debug.h

#ifndef DEBUG_H
#define DEBUG_H
 
#include "worldbuilder.h"
#include <fstream>
#include <bits/stdc++.h>
#include <fstream>
#include <iostream>
#include <sys/stat.h>
#include <sys/types.h>
#include <string>
#include <dirent.h>
 
class Logger{
    protected:
    char fileName[60];
    FILE *f=NULL;
    int fileCount=0;//files with the same name
 
    public:
 
    Logger(){}
 
    Logger(const char * new_folder, const char * _dir="/tmp", const char * customName="/stats"){
        init(new_folder, _dir, customName);
    }
 
    ~Logger(){
        if (NULL!=f){
            fclose(f);
        }
        f=NULL;
        
    }
 
    bool log(const char * format, ...);
 
    const char * get_fileName(){
        return fileName;
    }
 
    static const char * getSystemArchitecture();
 
    protected:
 
    std::string file_dateTime(const char* custom, char name[80], const char * addOn=NULL);
 
    void init(const char * new_folder, const  char * _dir=NULL, const char * customName="/stats");
 
 
};
 
 
 
namespace debug{
 
template <class T>
void print_graph(const T& g, const Disturbance & goal, std::vector <vertexDescriptor>plan, const vertexDescriptor& c){
     std::stringstream os;
    auto vs=boost::vertices(g);
    for (auto vi=vs.first; vi!=vs.second; vi++){
        auto es=boost::out_edges(*vi, g);
        if (*vi==c){
            os<<"!";
        }
        for (vertexDescriptor vp:plan){
            if (*vi==vp){
                os<<"*";
            }
        }
        os<<*vi<<"-> ";
        for (auto ei=es.first; ei!=es.second; ei++){
            if (*ei!=edgeDescriptor()){
                os<<(*ei).m_target <<"("<<g[(*ei)].probability<<")";
            }
        }
        os<<"\t(x="<<g[*vi].endPose.p.x<<", y= "<<g[*vi].endPose.p.y<<", theta= "<<g[*vi].endPose.q.GetAngle()<<")\n";
    }
    std::cout<<os.str();
}
 
 
template <class T>
void graph_file(const int &it, const T &g, const Disturbance &goal, std::vector<vertexDescriptor>&plan, const vertexDescriptor &c)
{
    char fileName[50];
    sprintf(fileName, "/tmp/graph%04i.txt", it);
    FILE * f=fopen(fileName, "w");
    auto vs=boost::vertices(g);
    for (auto vi=vs.first; vi!=vs.second; vi++){
        auto es=boost::out_edges(*vi, g);
        if (*vi==c){
            fprintf(f,"!");
        }
        for (vertexDescriptor vp:plan){
            if (*vi==vp){
                fprintf(f,"*");
            }
        }
        fprintf(f,"%i -> ", (*vi));
        for (auto ei=es.first; ei!=es.second; ei++){
 
            fprintf(f, "%i (%f) ", (*ei).m_target, g[(*ei)].probability);
        }
        fprintf(f, "\t(x=%.3f, y= %.3f, theta= %.3f)\n", g[*vi].endPose.p.x, g[*vi].endPose.p.y, g[*vi].endPose.q.GetAngle());
    }
    fclose(f);
}
b2Vec2 GetWorldPoints(b2Body*, b2Vec2 );
 
char * print_pose(const b2Transform& p, char * msg=NULL);
 
void print_matrix(const cv::Mat &);
 
std::vector<b2Vec2> GetBodies( b2World*);
 
void print_state_difference(const StateDifference & sd, vertexDescriptor v, vertexDescriptor v1);
 
}
 
 
 
#endif