Add logging feature

.github/workflows/ci.yml

@@ -0,0 +1,145 @@
+name: C++ CI Workflow
+
+# template derived from https://github.com/robotology/human-dynamics-estimation/blob/master/.github/workflows/ci.yml
+
+on:
+    push:
+    pull_request:
+    schedule:
+    # run a cron job for a nightly build
+    # * is a special character in YAML so you have to quote this string
+    # Execute a "nightly" build at 2 AM UTC
+    - cron: '0 2 * * *'
+
+env:
+    #TODO change with first release after this commit
+    BipedalLocomotionFramework_TAG: b045e79229ed25a8562c7dfaebb1b6b9cb722f5c
+    action-restore-cache: 'true'
+jobs:
+    build:
+        name: '[${{matrix.os}}@${{matrix.build_type}}]'
+        runs-on: ${{matrix.os}}
+        strategy:
+            matrix:
+                build_type: [Release]
+                os: [ubuntu-latest, windows-latest, macos-latest]  
+            fail-fast: false
+
+        steps:
+        - uses: actions/checkout@v3
+
+        - name: Get current day
+          shell: bash -l {0}
+          run: |
+            echo "DATE=$(date +'%Y-%m-%d')" >> $GITHUB_ENV
+
+        # Use conda for main dependencies
+        - uses: conda-incubator/setup-miniconda@v2
+          with:
+            miniforge-variant: Mambaforge
+            miniforge-version: latest
+
+        # Print the environment variables to simplify development and debugging
+        - name: Environment Variables
+        # Use bash  in order to have same basic commands in all OSs
+          shell: bash
+          run: env
+
+        # Remove apt repos on Ubuntu that are known to break from time to time 
+        # See https://github.com/actions/virtual-environments/issues/323 
+        - name: Remove broken apt repos [Ubuntu]
+          if: matrix.os == 'ubuntu-latest'
+          run: |
+            for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
+
+        # ============
+        # DEPENDENCIES
+        # ============
+        - name: Restore cached conda based dependencies
+          if: ${{ env.action-restore-cache == 'true' }}
+          uses: actions/cache/restore@v3
+          with:
+            path: ${{ env.CONDA }}/envs/test
+            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
+          id: cache-restore-conda-deps
+
+        - name: Dependencies (using conda)
+          shell: bash -l {0}
+          if: steps.cache-restore-conda-deps.outputs.cache-hit != 'true'
+          run: |
+            mamba env update -f .github/workflows/conda-deps.yml
+
+        - name: Cache conda based dependencies
+          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' }}
+          uses: actions/cache/save@v3
+          with:
+            path: ${{ env.CONDA }}/envs/test
+            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
+          id: cache-save-conda-deps
+
+        - name: Restore cached source-based dependencies
+          if: ${{ env.action-restore-cache == 'true' && steps.cache-restore-conda-deps.outputs.cache-hit == 'true' }}
+          uses: actions/cache/restore@v3
+          with:
+            path: ${{ github.workspace }}/install/deps
+            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
+          id: cache-restore-source-deps
+
+        - name: Source-based dependencies
+          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' || steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
+          shell: bash -l {0}
+          run: |
+            # bipedal-locomotion-framework
+            cd ${GITHUB_WORKSPACE}
+            git clone https://github.com/ami-iit/bipedal-locomotion-framework blf
+            cd blf
+            git checkout ${BipedalLocomotionFramework_TAG}
+            mkdir -p build
+            cd build
+            cmake -GNinja .. \
+                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps
+
+            cmake --build . --config ${{matrix.build_type}} --target install
+
+        - name: Cache source-based dependencies
+          if: ${{ steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
+          uses: actions/cache/save@v3
+          with:
+            path: ${{ github.workspace }}/install/deps
+            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
+          id: cache-save-source-deps
+
+
+
+        # ===================
+        # CMAKE-BASED PROJECT
+        # ===================
+        # We will just configure and build the project now. Further modifications and tests can be added
+        # Configure step
+        - name: Configure
+          shell: bash -l {0}
+          run: |
+            mkdir -p build
+            cd build
+            cmake -G"Ninja" .. \
+                  -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+                  -DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
+                  -DFRAMEWORK_COMPILE_YarpImplementation=ON \
+                  -DBUILD_TESTING:BOOL=ON \
+                  -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install
+
+        # Build step          
+        - name: Build
+          shell: bash -l {0}
+          run: |
+            cd build
+            cmake --build . --config ${{matrix.build_type}} --verbose
+
+        # Test step
+        - name: Test
+          shell: bash -l {0}
+          run: |
+            cd build
+            export PATH=$PATH:${GITHUB_WORKSPACE}/build/install/bin:${GITHUB_WORKSPACE}/install/deps/bin
+            ctest --output-on-failure -C ${{ matrix.build_type }} .

.github/workflows/conda-deps.yml

@@ -0,0 +1,13 @@
+#we use the default conda-incubator/setup-miniconda env name 
+name: test
+dependencies:
+  - cmake
+  - clangxx>=14.0.0
+  - make
+  - ninja
+  - pkg-config
+  - yarp
+  - idyntree
+  - spdlog
+  - catch2>=3.3.0
+

CHANGELOG.md

@@ -8,3 +8,4 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 - The `CHANGELOG.md` file
+- The `Logging` feature (https://github.com/ami-iit/biomechanical-analysis-framework/pull/10)

CMakeLists.txt

@@ -13,6 +13,9 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
 
+option(BUILD_TESTING "Create tests using CMake" OFF)
+include(CTest)
+
 # Check BiomechanicalAnalysisFramework dependencies, find necessary libraries.
 include(BiomechanicalAnalysisFrameworkDependencies)
 
@@ -63,6 +66,9 @@ add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BIND
   DEPENDS ENABLE_RPATH
   USE_LINK_PATH)
 
+# Setup testing
+include(AddBiomechanicalAnalysisUnitTest)
+
 #Function to automatize the process of creating a new library
 include(AddBiomechanicalAnalysisLibrary)
 

cmake/AddBiomechanicalAnalysisUnitTest.cmake

@@ -0,0 +1,34 @@
+
+function(add_baf_test)
+
+    if(FRAMEWORK_COMPILE_tests)
+
+      set(options )
+      set(oneValueArgs NAME)
+      set(multiValueArgs SOURCES LINKS)
+
+      set(prefix "baf")
+
+      cmake_parse_arguments(${prefix}
+          "${options}"
+          "${oneValueArgs}"
+          "${multiValueArgs}"
+          ${ARGN})
+
+      set(name ${${prefix}_NAME})
+      set(unit_test_files ${${prefix}_SOURCES})
+
+      set(targetname ${name}UnitTests)
+      add_executable(${targetname}
+          "${unit_test_files}")
+
+      target_link_libraries(${targetname} PRIVATE Catch2::Catch2WithMain ${${prefix}_LINKS})
+      target_compile_definitions(${targetname} PRIVATE CATCH_CONFIG_FAST_COMPILE CATCH_CONFIG_DISABLE_MATCHERS)
+      target_compile_features(${targetname} PUBLIC cxx_std_17)
+      target_compile_definitions(${targetname} PRIVATE -D_USE_MATH_DEFINES)
+
+      add_test(NAME ${targetname} COMMAND ${targetname})
+
+    endif()
+
+endfunction()

cmake/BiomechanicalAnalysisFrameworkDependencies.cmake

@@ -2,11 +2,21 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-################################################################################
+include(BiomechanicalAnalysisFrameworkFindDependencies)
+
+########################## Mandatory dependencies ###############################
 # Find all packages
 
-find_package(iDynTree 1.1.0 REQUIRED) 
+find_package(BipedalLocomotionFramework 0.11.200 REQUIRED) #TODO version
+
+########################## Optional dependencies  ##############################
+
+find_package(Catch2 3 QUIET)
 
-find_package(Eigen3 3.2.92 REQUIRED)
+find_package(YARP QUIET)
+option(FRAMEWORK_COMPILE_YarpImplementation "Compile utilities for YARP" ${YARP_FOUND})
 
-find_package(OsqpEigen 0.4.0 REQUIRED)
+##########################      Components       ##############################
+framework_dependent_option(FRAMEWORK_COMPILE_tests
+  "Compile tests?" ON
+  "Catch2_FOUND;BUILD_TESTING" OFF)

cmake/BiomechanicalAnalysisFrameworkFindDependencies.cmake

@@ -0,0 +1,53 @@
+
+include(CMakeDependentOption)
+
+macro(FRAMEWORK_DEPENDENT_OPTION _option _doc _default _deps _force)
+
+  if(DEFINED ${_option})
+    get_property(_option_strings_set CACHE ${_option} PROPERTY STRINGS SET)
+    if(_option_strings_set)
+      # If the user thinks he is smarter than the machine, he deserves an error
+      get_property(_option_strings CACHE ${_option} PROPERTY STRINGS)
+      list(GET _option_strings 0 _option_strings_first)
+      string(REGEX REPLACE ".+\"(.+)\".+" "\\1" _option_strings_first "${_option_strings_first}")
+      list(LENGTH _option_strings _option_strings_length)
+      math(EXPR _option_strings_last_index "${_option_strings_length} - 1")
+      list(GET _option_strings ${_option_strings_last_index} _option_strings_last)
+      if("${${_option}}" STREQUAL "${_option_strings_last}")
+        message(SEND_ERROR "That was a trick, you cannot outsmart me! I will never let you win! ${_option} stays OFF until I say so! \"${_option_strings_first}\" is needed to enable ${_option}. Now stop bothering me, and install your dependencies, if you really want to enable this option.")
+      endif()
+      unset(${_option} CACHE)
+    endif()
+  endif()
+
+  cmake_dependent_option(${_option} "${_doc}" ${_default} "${_deps}" ${_force})
+
+  unset(_missing_deps)
+  foreach(_dep ${_deps})
+    string(REGEX REPLACE " +" ";" _depx "${_dep}")
+    if(NOT (${_depx}))
+      list(APPEND _missing_deps "${_dep}")
+    endif()
+  endforeach()
+
+  if(DEFINED _missing_deps)
+    set(${_option}_disable_reason " (dependencies unsatisfied: \"${_missing_deps}\")")
+    # Set a value that can be visualized on ccmake and on cmake-gui, but
+    # still evaluates to false
+    set(${_option} "OFF - Dependencies unsatisfied: '${_missing_deps}' - ${_option}-NOTFOUND" CACHE STRING "${_option_doc}" FORCE)
+    string(REPLACE ";" "\;" _missing_deps "${_missing_deps}")
+    set_property(CACHE ${_option}
+                PROPERTY STRINGS "OFF - Dependencies unsatisfied: '${_missing_deps}' - ${_option}-NOTFOUND"
+                                 "OFF - You can try as much as you want, but '${_missing_deps}' is needed to enable ${_option} - ${_option}-NOTFOUND"
+                                 "OFF - Are you crazy or what? '${_missing_deps}' is needed to enable ${_option} - ${_option}-NOTFOUND"
+                                 "OFF - Didn't I already tell you that '${_missing_deps}' is needed to enable ${_option}? - ${_option}-NOTFOUND"
+                                 "OFF - Stop it! - ${_option}-NOTFOUND"
+                                 "OFF - This is insane! Leave me alone! - ${_option}-NOTFOUND"
+                                 "ON - All right, you win. The option is enabled. Are you happy now? You just broke the build.")
+    # Set non-cache variable that will override the value in current scope
+    # For parent scopes, the "-NOTFOUND ensures that the variable still
+    # evaluates to false
+    set(${_option} ${_force})
+  endif()
+
+endmacro()

src/CMakeLists.txt

@@ -0,0 +1,2 @@
+
+add_subdirectory(Logging)

src/Logging/CMakeLists.txt

@@ -0,0 +1,7 @@
+
+add_biomechanical_analysis_library(
+    NAME                   Logging
+    PUBLIC_HEADERS         include/BiomechanicalAnalysis/Logging/Logger.h
+    SOURCES                src/Logger.cpp
+    PUBLIC_LINK_LIBRARIES  BipedalLocomotion::TextLogging
+    SUBDIRECTORIES         YarpImplementation tests)

src/Logging/YarpImplementation/CMakeLists.txt

@@ -0,0 +1,13 @@
+
+if(FRAMEWORK_COMPILE_YarpImplementation)
+
+  add_biomechanical_analysis_library(
+    NAME                   TextLoggingYarpImplementation
+    SOURCES                src/YarpLogger.cpp
+    PUBLIC_HEADERS         include/BiomechanicalAnalysis/Logging/YarpLogger.h
+    PUBLIC_LINK_LIBRARIES  BiomechanicalAnalysis::Logging 
+                           BipedalLocomotion::TextLoggingYarpImplementation
+                           YARP::YARP_os
+    INSTALLATION_FOLDER    Logging)
+
+endif()

src/Logging/YarpImplementation/include/BiomechanicalAnalysis/Logging/YarpLogger.h

@@ -0,0 +1,18 @@
+#ifndef BIOMECHANICAL_ANALYSIS_YARP_LOGGER_H
+#define BIOMECHANICAL_ANALYSIS_YARP_LOGGER_H
+
+namespace BiomechanicalAnalysis
+{
+namespace Logging
+{
+
+/**
+ * Use YARP logger instead of the default one.
+ * The method works only if the log has not yet been used
+ */
+void useYarpLogger();
+
+}
+}
+
+#endif // BIOMECHANICAL_ANALYSIS_YARP_LOGGER_H

src/Logging/YarpImplementation/src/YarpLogger.cpp

@@ -0,0 +1,13 @@
+#include <BiomechanicalAnalysis/Logging/Logger.h>
+#include <BiomechanicalAnalysis/Logging/YarpLogger.h>
+
+#include <BipedalLocomotion/TextLogging/YarpLogger.h>
+
+using namespace BipedalLocomotion::TextLogging;
+
+void BiomechanicalAnalysis::Logging::useYarpLogger()
+{
+    const static std::shared_ptr<YarpLoggerFactory> _bafYarpLoggerFactoryBasePtr = std::make_shared<YarpLoggerFactory>("baf");
+    const static std::shared_ptr<LoggerFactory> _bafYarpLogFactory = std::dynamic_pointer_cast<LoggerFactory>(_bafYarpLoggerFactoryBasePtr);
+    BiomechanicalAnalysis::Logging::setLoggerFactory(_bafYarpLogFactory);
+}