DLLAPI Logger {
123 public:
124 /** Constructor */
125 Logger(double timeSample = 0.001, double streamPrintPeriod = 1.0);
126
127 /** Destructor */
128 ✗ ~Logger() {}
129
130 /** Method to be called at every control iteration
131 * to decrement the internal Logger's counter. */
132 void countdown();
133
134 /** Print the specified message on standard output if the verbosity level
135 * allows it. The file name and the line number are used to identify
136 * the point where sendMsg is called so that streaming messages are
137 * printed only every streamPrintPeriod iterations.
138 */
139 void sendMsg(std::string msg, MsgType type, const char* file = "",
140 int line = 0);
141
142 /** Set the sampling time at which the method countdown()
143 * is going to be called. */
144 bool setTimeSample(double t);
145
146 /** Set the time period for printing of streaming messages. */
147 bool setStreamPrintPeriod(double s);
148
149 /** Set the verbosity level of the logger. */
150 void setVerbosity(LoggerVerbosity lv);
151
152 protected:
153 LoggerVerbosity m_lv; /// verbosity of the logger
154 double m_timeSample; /// specify the period of call of the countdown method
155 double m_streamPrintPeriod; /// specify the time period of the stream prints
156 double m_printCountdown; /// every time this is < 0 (i.e. every
157 /// _streamPrintPeriod sec) print stuff
158
159 /** Pointer to the dynamic structure which holds the collection of streaming
160 * messages */
161 std::map<std::string, double> m_stream_msg_counters;
162
163 ✗ bool isStreamMsg(MsgType m) {
164 ✗ return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_DEBUG_STREAM ||
165 ✗ m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_WARNING_STREAM;
166 }
167
168 bool isDebugMsg(MsgType m) {
169 return m == MSG_TYPE_DEBUG_STREAM || m == MSG_TYPE_DEBUG;
170 }
171
172 ✗ bool isInfoMsg(MsgType m) {
173 ✗ return m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_INFO;
174 }
175
176 ✗ bool isWarningMsg(MsgType m) {
177 ✗ return m == MSG_TYPE_WARNING_STREAM || m == MSG_TYPE_WARNING;
178 }
179
180 ✗ bool isErrorMsg(MsgType m) {
181 ✗ return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_ERROR;
182 }
183 };
184
185 /** Method to get the logger (singleton). */
186 Logger& getLogger();
187
188 } // namespace centroidal_dynamics
189
190 #endif // HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
191