Merge pull request #192 from diegoferigo/refactor/rename_logger

Rename log macros

cpp/gympp/base/Space.cpp

@@ -85,7 +85,9 @@ bool Box::contains(const Space::Sample& data) const
 
     // Check the type
     if (!bufferPtr) {
-        gymppError << "Failed to get the buffer or the supported type from the sample" << std::endl;
+        gymppError
+            << "Failed to get the buffer or the supported type from the sample"
+            << std::endl;
         return false;
     }
 
@@ -94,14 +96,17 @@ bool Box::contains(const Space::Sample& data) const
 
     if (bufferPtr->size() != pImpl->shape[0]) {
         gymppError << "The size of the buffer (" << bufferPtr->size()
-                   << ") does not match with the shape of the space (" << pImpl->shape[0] << ")"
-                   << std::endl;
+                   << ") does not match with the shape of the space ("
+                   << pImpl->shape[0] << ")" << std::endl;
         return false;
     }
 
     for (unsigned i = 0; i < bufferPtr->size(); ++i) {
-        if (((*bufferPtr)[i] > pImpl->high[i]) || ((*bufferPtr)[i] < pImpl->low[i])) {
-            gymppError << "The sample does not comply to the limits set for its space" << std::endl;
+        if (((*bufferPtr)[i] > pImpl->high[i])
+            || ((*bufferPtr)[i] < pImpl->low[i])) {
+            gymppError
+                << "The sample does not comply to the limits set for its space"
+                << std::endl;
             return false;
         }
     }
@@ -165,21 +170,25 @@ bool Discrete::contains(const Space::Sample& data) const
 
     // Check the type
     if (!bufferPtr) {
-        gymppError << "Failed to get the buffer or the supported type from the sample" << std::endl;
+        gymppError
+            << "Failed to get the buffer or the supported type from the sample"
+            << std::endl;
         return false;
     }
 
     // TODO: only 1D
     assert(pImpl->shape.size() == 1);
     if (bufferPtr->size() != pImpl->shape.size()) {
         gymppError << "The size of the buffer (" << bufferPtr->size()
-                   << ") does not match with the shape of the space (" << pImpl->shape.size() << ")"
-                   << std::endl;
+                   << ") does not match with the shape of the space ("
+                   << pImpl->shape.size() << ")" << std::endl;
         return false;
     }
 
     if ((*bufferPtr)[0] < 0 || (*bufferPtr)[0] >= pImpl->n) {
-        gymppError << "The sample does not comply to the limits set for its space" << std::endl;
+        gymppError
+            << "The sample does not comply to the limits set for its space"
+            << std::endl;
         return false;
     }
 

cpp/gympp/base/include/gympp/base/Common.h

@@ -31,7 +31,8 @@ namespace gympp {
         using BufferLong = BufferContainer<size_t>::type;
         using BufferFloat = BufferContainer<float>::type;
         using BufferDouble = BufferContainer<double>::type;
-        using GenericBuffer = std::variant<BufferInt, BufferLong, BufferFloat, BufferDouble>;
+        using GenericBuffer =
+            std::variant<BufferInt, BufferLong, BufferFloat, BufferDouble>;
 
         namespace data {
             using Shape = std::vector<size_t>;
@@ -63,7 +64,8 @@ struct gympp::base::data::Sample
     template <typename T>
     std::optional<T> get(const size_t i) const
     {
-        auto bufferPtr = std::get_if<typename BufferContainer<T>::type>(&buffer);
+        auto bufferPtr =
+            std::get_if<typename BufferContainer<T>::type>(&buffer);
 
         if (!bufferPtr) {
             return {};
@@ -100,7 +102,10 @@ struct gympp::base::Range
     DataSupport min = 0;
     DataSupport max = 0;
 
-    bool contains(double value) { return (value <= max && value >= min) ? true : false; }
+    bool contains(double value)
+    {
+        return (value <= max && value >= min) ? true : false;
+    }
 };
 
 #endif // GYMPP_BASE_COMMON

cpp/gympp/base/include/gympp/base/Environment.h

@@ -38,9 +38,6 @@ struct gympp::base::State
     gympp::base::Observation observation;
 };
 
-// TODO: https://hub.packtpub.com/openai-gym-environments-wrappers-and-monitors-tutorial/
-//       These C++ and their mapping to python / julia should allow using the Wrapper method
-
 // From https://github.com/openai/gym/blob/master/gym/core.py
 class gympp::base::Environment
 {

cpp/gympp/base/include/gympp/base/Task.h

@@ -15,7 +15,7 @@
 namespace gympp {
     namespace base {
         class Task;
-    } // namespace gazebo
+    } // namespace base
 } // namespace gympp
 
 class gympp::base::Task

cpp/scenario/controllers/src/ComputedTorqueFixedBase.cpp

@@ -136,29 +136,29 @@ ComputedTorqueFixedBase::~ComputedTorqueFixedBase() {}
 
 bool ComputedTorqueFixedBase::initialize()
 {
-    gymppDebug << "Initializing ComputedTorqueFixedBaseCpp" << std::endl;
+    sDebug << "Initializing ComputedTorqueFixedBaseCpp" << std::endl;
 
     if (pImpl->kinDyn) {
-        gymppWarning
+        sWarning
             << "The KinDynComputations object has been already initialized"
             << std::endl;
         return true;
     }
 
     if (!(m_model && m_model->valid())) {
-        gymppError << "Couldn't initialize controller. Model not valid."
+        sError << "Couldn't initialize controller. Model not valid."
                    << std::endl;
         return false;
     }
 
     if (m_controlledJoints.size() != m_model->dofs()
         || m_controlledJoints.empty()) {
-        gymppError << "The list of controlled joints is not valid" << std::endl;
+        sError << "The list of controlled joints is not valid" << std::endl;
         return false;
     }
 
     if (m_controlledJoints.empty()) {
-        gymppDebug << "No list of controlled joints. Controlling all the "
+        sDebug << "No list of controlled joints. Controlling all the "
                       "robots joints."
                    << std::endl;
 
@@ -170,7 +170,7 @@ bool ComputedTorqueFixedBase::initialize()
 
     for (auto& joint : m_model->joints(m_controlledJoints)) {
         if (joint->dofs() != 1) {
-            gymppError << "Joint '" << joint->name()
+            sError << "Joint '" << joint->name()
                        << "' does not have 1 DoF and is not supported"
                        << std::endl;
             return false;
@@ -179,7 +179,7 @@ bool ComputedTorqueFixedBase::initialize()
 
     iDynTree::ModelLoader loader;
     if (!loader.loadReducedModelFromFile(pImpl->urdfFile, m_controlledJoints)) {
-        gymppError << "Failed to load reduced model from the urdf file"
+        sError << "Failed to load reduced model from the urdf file"
                    << std::endl;
         return false;
     }
@@ -189,7 +189,7 @@ bool ComputedTorqueFixedBase::initialize()
         iDynTree::MIXED_REPRESENTATION);
 
     if (!pImpl->kinDyn->loadRobotModel(loader.model())) {
-        gymppError << "Failed to insert model in the KinDynComputations object"
+        sError << "Failed to insert model in the KinDynComputations object"
                    << std::endl;
         return false;
     }
@@ -199,14 +199,14 @@ bool ComputedTorqueFixedBase::initialize()
         pImpl->initialValues.controlMode[joint->name()] = joint->controlMode();
 
         if (!joint->setControlMode(base::JointControlMode::Force)) {
-            gymppError << "Failed to control joint '" << joint->name()
+            sError << "Failed to control joint '" << joint->name()
                        << "' in Force" << std::endl;
             return false;
         }
     }
 
     // Initialize buffers
-    gymppDebug << "Controlling " << m_controlledJoints.size() << " DoFs"
+    sDebug << "Controlling " << m_controlledJoints.size() << " DoFs"
                << std::endl;
     pImpl->buffers = std::make_unique<Impl::Buffers>(m_controlledJoints.size());
 
@@ -283,7 +283,7 @@ bool ComputedTorqueFixedBase::step(const Controller::StepSize& /*dt*/)
 
     if (!m_model->setJointGeneralizedForceTargets(pImpl->buffers->torquesVector,
                                                   m_controlledJoints)) {
-        gymppError << "Failed to set joint forces" << std::endl;
+        sError << "Failed to set joint forces" << std::endl;
         return false;
     }
 
@@ -300,7 +300,7 @@ bool ComputedTorqueFixedBase::terminate()
         auto joint = m_model->getJoint(jointName);
 
         if (!joint->setControlMode(controlMode)) {
-            gymppError << "Failed to restore original control mode of joint '"
+            sError << "Failed to restore original control mode of joint '"
                        << jointName << "'" << std::endl;
             ok = ok && false;
         }
@@ -332,17 +332,17 @@ bool ComputedTorqueFixedBase::updateStateFromModel()
     if (!pImpl->kinDyn->setRobotState(pImpl->buffers->jointPositions,
                                       pImpl->buffers->jointVelocities,
                                       pImpl->buffers->gravity)) {
-        gymppError << "Failed to set the robot state" << std::endl;
+        sError << "Failed to set the robot state" << std::endl;
         return false;
     }
 
     if (!pImpl->kinDyn->getFreeFloatingMassMatrix(pImpl->buffers->massMatrix)) {
-        gymppError << "Failed to get the mass matrix" << std::endl;
+        sError << "Failed to get the mass matrix" << std::endl;
         return false;
     }
 
     if (!pImpl->kinDyn->generalizedBiasForces(pImpl->buffers->biasForces)) {
-        gymppError << "Failed to get the bias forces " << std::endl;
+        sError << "Failed to get the bias forces " << std::endl;
         return false;
     }
 

cpp/scenario/gazebo/include/scenario/gazebo/Joint.h

@@ -211,10 +211,9 @@ struct scenario::base::JointLimit
         : JointLimit(std::min(_min.size(), _max.size()))
     {
         if (_min.size() != _max.size()) {
-            gymppWarning
-                << "The max and min limits have different size. "
-                << "Ignoring the limits and using the smaller dimension."
-                << std::endl;
+            sWarning << "The max and min limits have different size. "
+                     << "Ignoring the limits and using the smaller dimension."
+                     << std::endl;
             return;
         }
 

cpp/scenario/gazebo/include/scenario/gazebo/Log.h

@@ -28,10 +28,10 @@
 #define SCENARIO_GAZEBO_LOG
 
 #include <ignition/common/Console.hh>
-#define gymppError ::ignition::common::Console::err(__FILE__, __LINE__)
-#define gymppWarning ::ignition::common::Console::warn(__FILE__, __LINE__)
-#define gymppMessage ::ignition::common::Console::msg(__FILE__, __LINE__)
-#define gymppDebug ::ignition::common::Console::dbg(__FILE__, __LINE__)
+#define sError ::ignition::common::Console::err(__FILE__, __LINE__)
+#define sWarning ::ignition::common::Console::warn(__FILE__, __LINE__)
+#define sMessage ::ignition::common::Console::msg(__FILE__, __LINE__)
+#define sDebug ::ignition::common::Console::dbg(__FILE__, __LINE__)
 #define gymppLog ::ignition::common::Console::log(__FILE__, __LINE__)
 
 #endif // SCENARIO_GAZEBO_LOG