debug-real-time-tracer.cpp

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/* Copyright 2019, LAAS-CNRS
 *
 * Olivier Stasse
 *
 */
 
#include <dynamic-graph/command.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/tracer-real-time.h>
 
#include <iostream>
#define BOOST_TEST_MODULE debug - tracer
 
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
#include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
using boost::test_tools::output_test_stream;
 
namespace dynamicgraph {
struct MyEntity : public dynamicgraph::Entity {
  static const std::string CLASS_NAME;
 
  dynamicgraph::Signal<double, sigtime_t> m_sigdSIN;
  dynamicgraph::SignalTimeDependent<double, sigtime_t> m_sigdTimeDepSOUT;
  dynamicgraph::SignalTimeDependent<double, sigtime_t> m_sigdTwoTimeDepSOUT;
 
  explicit MyEntity(const std::string &name)
      : Entity(name),
        m_sigdSIN("MyEntity(" + name + ")::input(double)::in_double"),
        m_sigdTimeDepSOUT(boost::bind(&MyEntity::update, this, _1, _2),
                          m_sigdSIN,
                          "MyEntity(" + name + ")::input(double)::out_double"),
        m_sigdTwoTimeDepSOUT(
            boost::bind(&MyEntity::update, this, _1, _2), m_sigdSIN,
            "MyEntity(" + name + ")::input(double)::out2double")
 
  {
    signalRegistration(m_sigdSIN << m_sigdTimeDepSOUT << m_sigdTwoTimeDepSOUT);
  }
 
  double &update(double &res, const sigtime_t &inTime) {
    const double &aDouble = m_sigdSIN(inTime);
    res = aDouble;
    return res;
  }
};
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MyEntity, "MyEntity");
}  // namespace dynamicgraph
 
BOOST_AUTO_TEST_CASE(test_tracer) {
  using namespace dynamicgraph;
 
  // Creates a tracer.
  TracerRealTime &atracer = *dynamic_cast<TracerRealTime *>(
      FactoryStorage::getInstance()->newEntity("TracerRealTime", "my-tracer"));
 
  MyEntity &entity = *dynamic_cast<MyEntity *>(
      FactoryStorage::getInstance()->newEntity("MyEntity", "my-entity"));
 
  std::string rootdir("/tmp");
  std::string basename("my-tracer");
  std::string suffix(".dat");
 
  atracer.setBufferSize(1 << 14);
 
  // Check that an exception is thrown if the filename is invalid.
  atracer.openFiles(rootdir, "invalid/filename", suffix);
  BOOST_CHECK_THROW(
      atracer.addSignalToTraceByName("my-entity.out_double", "output"),
      ExceptionTraces);
 
  // Test openfiles
  atracer.openFiles(rootdir, basename, suffix);
  // Add trace by name
  atracer.addSignalToTraceByName("my-entity.out_double", "output");
 
  SignalBase<sigtime_t> &out_double = entity.getSignal("out_double");
  SignalBase<sigtime_t> &out_double_2 = entity.getSignal("out2double");
 
  Signal<double, sigtime_t> &in_double =
      *(dynamic_cast<Signal<double, sigtime_t> *>(
          &entity.getSignal("in_double")));
 
  in_double.setConstant(1.5);
  atracer.start();
 
  std::string emptybuf_cmd_str("empty");
  command::Command *acmd = atracer.getNewStyleCommand(emptybuf_cmd_str);
  acmd->execute();
  for (sigtime_t i = 0; i < 1000; i++) {
    in_double.setTime(i);
    out_double.recompute(i);
    out_double_2.recompute(i);
    atracer.recordTrigger(i, i);
  }
  output_test_stream output;
 
  atracer.display(output);
 
  atracer.stop();
  atracer.trace();
  atracer.clearSignalToTrace();
  atracer.closeFiles();
  acmd->execute();
  atracer.record();
 
  BOOST_CHECK(output.is_equal(
      "TracerRealTime my-tracer [mode=play] : \n"
      "  - Dep list: \n"
      "     -> MyEntity(my-entity)::input(double)::out_double (in output)"
      " [8Ko/16Ko]      \n"));
}