GCC Code Coverage Report

Line	Branch	Exec	Source
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	1/2 ✓ Branch 1 taken 60 times. ✗ Branch 2 not taken.	120	std::stringstream ss;
90	1/2 ✓ Branch 1 taken 60 times. ✗ Branch 2 not taken.	120	ss << v;
91	1/2 ✓ Branch 1 taken 60 times. ✗ Branch 2 not taken.	240	return ss.str();
92			}
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