GCC Code Coverage Report

Directory: ./
File: src/factory/pool.cpp
Date: 2024-12-13 12:22:33
Exec Total Coverage
Lines: 15 70 21.4%
Branches: 9 136 6.6%
Line Branch Exec Source
1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 /* --------------------------------------------------------------------- */
11 /* --- INCLUDE --------------------------------------------------------- */
12 /* --------------------------------------------------------------------- */
13 #include <list>
14 #ifdef WIN32
15 #include <time.h>
16 #endif /*WIN32*/
17
18 /* --- SOT --- */
19 #include <dynamic-graph/entity.h>
20
21 #include <sot/core/debug.hh>
22 #include <sot/core/feature-abstract.hh>
23 #include <sot/core/pool.hh>
24 #include <sot/core/task-abstract.hh>
25
26 namespace dynamicgraph {
27 namespace sot {
28 /* --------------------------------------------------------------------- */
29 /* --- CLASS ----------------------------------------------------------- */
30 /* --------------------------------------------------------------------- */
31
32 ✗ PoolStorage::~PoolStorage(void) {
33 sotDEBUGIN(15);
34
35 sotDEBUGOUT(15);
36 ✗ return;
37 }
38
39 /* --------------------------------------------------------------------- */
40 8 void PoolStorage::registerTask(const std::string &entname, TaskAbstract *ent) {
41
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 8 Tasks::iterator entkey = task.find(entname);
42
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 8 if (entkey != task.end()) // key does exist
43 {
44 ✗ throw ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,
45 "Another task already defined with the "
46 "same name. ",
47 ✗ "Task name is <%s>.", entname.c_str());
48 } else {
49 sotDEBUG(10) << "Register task <" << entname << "> in the pool."
50 << std::endl;
51
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 8 task[entname] = ent;
52 }
53 8 }
54
55 ✗ TaskAbstract &PoolStorage::getTask(const std::string &name) {
56 ✗ Tasks::iterator entPtr = task.find(name);
57 ✗ if (entPtr == task.end()) {
58 ✗ SOT_THROW ExceptionFactory(ExceptionFactory::UNREFERED_OBJECT,
59 "Unknown task.", " (while calling <%s>)",
60 ✗ name.c_str());
61 }
62 ✗ return *entPtr->second;
63 }
64
65 /* --------------------------------------------------------------------- */
66 12 void PoolStorage::registerFeature(const std::string &entname,
67 FeatureAbstract *ent) {
68
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 12 Features::iterator entkey = feature.find(entname);
69
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 12 if (entkey != feature.end()) // key does exist
70 {
71 ✗ throw ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,
72 "Another feature already defined with the"
73 " same name. ",
74 ✗ "Feature name is <%s>.", entname.c_str());
75 } else {
76 sotDEBUG(10) << "Register feature <" << entname << "> in the pool."
77 << std::endl;
78
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 12 feature[entname] = ent;
79 }
80 12 }
81
82 ✗ FeatureAbstract &PoolStorage::getFeature(const std::string &name) {
83 ✗ Features::iterator entPtr = feature.find(name);
84 ✗ if (entPtr == feature.end()) {
85 ✗ SOT_THROW ExceptionFactory(ExceptionFactory::UNREFERED_OBJECT,
86 "Unknown feature.", " (while calling <%s>)",
87 ✗ name.c_str());
88 }
89 ✗ return *entPtr->second;
90 }
91
92 ✗ void PoolStorage::writeGraph(const std::string &aFileName) {
93 ✗ size_t IdxPointFound = aFileName.rfind(".");
94 ✗ std::string tmp1 = aFileName.substr(0, IdxPointFound);
95 ✗ size_t IdxSeparatorFound = aFileName.rfind("/");
96 ✗ std::string GenericName;
97 ✗ if (IdxSeparatorFound != std::string::npos)
98 ✗ GenericName = tmp1.substr(IdxSeparatorFound, tmp1.length());
99 else
100 ✗ GenericName = tmp1;
101
102 /* Reading local time */
103 time_t ltime;
104 ✗ ltime = time(NULL);
105 struct tm ltimeformatted;
106 #ifdef WIN32
107 localtime_s(&ltimeformatted, &ltime);
108 #else
109 ✗ localtime_r(&ltime, &ltimeformatted);
110 #endif /*WIN32*/
111
112 /* Opening the file and writing the first comment. */
113 ✗ std::ofstream GraphFile;
114 ✗ GraphFile.open(aFileName.c_str(), std::ofstream::out);
115 ✗ GraphFile << "/* This graph has been automatically generated. " << std::endl;
116 ✗ GraphFile << " " << 1900 + ltimeformatted.tm_year
117 ✗ << " Month: " << 1 + ltimeformatted.tm_mon
118 ✗ << " Day: " << ltimeformatted.tm_mday
119 ✗ << " Time: " << ltimeformatted.tm_hour << ":"
120 ✗ << ltimeformatted.tm_min;
121 ✗ GraphFile << " */" << std::endl;
122 ✗ GraphFile << "digraph " << GenericName << " { ";
123 GraphFile << "\t graph [ label=\"" << GenericName
124 ✗ << "\" bgcolor = white rankdir=LR ]" << std::endl
125 << "\t node [ fontcolor = black, color = black, "
126 ✗ "fillcolor = gold1, style=filled, shape=box ] ; "
127 ✗ << std::endl;
128 ✗ GraphFile << "\tsubgraph cluster_Tasks { " << std::endl;
129 ✗ GraphFile << "\t\t color=blue; label=\"Tasks\";" << std::endl;
130
131 ✗ for (Tasks::iterator iter = task.begin(); iter != task.end(); iter++) {
132 ✗ TaskAbstract *ent = iter->second;
133 ✗ GraphFile << "\t\t" << ent->getName() << " [ label = \"" << ent->getName()
134 ✗ << "\" ," << std::endl
135 << "\t\t fontcolor = black, color = black, "
136 ✗ "fillcolor = magenta, style=filled, shape=box ]"
137 ✗ << std::endl;
138 }
139
140 ✗ GraphFile << "}" << std::endl;
141
142 ✗ GraphFile.close();
143 }
144
145 ✗ void PoolStorage::writeCompletionList(std::ostream & /*os*/) {}
146
147 20 PoolStorage *PoolStorage::getInstance() {
148
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 20 if (instance_ == 0) {
149
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 4 instance_ = new PoolStorage;
150 }
151 20 return instance_;
152 }
153 ✗ void PoolStorage::destroy() {
154 ✗ delete instance_;
155 ✗ instance_ = 0;
156 }
157
158 4 PoolStorage::PoolStorage() {}
159
160 PoolStorage *PoolStorage::instance_ = 0;
161 } // namespace sot
162 } // namespace dynamicgraph
163