debug-tracer.cpp

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/* Copyright 2019, LAAS-CNRS
 *
 * Olivier Stasse
 *
 */
 
#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.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>
 
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<Vector, sigtime_t> m_sigVTimeDepSOUT;
  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_sigVTimeDepSOUT(boost::bind(&MyEntity::updateVector, this, _1, _2),
                          m_sigdSIN,
                          "MyEntity(" + name + ")::input(vector)::out_vector"),
        m_sigdTwoTimeDepSOUT(
            boost::bind(&MyEntity::update, this, _1, _2), m_sigdSIN,
            "MyEntity(" + name + ")::input(double)::out2double")
 
  {
    signalRegistration(m_sigdSIN << m_sigdTimeDepSOUT << m_sigVTimeDepSOUT
                                 << m_sigdTwoTimeDepSOUT);
  }
 
  virtual void display(std::ostream &os) const {
    os << "Hello! My name is " << getName() << " !" << std::endl;
  }
 
  virtual const std::string &getClassName() const { return CLASS_NAME; }
 
  double &update(double &res, const sigtime_t &inTime) {
    const double &aDouble = m_sigdSIN(inTime);
    res = aDouble;
    return res;
  }
 
  Vector &updateVector(Vector &res, const sigtime_t &inTime) {
    const double &aDouble = m_sigdSIN(inTime);
    res.resize(2);
    res << aDouble, 2 * aDouble;
    return res;
  }
};
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MyEntity, "MyEntity");
}  // namespace dynamicgraph
 
typedef dynamicgraph::sigtime_t sigtime_t;
 
BOOST_AUTO_TEST_CASE(test_tracer) {
  using dynamicgraph::Vector;
 
  // Creates a tracer.
  dynamicgraph::Tracer &atracer = *dynamic_cast<dynamicgraph::Tracer *>(
      dynamicgraph::FactoryStorage::getInstance()->newEntity("Tracer",
                                                             "my-tracer"));
 
  dynamicgraph::Entity &entity =
      *dynamicgraph::FactoryStorage::getInstance()->newEntity("MyEntity",
                                                              "my-entity");
 
  std::string rootdir("/tmp");
  std::string basename("my-tracer");
  std::string suffix(".dat");
 
  atracer.openFiles(rootdir, basename, suffix);
 
  atracer.addSignalToTraceByName("my-entity.out_double", "output");
  atracer.addSignalToTraceByName("my-entity.out_vector", "output-vector");
 
  dynamicgraph::SignalBase<sigtime_t> &aSignal = entity.getSignal("out2double");
 
  dynamicgraph::Signal<double, sigtime_t> &aSignalInt =
      *(dynamic_cast<dynamicgraph::Signal<double, sigtime_t> *>(
          &entity.getSignal("in_double")));
 
  dynamicgraph::Signal<Vector, sigtime_t> &aSignalVector =
      *(dynamic_cast<dynamicgraph::Signal<Vector, sigtime_t> *>(
          &entity.getSignal("out_vector")));
 
  atracer.addSignalToTrace(aSignal, "output2");
 
  aSignalInt.setConstant(1.5);
 
  atracer.start();
 
  for (sigtime_t i = 0; i < 1000; i++) {
    aSignal.setTime(i);
    aSignalInt.access(i);
    aSignalInt.setTime(i);
    aSignalVector.recompute(i);
    aSignalVector.setTime(i);
    atracer.recordTrigger(i, i);
  }
 
  atracer.stop();
  atracer.clearSignalToTrace();
  atracer.closeFiles();
 
  atracer.record();
}