GCC Code Coverage Report

Directory: ./
File: src/traces/reader.cpp
Date: 2024-12-13 12:22:33
Exec Total Coverage
Lines: 0 75 0.0%
Branches: 0 130 0.0%
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
14 /* SOT */
15 #include <dynamic-graph/all-commands.h>
16 #include <dynamic-graph/factory.h>
17
18 #include <boost/bind.hpp>
19 #include <sot/core/debug.hh>
20 #include <sot/core/reader.hh>
21 #include <sstream>
22
23 using namespace dynamicgraph;
24 using namespace dynamicgraph::sot;
25 using namespace std;
26
27 ✗ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(sotReader, "Reader");
28
29 /* --------------------------------------------------------------------- */
30 /* --- CLASS ----------------------------------------------------------- */
31 /* --------------------------------------------------------------------- */
32
33 ✗ sotReader::sotReader(const std::string n)
34 : Entity(n),
35 ✗ selectionSIN(NULL, "Reader(" + n + ")::input(flag)::selec"),
36 ✗ vectorSOUT(boost::bind(&sotReader::getNextData, this, _1, _2),
37 ✗ sotNOSIGNAL, "Reader(" + n + ")::vector"),
38 ✗ matrixSOUT(boost::bind(&sotReader::getNextMatrix, this, _1, _2),
39 ✗ vectorSOUT, "Reader(" + n + ")::matrix"),
40 ✗ dataSet(),
41 ✗ currentData(),
42 ✗ iteratorSet(false),
43 ✗ rows(0),
44 ✗ cols(0) {
45 ✗ signalRegistration(selectionSIN << vectorSOUT << matrixSOUT);
46 ✗ selectionSIN = true;
47 ✗ vectorSOUT.setNeedUpdateFromAllChildren(true);
48
49 ✗ initCommands();
50 }
51
52 /* --------------------------------------------------------------------- */
53 /* --------------------------------------------------------------------- */
54 /* --------------------------------------------------------------------- */
55
56 ✗ void sotReader::load(const string &filename) {
57 sotDEBUGIN(15);
58
59 ✗ std::ifstream datafile(filename.c_str());
60 ✗ const unsigned int SIZE = 1024;
61 char buffer[SIZE];
62 ✗ std::vector<double> newline;
63 ✗ while (datafile.good()) {
64 ✗ datafile.getline(buffer, SIZE);
65 ✗ const unsigned int gcount = (unsigned int)(datafile.gcount());
66 if (gcount >= SIZE) { /* TODO read error, line to long. */
67 }
68 ✗ std::istringstream iss(buffer);
69 ✗ newline.clear();
70 sotDEBUG(25) << "Get line = '" << buffer << "'" << std::endl;
71 while (1) {
72 double x;
73 ✗ iss >> x;
74 ✗ if (!iss.fail())
75 ✗ newline.push_back(x);
76 else
77 ✗ break;
78 sotDEBUG(45) << "New data = " << x << std::endl;
79 }
80 ✗ if (newline.size() > 0) dataSet.push_back(newline);
81 }
82
83 sotDEBUGOUT(15);
84 }
85
86 ✗ void sotReader::clear(void) {
87 sotDEBUGIN(15);
88
89 ✗ dataSet.clear();
90 ✗ iteratorSet = false;
91
92 sotDEBUGOUT(15);
93 }
94
95 ✗ void sotReader::rewind(void) {
96 sotDEBUGIN(15);
97 ✗ iteratorSet = false;
98 sotDEBUGOUT(15);
99 }
100
101 ✗ dynamicgraph::Vector &sotReader::getNextData(dynamicgraph::Vector &res,
102 const unsigned int time) {
103 sotDEBUGIN(15);
104
105 ✗ if (!iteratorSet) {
106 sotDEBUG(15) << "Start the list" << std::endl;
107 ✗ currentData = dataSet.begin();
108 ✗ iteratorSet = true;
109 ✗ } else if (currentData != dataSet.end()) {
110 ✗ ++currentData;
111 }
112
113 ✗ if (currentData == dataSet.end()) {
114 sotDEBUGOUT(15);
115 ✗ return res;
116 }
117
118 ✗ const Flags &selection = selectionSIN(time);
119 ✗ const std::vector<double> &curr = *currentData;
120
121 ✗ unsigned int dim = 0;
122 ✗ for (unsigned int i = 0; i < curr.size(); ++i)
123 ✗ if (selection(i)) dim++;
124
125 ✗ res.resize(dim);
126 ✗ int cursor = 0;
127 ✗ for (unsigned int i = 0; i < curr.size(); ++i)
128 ✗ if (selection(i)) res(cursor++) = curr[i];
129
130 sotDEBUGOUT(15);
131 ✗ return res;
132 }
133
134 ✗ dynamicgraph::Matrix &sotReader::getNextMatrix(dynamicgraph::Matrix &res,
135 const unsigned int time) {
136 sotDEBUGIN(15);
137 ✗ const dynamicgraph::Vector &vect = vectorSOUT(time);
138 ✗ if (vect.size() < rows * cols) return res;
139
140 ✗ res.resize(rows, cols);
141 ✗ for (int i = 0; i < rows; ++i)
142 ✗ for (int j = 0; j < cols; ++j) res(i, j) = vect(i * cols + j);
143
144 sotDEBUGOUT(15);
145 ✗ return res;
146 }
147 /* --------------------------------------------------------------------- */
148 /* --------------------------------------------------------------------- */
149 /* --------------------------------------------------------------------- */
150
151 ✗ void sotReader::display(std::ostream &os) const {
152 ✗ os << CLASS_NAME << " " << name << endl;
153 }
154
155 ✗ std::ostream &operator<<(std::ostream &os, const sotReader &t) {
156 ✗ t.display(os);
157 ✗ return os;
158 }
159
160 /* --- Command line interface
161 * ------------------------------------------------------ */
162 ✗ void sotReader::initCommands() {
163 namespace dc = ::dynamicgraph::command;
164 ✗ addCommand("clear", dc::makeCommandVoid0(*this, &sotReader::clear,
165 "Clear the data loaded"));
166 ✗ addCommand("rewind",
167 ✗ dc::makeCommandVoid0(
168 *this, &sotReader::rewind,
169 "Reset the iterator to the beginning of the data set"));
170 ✗ addCommand("load",
171 ✗ dc::makeCommandVoid1(*this, &sotReader::load, "load file"));
172 ✗ addCommand("resize", dc::makeCommandVoid2(*this, &sotReader::resize, " "));
173 }
174
175 ✗ void sotReader::resize(const int &row, const int &col) {
176 ✗ rows = row;
177 ✗ cols = col;
178 }
179