<commit_before>// Copyright (c) 2016 The Bitcoin Core developers
// Distributed under the MIT software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.

#include "support/lockedpool.h"
#include "support/cleanse.h"

#if defined(HAVE_CONFIG_H)
#include "config/bitcoin-config.h"
#endif

#ifdef WIN32
#ifdef _WIN32_WINNT
#undef _WIN32_WINNT
#endif
#define _WIN32_WINNT 0x0501
#define WIN32_LEAN_AND_MEAN 1
#ifndef NOMINMAX
#define NOMINMAX
#endif
#include <windows.h>
#else
#include <sys/mman.h> // for mmap
#include <sys/resource.h> // for getrlimit
#include <limits.h> // for PAGESIZE
#include <unistd.h> // for sysconf
#endif

#include <algorithm>

LockedPoolManager* LockedPoolManager::_instance = NULL;
std::once_flag LockedPoolManager::init_flag;

/*******************************************************************************/
// Utilities
//
/** Align up to power of 2 */
static inline size_t align_up(size_t x, size_t align)
{
    return (x + align - 1) & ~(align - 1);
}

/*******************************************************************************/
// Implementation: Arena

Arena::Arena(void *base_in, size_t size_in, size_t alignment_in):
    base(static_cast<char*>(base_in)), end(static_cast<char*>(base_in) + size_in), alignment(alignment_in)
{
    // Start with one free chunk that covers the entire arena
    chunks_free.emplace(base, size_in);
}

Arena::~Arena()
{
}

void* Arena::alloc(size_t size)
{
    // Round to next multiple of alignment
    size = align_up(size, alignment);

    // Don't handle zero-sized chunks
    if (size == 0)
        return nullptr;

    // Pick a large enough free-chunk
    auto it = std::find_if(chunks_free.begin(), chunks_free.end(),
        [=](const std::map<char*, size_t>::value_type& chunk){ return chunk.second >= size; });
    if (it == chunks_free.end())
        return nullptr;

    // Create the used-chunk, taking its space from the end of the free-chunk
    auto alloced = chunks_used.emplace(it->first + it->second - size, size).first;
    if (!(it->second -= size))
        chunks_free.erase(it);
    return reinterpret_cast<void*>(alloced->first);
}

/* extend the Iterator if other begins at its end */
template <class Iterator, class Pair> bool extend(Iterator it, const Pair& other) {
    if (it->first + it->second == other.first) {
        it->second += other.second;
        return true;
    }
    return false;
}

void Arena::free(void *ptr)
{
    // Freeing the NULL pointer is OK.
    if (ptr == nullptr) {
        return;
    }

    // Remove chunk from used map
    auto i = chunks_used.find(static_cast<char*>(ptr));
    if (i == chunks_used.end()) {
        throw std::runtime_error("Arena: invalid or double free");
    }
    auto freed = *i;
    chunks_used.erase(i);

    // Add space to free map, coalescing contiguous chunks
    auto next = chunks_free.upper_bound(freed.first);
    auto prev = (next == chunks_free.begin()) ? chunks_free.end() : std::prev(next);
    if (prev == chunks_free.end() || !extend(prev, freed))
        prev = chunks_free.emplace_hint(next, freed);
    if (next != chunks_free.end() && extend(prev, *next))
        chunks_free.erase(next);
}

Arena::Stats Arena::stats() const
{
    Arena::Stats r{ 0, 0, 0, chunks_used.size(), chunks_free.size() };
    for (const auto& chunk: chunks_used)
        r.used += chunk.second;
    for (const auto& chunk: chunks_free)
        r.free += chunk.second;
    r.total = r.used + r.free;
    return r;
}

#ifdef ARENA_DEBUG
void printchunk(char* base, size_t sz, bool used) {
    std::cout <<
        "0x" << std::hex << std::setw(16) << std::setfill('0') << base <<
        " 0x" << std::hex << std::setw(16) << std::setfill('0') << sz <<
        " 0x" << used << std::endl;
}
void Arena::walk() const
{
    for (const auto& chunk: chunks_used)
        printchunk(chunk.first, chunk.second, true);
    std::cout << std::endl;
    for (const auto& chunk: chunks_free)
        printchunk(chunk.first, chunk.second, false);
    std::cout << std::endl;
}
#endif

/*******************************************************************************/
// Implementation: Win32LockedPageAllocator

#ifdef WIN32
/** LockedPageAllocator specialized for Windows.
 */
class Win32LockedPageAllocator: public LockedPageAllocator
{
public:
    Win32LockedPageAllocator();
    void* AllocateLocked(size_t len, bool *lockingSuccess);
    void FreeLocked(void* addr, size_t len);
    size_t GetLimit();
private:
    size_t page_size;
};

Win32LockedPageAllocator::Win32LockedPageAllocator()
{
    // Determine system page size in bytes
    SYSTEM_INFO sSysInfo;
    GetSystemInfo(&sSysInfo);
    page_size = sSysInfo.dwPageSize;
}
void *Win32LockedPageAllocator::AllocateLocked(size_t len, bool *lockingSuccess)
{
    len = align_up(len, page_size);
    void *addr = VirtualAlloc(nullptr, len, MEM_COMMIT | MEM_RESERVE, PAGE_READWRITE);
    if (addr) {
        // VirtualLock is used to attempt to keep keying material out of swap. Note
        // that it does not provide this as a guarantee, but, in practice, memory
        // that has been VirtualLock'd almost never gets written to the pagefile
        // except in rare circumstances where memory is extremely low.
        *lockingSuccess = VirtualLock(const_cast<void*>(addr), len) != 0;
    }
    return addr;
}
void Win32LockedPageAllocator::FreeLocked(void* addr, size_t len)
{
    len = align_up(len, page_size);
    memory_cleanse(addr, len);
    VirtualUnlock(const_cast<void*>(addr), len);
}

size_t Win32LockedPageAllocator::GetLimit()
{
    // TODO is there a limit on windows, how to get it?
    return std::numeric_limits<size_t>::max();
}
#endif

/*******************************************************************************/
// Implementation: PosixLockedPageAllocator

#ifndef WIN32
/** LockedPageAllocator specialized for OSes that don't try to be
 * special snowflakes.
 */
class PosixLockedPageAllocator: public LockedPageAllocator
{
public:
    PosixLockedPageAllocator();
    void* AllocateLocked(size_t len, bool *lockingSuccess);
    void FreeLocked(void* addr, size_t len);
    size_t GetLimit();
private:
    size_t page_size;
};

PosixLockedPageAllocator::PosixLockedPageAllocator()
{
    // Determine system page size in bytes
#if defined(PAGESIZE) // defined in limits.h
    page_size = PAGESIZE;
#else                   // assume some POSIX OS
    page_size = sysconf(_SC_PAGESIZE);
#endif
}

// Some systems (at least OS X) do not define MAP_ANONYMOUS yet and define
// MAP_ANON which is deprecated
#ifndef MAP_ANONYMOUS
#define MAP_ANONYMOUS MAP_ANON
#endif

void *PosixLockedPageAllocator::AllocateLocked(size_t len, bool *lockingSuccess)
{
    void *addr;
    len = align_up(len, page_size);
    addr = mmap(nullptr, len, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0);
    if (addr) {
        *lockingSuccess = mlock(addr, len) == 0;
    }
    return addr;
}
void PosixLockedPageAllocator::FreeLocked(void* addr, size_t len)
{
    len = align_up(len, page_size);
    memory_cleanse(addr, len);
    munlock(addr, len);
    munmap(addr, len);
}
size_t PosixLockedPageAllocator::GetLimit()
{
#ifdef RLIMIT_MEMLOCK
    struct rlimit rlim;
    if (getrlimit(RLIMIT_MEMLOCK, &rlim) == 0) {
        if (rlim.rlim_cur != RLIM_INFINITY) {
            return rlim.rlim_cur;
        }
    }
#endif
    return std::numeric_limits<size_t>::max();
}
#endif

/*******************************************************************************/
// Implementation: LockedPool

LockedPool::LockedPool(std::unique_ptr<LockedPageAllocator> allocator_in, LockingFailed_Callback lf_cb_in):
    allocator(std::move(allocator_in)), lf_cb(lf_cb_in), cumulative_bytes_locked(0)
{
}

LockedPool::~LockedPool()
{
}
void* LockedPool::alloc(size_t size)
{
    std::lock_guard<std::mutex> lock(mutex);

    // Don't handle impossible sizes
    if (size == 0 || size > ARENA_SIZE)
        return nullptr;

    // Try allocating from each current arena
    for (auto &arena: arenas) {
        void *addr = arena.alloc(size);
        if (addr) {
            return addr;
        }
    }
    // If that fails, create a new one
    if (new_arena(ARENA_SIZE, ARENA_ALIGN)) {
        return arenas.back().alloc(size);
    }
    return nullptr;
}

void LockedPool::free(void *ptr)
{
    std::lock_guard<std::mutex> lock(mutex);
    // TODO we can do better than this linear search by keeping a map of arena
    // extents to arena, and looking up the address.
    for (auto &arena: arenas) {
        if (arena.addressInArena(ptr)) {
            arena.free(ptr);
            return;
        }
    }
    throw std::runtime_error("LockedPool: invalid address not pointing to any arena");
}

LockedPool::Stats LockedPool::stats() const
{
    std::lock_guard<std::mutex> lock(mutex);
    LockedPool::Stats r{0, 0, 0, cumulative_bytes_locked, 0, 0};
    for (const auto &arena: arenas) {
        Arena::Stats i = arena.stats();
        r.used += i.used;
        r.free += i.free;
        r.total += i.total;
        r.chunks_used += i.chunks_used;
        r.chunks_free += i.chunks_free;
    }
    return r;
}

bool LockedPool::new_arena(size_t size, size_t align)
{
    bool locked;
    // If this is the first arena, handle this specially: Cap the upper size
    // by the process limit. This makes sure that the first arena will at least
    // be locked. An exception to this is if the process limit is 0:
    // in this case no memory can be locked at all so we'll skip past this logic.
    if (arenas.empty()) {
        size_t limit = allocator->GetLimit();
        if (limit > 0) {
            size = std::min(size, limit);
        }
    }
    void *addr = allocator->AllocateLocked(size, &locked);
    if (!addr) {
        return false;
    }
    if (locked) {
        cumulative_bytes_locked += size;
    } else if (lf_cb) { // Call the locking-failed callback if locking failed
        if (!lf_cb()) { // If the callback returns false, free the memory and fail, otherwise consider the user warned and proceed.
            allocator->FreeLocked(addr, size);
            return false;
        }
    }
    arenas.emplace_back(allocator.get(), addr, size, align);
    return true;
}

LockedPool::LockedPageArena::LockedPageArena(LockedPageAllocator *allocator_in, void *base_in, size_t size_in, size_t align_in):
    Arena(base_in, size_in, align_in), base(base_in), size(size_in), allocator(allocator_in)
{
}
LockedPool::LockedPageArena::~LockedPageArena()
{
    allocator->FreeLocked(base, size);
}

/*******************************************************************************/
// Implementation: LockedPoolManager
//
LockedPoolManager::LockedPoolManager(std::unique_ptr<LockedPageAllocator> allocator):
    LockedPool(std::move(allocator), &LockedPoolManager::LockingFailed)
{
}

bool LockedPoolManager::LockingFailed()
{
    // TODO: log something but how? without including util.h
    return true;
}

void LockedPoolManager::CreateInstance()
{
    // Using a local static instance guarantees that the object is initialized
    // when it's first needed and also deinitialized after all objects that use
    // it are done with it.  I can think of one unlikely scenario where we may
    // have a static deinitialization order/problem, but the check in
    // LockedPoolManagerBase's destructor helps us detect if that ever happens.
#ifdef WIN32
    std::unique_ptr<LockedPageAllocator> allocator(new Win32LockedPageAllocator());
#else
    std::unique_ptr<LockedPageAllocator> allocator(new PosixLockedPageAllocator());
#endif
    static LockedPoolManager instance(std::move(allocator));
    LockedPoolManager::_instance = &instance;
}
<commit_msg>lockedpool: When possible, use madvise to avoid including sensitive information in core dumps<commit_after>// Copyright (c) 2016 The Bitcoin Core developers
// Distributed under the MIT software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.

#include "support/lockedpool.h"
#include "support/cleanse.h"

#if defined(HAVE_CONFIG_H)
#include "config/bitcoin-config.h"
#endif

#ifdef WIN32
#ifdef _WIN32_WINNT
#undef _WIN32_WINNT
#endif
#define _WIN32_WINNT 0x0501
#define WIN32_LEAN_AND_MEAN 1
#ifndef NOMINMAX
#define NOMINMAX
#endif
#include <windows.h>
#else
#include <sys/mman.h> // for mmap
#include <sys/resource.h> // for getrlimit
#include <limits.h> // for PAGESIZE
#include <unistd.h> // for sysconf
#endif

#include <algorithm>

LockedPoolManager* LockedPoolManager::_instance = NULL;
std::once_flag LockedPoolManager::init_flag;

/*******************************************************************************/
// Utilities
//
/** Align up to power of 2 */
static inline size_t align_up(size_t x, size_t align)
{
    return (x + align - 1) & ~(align - 1);
}

/*******************************************************************************/
// Implementation: Arena

Arena::Arena(void *base_in, size_t size_in, size_t alignment_in):
    base(static_cast<char*>(base_in)), end(static_cast<char*>(base_in) + size_in), alignment(alignment_in)
{
    // Start with one free chunk that covers the entire arena
    chunks_free.emplace(base, size_in);
}

Arena::~Arena()
{
}

void* Arena::alloc(size_t size)
{
    // Round to next multiple of alignment
    size = align_up(size, alignment);

    // Don't handle zero-sized chunks
    if (size == 0)
        return nullptr;

    // Pick a large enough free-chunk
    auto it = std::find_if(chunks_free.begin(), chunks_free.end(),
        [=](const std::map<char*, size_t>::value_type& chunk){ return chunk.second >= size; });
    if (it == chunks_free.end())
        return nullptr;

    // Create the used-chunk, taking its space from the end of the free-chunk
    auto alloced = chunks_used.emplace(it->first + it->second - size, size).first;
    if (!(it->second -= size))
        chunks_free.erase(it);
    return reinterpret_cast<void*>(alloced->first);
}

/* extend the Iterator if other begins at its end */
template <class Iterator, class Pair> bool extend(Iterator it, const Pair& other) {
    if (it->first + it->second == other.first) {
        it->second += other.second;
        return true;
    }
    return false;
}

void Arena::free(void *ptr)
{
    // Freeing the NULL pointer is OK.
    if (ptr == nullptr) {
        return;
    }

    // Remove chunk from used map
    auto i = chunks_used.find(static_cast<char*>(ptr));
    if (i == chunks_used.end()) {
        throw std::runtime_error("Arena: invalid or double free");
    }
    auto freed = *i;
    chunks_used.erase(i);

    // Add space to free map, coalescing contiguous chunks
    auto next = chunks_free.upper_bound(freed.first);
    auto prev = (next == chunks_free.begin()) ? chunks_free.end() : std::prev(next);
    if (prev == chunks_free.end() || !extend(prev, freed))
        prev = chunks_free.emplace_hint(next, freed);
    if (next != chunks_free.end() && extend(prev, *next))
        chunks_free.erase(next);
}

Arena::Stats Arena::stats() const
{
    Arena::Stats r{ 0, 0, 0, chunks_used.size(), chunks_free.size() };
    for (const auto& chunk: chunks_used)
        r.used += chunk.second;
    for (const auto& chunk: chunks_free)
        r.free += chunk.second;
    r.total = r.used + r.free;
    return r;
}

#ifdef ARENA_DEBUG
void printchunk(char* base, size_t sz, bool used) {
    std::cout <<
        "0x" << std::hex << std::setw(16) << std::setfill('0') << base <<
        " 0x" << std::hex << std::setw(16) << std::setfill('0') << sz <<
        " 0x" << used << std::endl;
}
void Arena::walk() const
{
    for (const auto& chunk: chunks_used)
        printchunk(chunk.first, chunk.second, true);
    std::cout << std::endl;
    for (const auto& chunk: chunks_free)
        printchunk(chunk.first, chunk.second, false);
    std::cout << std::endl;
}
#endif

/*******************************************************************************/
// Implementation: Win32LockedPageAllocator

#ifdef WIN32
/** LockedPageAllocator specialized for Windows.
 */
class Win32LockedPageAllocator: public LockedPageAllocator
{
public:
    Win32LockedPageAllocator();
    void* AllocateLocked(size_t len, bool *lockingSuccess);
    void FreeLocked(void* addr, size_t len);
    size_t GetLimit();
private:
    size_t page_size;
};

Win32LockedPageAllocator::Win32LockedPageAllocator()
{
    // Determine system page size in bytes
    SYSTEM_INFO sSysInfo;
    GetSystemInfo(&sSysInfo);
    page_size = sSysInfo.dwPageSize;
}
void *Win32LockedPageAllocator::AllocateLocked(size_t len, bool *lockingSuccess)
{
    len = align_up(len, page_size);
    void *addr = VirtualAlloc(nullptr, len, MEM_COMMIT | MEM_RESERVE, PAGE_READWRITE);
    if (addr) {
        // VirtualLock is used to attempt to keep keying material out of swap. Note
        // that it does not provide this as a guarantee, but, in practice, memory
        // that has been VirtualLock'd almost never gets written to the pagefile
        // except in rare circumstances where memory is extremely low.
        *lockingSuccess = VirtualLock(const_cast<void*>(addr), len) != 0;
    }
    return addr;
}
void Win32LockedPageAllocator::FreeLocked(void* addr, size_t len)
{
    len = align_up(len, page_size);
    memory_cleanse(addr, len);
    VirtualUnlock(const_cast<void*>(addr), len);
}

size_t Win32LockedPageAllocator::GetLimit()
{
    // TODO is there a limit on windows, how to get it?
    return std::numeric_limits<size_t>::max();
}
#endif

/*******************************************************************************/
// Implementation: PosixLockedPageAllocator

#ifndef WIN32
/** LockedPageAllocator specialized for OSes that don't try to be
 * special snowflakes.
 */
class PosixLockedPageAllocator: public LockedPageAllocator
{
public:
    PosixLockedPageAllocator();
    void* AllocateLocked(size_t len, bool *lockingSuccess);
    void FreeLocked(void* addr, size_t len);
    size_t GetLimit();
private:
    size_t page_size;
};

PosixLockedPageAllocator::PosixLockedPageAllocator()
{
    // Determine system page size in bytes
#if defined(PAGESIZE) // defined in limits.h
    page_size = PAGESIZE;
#else                   // assume some POSIX OS
    page_size = sysconf(_SC_PAGESIZE);
#endif
}

// Some systems (at least OS X) do not define MAP_ANONYMOUS yet and define
// MAP_ANON which is deprecated
#ifndef MAP_ANONYMOUS
#define MAP_ANONYMOUS MAP_ANON
#endif

void *PosixLockedPageAllocator::AllocateLocked(size_t len, bool *lockingSuccess)
{
    void *addr;
    len = align_up(len, page_size);
    addr = mmap(nullptr, len, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0);
    if (addr) {
        *lockingSuccess = mlock(addr, len) == 0;
#ifdef MADV_DONTDUMP
        madvise(addr, len, MADV_DONTDUMP);
#endif
    }
    return addr;
}
void PosixLockedPageAllocator::FreeLocked(void* addr, size_t len)
{
    len = align_up(len, page_size);
    memory_cleanse(addr, len);
    munlock(addr, len);
    munmap(addr, len);
}
size_t PosixLockedPageAllocator::GetLimit()
{
#ifdef RLIMIT_MEMLOCK
    struct rlimit rlim;
    if (getrlimit(RLIMIT_MEMLOCK, &rlim) == 0) {
        if (rlim.rlim_cur != RLIM_INFINITY) {
            return rlim.rlim_cur;
        }
    }
#endif
    return std::numeric_limits<size_t>::max();
}
#endif

/*******************************************************************************/
// Implementation: LockedPool

LockedPool::LockedPool(std::unique_ptr<LockedPageAllocator> allocator_in, LockingFailed_Callback lf_cb_in):
    allocator(std::move(allocator_in)), lf_cb(lf_cb_in), cumulative_bytes_locked(0)
{
}

LockedPool::~LockedPool()
{
}
void* LockedPool::alloc(size_t size)
{
    std::lock_guard<std::mutex> lock(mutex);

    // Don't handle impossible sizes
    if (size == 0 || size > ARENA_SIZE)
        return nullptr;

    // Try allocating from each current arena
    for (auto &arena: arenas) {
        void *addr = arena.alloc(size);
        if (addr) {
            return addr;
        }
    }
    // If that fails, create a new one
    if (new_arena(ARENA_SIZE, ARENA_ALIGN)) {
        return arenas.back().alloc(size);
    }
    return nullptr;
}

void LockedPool::free(void *ptr)
{
    std::lock_guard<std::mutex> lock(mutex);
    // TODO we can do better than this linear search by keeping a map of arena
    // extents to arena, and looking up the address.
    for (auto &arena: arenas) {
        if (arena.addressInArena(ptr)) {
            arena.free(ptr);
            return;
        }
    }
    throw std::runtime_error("LockedPool: invalid address not pointing to any arena");
}

LockedPool::Stats LockedPool::stats() const
{
    std::lock_guard<std::mutex> lock(mutex);
    LockedPool::Stats r{0, 0, 0, cumulative_bytes_locked, 0, 0};
    for (const auto &arena: arenas) {
        Arena::Stats i = arena.stats();
        r.used += i.used;
        r.free += i.free;
        r.total += i.total;
        r.chunks_used += i.chunks_used;
        r.chunks_free += i.chunks_free;
    }
    return r;
}

bool LockedPool::new_arena(size_t size, size_t align)
{
    bool locked;
    // If this is the first arena, handle this specially: Cap the upper size
    // by the process limit. This makes sure that the first arena will at least
    // be locked. An exception to this is if the process limit is 0:
    // in this case no memory can be locked at all so we'll skip past this logic.
    if (arenas.empty()) {
        size_t limit = allocator->GetLimit();
        if (limit > 0) {
            size = std::min(size, limit);
        }
    }
    void *addr = allocator->AllocateLocked(size, &locked);
    if (!addr) {
        return false;
    }
    if (locked) {
        cumulative_bytes_locked += size;
    } else if (lf_cb) { // Call the locking-failed callback if locking failed
        if (!lf_cb()) { // If the callback returns false, free the memory and fail, otherwise consider the user warned and proceed.
            allocator->FreeLocked(addr, size);
            return false;
        }
    }
    arenas.emplace_back(allocator.get(), addr, size, align);
    return true;
}

LockedPool::LockedPageArena::LockedPageArena(LockedPageAllocator *allocator_in, void *base_in, size_t size_in, size_t align_in):
    Arena(base_in, size_in, align_in), base(base_in), size(size_in), allocator(allocator_in)
{
}
LockedPool::LockedPageArena::~LockedPageArena()
{
    allocator->FreeLocked(base, size);
}

/*******************************************************************************/
// Implementation: LockedPoolManager
//
LockedPoolManager::LockedPoolManager(std::unique_ptr<LockedPageAllocator> allocator):
    LockedPool(std::move(allocator), &LockedPoolManager::LockingFailed)
{
}

bool LockedPoolManager::LockingFailed()
{
    // TODO: log something but how? without including util.h
    return true;
}

void LockedPoolManager::CreateInstance()
{
    // Using a local static instance guarantees that the object is initialized
    // when it's first needed and also deinitialized after all objects that use
    // it are done with it.  I can think of one unlikely scenario where we may
    // have a static deinitialization order/problem, but the check in
    // LockedPoolManagerBase's destructor helps us detect if that ever happens.
#ifdef WIN32
    std::unique_ptr<LockedPageAllocator> allocator(new Win32LockedPageAllocator());
#else
    std::unique_ptr<LockedPageAllocator> allocator(new PosixLockedPageAllocator());
#endif
    static LockedPoolManager instance(std::move(allocator));
    LockedPoolManager::_instance = &instance;
}
<|endoftext|>


<commit_before>//=======================================================================
// Copyright Baptiste Wicht 2011.
// Distributed under the Boost Software License, Version 1.0.
// (See accompanying file LICENSE_1_0.txt or copy at
//  http://www.boost.org/LICENSE_1_0.txt)
//=======================================================================

#include <cassert>

#include "tac/BinaryOperator.hpp"

using namespace eddic;

tac::BinaryOperator eddic::tac::toBinaryOperator(const std::string& op){
    if(op == "!="){
        return tac::BinaryOperator::EQUALS;
    } else if(op == "=="){
        return tac::BinaryOperator::NOT_EQUALS;
    } else if(op == ">="){
        return tac::BinaryOperator::LESS;
    } else if(op == ">"){
        return tac::BinaryOperator::LESS_EQUALS;
    } else if(op == "<="){
        return tac::BinaryOperator::GREATER;
    } else if(op == "<"){
        return tac::BinaryOperator::GREATER_EQUALS;
    }

    assert(false); //Not handled
}
<commit_msg>The BinaryOperator fromString function was reversed<commit_after>//=======================================================================
// Copyright Baptiste Wicht 2011.
// Distributed under the Boost Software License, Version 1.0.
// (See accompanying file LICENSE_1_0.txt or copy at
//  http://www.boost.org/LICENSE_1_0.txt)
//=======================================================================

#include <cassert>

#include "tac/BinaryOperator.hpp"

using namespace eddic;

tac::BinaryOperator eddic::tac::toBinaryOperator(const std::string& op){
    if(op == "!="){
        return tac::BinaryOperator::NOT_EQUALS;
    } else if(op == "=="){
        return tac::BinaryOperator::EQUALS;
    } else if(op == ">="){
        return tac::BinaryOperator::GREATER_EQUALS;
    } else if(op == ">"){
        return tac::BinaryOperator::GREATER;
    } else if(op == "<="){
        return tac::BinaryOperator::LESS_EQUALS;
    } else if(op == "<"){
        return tac::BinaryOperator::LESS;
    }

    assert(false); //Not handled
}
<|endoftext|>


<commit_before>/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Dave Coleman */

#include "moveit_configuration_tools/widgets/compute_default_collisions_widget.h"
#include <planning_scene_monitor/planning_scene_monitor.h>
#include <boost/unordered_map.hpp>
#include <boost/assign.hpp>

static const std::string ROBOT_DESCRIPTION="robot_description";

// Boost mapping of reasons for disabling a link pair to strings
const boost::unordered_map<moveit_configuration_tools::DisabledReason, const char*> longReasonsToString =
  boost::assign::map_list_of
  ( moveit_configuration_tools::NEVER, "Never in Collision" )
  ( moveit_configuration_tools::DEFAULT, "Collision by Default" )
  ( moveit_configuration_tools::ADJACENT, "Adjacent Links" )
  ( moveit_configuration_tools::ALWAYS, "Always in Collision" )
  ( moveit_configuration_tools::USER, "User Chosen" )
  ( moveit_configuration_tools::NOT_DISABLED, "");

ComputeDefaultCollisionsWidget::ComputeDefaultCollisionsWidget()
{
  // Basic widget container
  layout_ = new QVBoxLayout;

  // Top Label Area ------------------------------------------------

  // Page Title
  QLabel *page_title = new QLabel();
  page_title->setText("Optimize Self-Collision Checking");
  QFont page_title_font( "Arial", 18, QFont::Bold);
  page_title->setFont(page_title_font);
  layout_->addWidget( page_title);

  // Page Instructions
  QLabel *page_instructions = new QLabel();
  page_instructions->setText("The Default Self-Collision Matrix Generator will search for pairs of links "
                             "on the robot that can safely be disabled from collision checking, decreasing motion planning processing time. "
                             "These pairs of links are disabled they are always in collision, never in collision, collision in the robot's default position and when the links are adjacent to each other on the kinematic chain. Sampling density specifies how many random robot positions to check for self collision. Higher densities require more computation time.");
  page_instructions->setWordWrap(true);
  layout_->addWidget( page_instructions);

  // Top Button Area -----------------------------------------------
  controls_box_ = new QGroupBox();
  layout_->addWidget( controls_box_ );
  QHBoxLayout *controls_box_layout = new QHBoxLayout( controls_box_ );
  controls_box_layout->setAlignment(Qt::AlignTop | Qt::AlignLeft);

  // Slider Label
  QLabel *density_label = new QLabel();
  density_label->setText("Self Collision Sampling Density:");
  controls_box_layout->addWidget(density_label);

  // Slider
  density_slider_ = new QSlider();
  density_slider_->setTickPosition(QSlider::TicksBelow);
  density_slider_->setMinimum( 0 );
  density_slider_->setMaximum( 99 );
  density_slider_->setSingleStep( 10 );
  density_slider_->setPageStep( 50 );
  density_slider_->setSliderPosition( 9 ); // 10,000 is default
  density_slider_->setTickInterval( 10 );
  density_slider_->setOrientation( Qt::Horizontal );
  controls_box_layout->addWidget(density_slider_);
  connect(density_slider_, SIGNAL(valueChanged(int)), this, SLOT(changeDensityLabel(int)));

  // Slider Value Label
  density_value_label_ = new QLabel();
  density_value_label_->setMinimumWidth(100);
  controls_box_layout->addWidget(density_value_label_);
  changeDensityLabel( density_slider_->value() ); // initialize label with value

  // Generate Button
  generate_button_ = new QPushButton();
  generate_button_->setText("Generate Default Collision Matrix");
  generate_button_->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
  connect(generate_button_, SIGNAL(clicked()), this, SLOT(generateCollisionTable()));
  controls_box_layout->addWidget(generate_button_);

  // Progress Bar Area ---------------------------------------------

  // Progress Label
  progress_label_ = new QLabel();
  progress_label_->setText("Generating Default Collision Matrix");
  progress_label_->hide();
  layout_->addWidget(progress_label_);

  // Progress Bar
  progress_bar_ = new QProgressBar();
  progress_bar_->setMaximum(100);
  progress_bar_->setMinimum(0);
  progress_bar_->hide(); // only show when computation begins
  layout_->addWidget(progress_bar_); //,Qt::AlignCenter);

  // Table Area --------------------------------------------

  // Table
  collision_table_ = new QTableWidget();
  collision_table_->setColumnCount(4);
  collision_table_->setColumnWidth(0, 320);
  collision_table_->setColumnWidth(1, 320);
  collision_table_->setColumnWidth(2, 175);
  collision_table_->setColumnWidth(4, 60);
  collision_table_->setSortingEnabled(true);
  layout_->addWidget(collision_table_);

  // Table Headers
  QStringList titleList;
  titleList.append("Link A");
  titleList.append("Link B");
  titleList.append("Reason Disabled");
  titleList.append("CC Disabled");
  collision_table_->setHorizontalHeaderLabels(titleList);

  // Bottom Area ----------------------------------------
  controls_box_bottom_ = new QGroupBox();
  layout_->addWidget( controls_box_bottom_ );
  QHBoxLayout *controls_box_bottom_layout = new QHBoxLayout( controls_box_bottom_ );

  // Checkbox
  collision_checkbox_ = new QCheckBox();
  collision_checkbox_->setText("Show Non-Disabled Link Pairs");
  connect(collision_checkbox_, SIGNAL(toggled(bool)), this, SLOT(collisionCheckboxToggle()));
  controls_box_bottom_layout->addWidget(collision_checkbox_);
  controls_box_bottom_layout->setAlignment(collision_checkbox_, Qt::AlignLeft);

  // Save Button
  save_button_ = new QPushButton();
  save_button_->setText("Save to SRDF");
  save_button_->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
  save_button_->setMinimumWidth(300);
  connect(save_button_, SIGNAL(clicked()), this, SLOT(saveToSRDF()));
  controls_box_bottom_layout->addWidget(save_button_);
  controls_box_bottom_layout->setAlignment(save_button_, Qt::AlignRight);

  // Quit
  //quitButton_ = new QPushButton("Quit");
  //connect(quitButton_, SIGNAL(clicked()), this, SLOT(quit()));
  //layout_->addWidget(quitButton_);

  setLayout(layout_);

  setWindowTitle("Default Collision Matrix");
}

void ComputeDefaultCollisionsWidget::generateCollisionTable()
{
  // Disable controls on form
  disableControls(true);

  unsigned int collision_progress = 0; // shared variable with thread
  progress_bar_->setValue(collision_progress);

  QApplication::processEvents(); // allow the progress bar to be shown

  generateCollisionTableThread( &collision_progress );

  /*

  // Create thread to do actual work
  boost::thread workerThread( boost::bind( &ComputeDefaultCollisionsWidget::generateCollisionTableThread,
                                           this, &collision_progress ));

  // Check interval
  boost::posix_time::seconds check_interval(1);

  // Continually loop until threaded computation is finished
  while( collision_progress < 100 )
  {
    // Set updated progress value.
    progress_bar_->setValue(collision_progress);

    // Allow GUI thread to do its stuff
    QApplication::processEvents();

    // 1 second sleep
    boost::this_thread::sleep(check_interval);
  }

  // Wait for thread to finish
  workerThread.join();
  */

  // Load the results into the GUI
  loadCollisionTable();

  // Hide the progress bar
  disableControls(false); // enable everything else
}

void ComputeDefaultCollisionsWidget::loadCollisionTable()
{
  // Show Progress Bar
  progress_bar_->setValue(0);

  QApplication::processEvents(); // allow the progress bar to be shown
  progress_label_->setText("Loading table...");

  // Setup Collision Table
  collision_table_->clearContents();
  int row = 0;

  // Check if there are no disabled collisions (unprobable?)
  if(link_pairs.size() == 0)
  {
    collision_table_->setRowCount(1);
    QTableWidgetItem* no_collide = new QTableWidgetItem("No Link Pairs Of This Kind");
    collision_table_->setItem(0, 0, no_collide);
  }
  else
  {
    // The table will be populated, so indicate it on the button
    generate_button_->setText("Regenerate Default Collision Matrix");
  }

  int progress_counter = 0;

  for ( moveit_configuration_tools::LinkPairMap::const_iterator pair_it = link_pairs.begin();
        pair_it != link_pairs.end();
        ++pair_it)
  {
    // Add link pair row if 1) it is disabled from collision checking or 2) the SHOW ALL LINK PAIRS checkbox is checked
    if( pair_it->second.disable_check || collision_checkbox_->isChecked() )
    {
      collision_table_->setRowCount( row + 1 );

      // Create row elements
      QTableWidgetItem* linkA = new QTableWidgetItem( pair_it->first.first.c_str() );
      linkA->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QTableWidgetItem* linkB = new QTableWidgetItem( pair_it->first.second.c_str() );
      linkB->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QTableWidgetItem* reason = new QTableWidgetItem( longReasonsToString.at( pair_it->second.reason ) );

      reason->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QCheckBox* enable_box = new QCheckBox(collision_table_);
      if( pair_it->second.disable_check ) // Checked means no collision checking
      {
        enable_box->setChecked(true);
      } else
      {
        enable_box->setChecked(false);
      }
      //connect(enable_box, SIGNAL(toggled(bool)), this, SLOT(toggleCheckBox(bool)));

      // Insert row elements into collision table
      collision_table_->setItem( row, 0, linkA);
      collision_table_->setItem( row, 1, linkB);
      collision_table_->setItem( row, 2, reason);
      collision_table_->setCellWidget( row, 3, enable_box);

      // Increment row count
      ++row;
    }

    ++progress_counter; // for calculating progress bar

    if( progress_counter % 200 == 0 )
    {
      // Update Progress Bar
      progress_bar_->setValue( progress_counter * 100 / link_pairs.size() );
      QApplication::processEvents(); // allow the progress bar to be shown
    }

  }

}

void ComputeDefaultCollisionsWidget::generateCollisionTableThread( unsigned int *collision_progress )
{
  ROS_INFO("Inner thread");

  unsigned int num_trials = density_slider_->value() * 1000 + 1000; // scale to trials amount

  const bool verbose = true; // Output benchmarking and statistics
  const bool include_never_colliding = true;

  // Load robot description
  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);

  // Find the default collision matrix - all links that are allowed to collide
  link_pairs = moveit_configuration_tools::computeDefaultCollisions(psm.getPlanningScene(), collision_progress,
                                                                    include_never_colliding, num_trials, verbose);

  // Output results to an XML file
  //moveit_configuration_tools::outputDisabledCollisionsXML( link_pairs );

  // End the progress bar loop
  *collision_progress = 100;

  ROS_INFO_STREAM("Thread complete " << link_pairs.size());
}

void ComputeDefaultCollisionsWidget::quit()
{
  QMessageBox messageBox;
  messageBox.setWindowTitle("Default Collision Matrix");
  messageBox.setText("Do you really want to quit?");
  messageBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
  messageBox.setDefaultButton(QMessageBox::No);
  if(messageBox.exec() == QMessageBox::Yes)
    QApplication::quit();
}

void ComputeDefaultCollisionsWidget::changeDensityLabel(int value)
{
  density_value_label_->setText( QString::number( value*1000 + 1000).append(" samples") );
}

void ComputeDefaultCollisionsWidget::disableControls(bool disable)
{
  controls_box_->setDisabled( disable );
  collision_table_->setDisabled( disable );
  collision_checkbox_->setDisabled( disable );
  save_button_->setDisabled( disable );

  if( disable )
  {
    progress_bar_->show(); // only show when computation begins
    progress_label_->show();
  }
  else
  {
    progress_label_->hide();
    progress_bar_->hide();
  }

  QApplication::processEvents(); // allow the progress bar to be shown
}

void ComputeDefaultCollisionsWidget::collisionCheckboxToggle()
{
  // Show Progress bar
  disableControls( true );

  // Update link_pairs data structure
  copyTableChanges();

  // Now update collision table with updates
  loadCollisionTable();

  // Hide Progress bar
  disableControls( false );
}

void ComputeDefaultCollisionsWidget::copyTableChanges()
{
  progress_label_->setText("Scanning table...");

  int progress_counter = 0;

  // Scan the table for all checkbox changes and save to data structure
  for(int i = 0; i < collision_table_->rowCount(); i++)
  {
    QCheckBox* box = dynamic_cast<QCheckBox*> (collision_table_->cellWidget(i, 3));
    if(box != NULL)
    {
      std::pair<std::string, std::string> link_pair;
      link_pair.first = collision_table_->item(i, 0)->text().toStdString();
      link_pair.second = collision_table_->item(i, 1)->text().toStdString();

      ROS_INFO_STREAM( link_pair.first << " " << link_pair.second );

      // Check if the checbox state has changed from original value
      if( link_pairs[ link_pair ].disable_check != box->isChecked() )
      {
        ROS_INFO_STREAM( link_pair.first << " has changed " );

        // Save the change
        link_pairs[ link_pair ].disable_check = box->isChecked();

        // Set to USER if its disabled but originally it was enabled
        if( link_pairs[ link_pair ].disable_check == true &&
            link_pairs[ link_pair ].reason != moveit_configuration_tools::NOT_DISABLED )
        {
          link_pairs[ link_pair ].reason = moveit_configuration_tools::USER;
          ROS_INFO_STREAM( link_pair.first << " is now USER " );
        }
      }
    }
    else
    {
      ROS_INFO(" NOTHING ");
    }

    ++progress_counter; // for calculating progress bar

    if( progress_counter % 200 == 0 )
    {
      // Update Progress Bar
      progress_bar_->setValue( progress_counter * 100 / link_pairs.size() );
      QApplication::processEvents(); // allow the progress bar to be shown
    }

  }

}

void ComputeDefaultCollisionsWidget::saveToSRDF()
{
  // Show Progress bar
  disableControls( true );

  // Update link_pairs data structure
  copyTableChanges();

  // Do the save
  moveit_configuration_tools::outputDisabledCollisionsXML( link_pairs );

  // Hide Progress bar
  disableControls( false );
}
<commit_msg>Reenabled code block<commit_after>/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Dave Coleman */

#include "moveit_configuration_tools/widgets/compute_default_collisions_widget.h"
#include <planning_scene_monitor/planning_scene_monitor.h>
#include <boost/unordered_map.hpp>
#include <boost/assign.hpp>

static const std::string ROBOT_DESCRIPTION="robot_description";

// Boost mapping of reasons for disabling a link pair to strings
const boost::unordered_map<moveit_configuration_tools::DisabledReason, const char*> longReasonsToString =
  boost::assign::map_list_of
  ( moveit_configuration_tools::NEVER, "Never in Collision" )
  ( moveit_configuration_tools::DEFAULT, "Collision by Default" )
  ( moveit_configuration_tools::ADJACENT, "Adjacent Links" )
  ( moveit_configuration_tools::ALWAYS, "Always in Collision" )
  ( moveit_configuration_tools::USER, "User Chosen" )
  ( moveit_configuration_tools::NOT_DISABLED, "");

ComputeDefaultCollisionsWidget::ComputeDefaultCollisionsWidget()
{
  // Basic widget container
  layout_ = new QVBoxLayout;

  // Top Label Area ------------------------------------------------

  // Page Title
  QLabel *page_title = new QLabel();
  page_title->setText("Optimize Self-Collision Checking");
  QFont page_title_font( "Arial", 18, QFont::Bold);
  page_title->setFont(page_title_font);
  layout_->addWidget( page_title);

  // Page Instructions
  QLabel *page_instructions = new QLabel();
  page_instructions->setText("The Default Self-Collision Matrix Generator will search for pairs of links "
                             "on the robot that can safely be disabled from collision checking, decreasing motion planning processing time. "
                             "These pairs of links are disabled they are always in collision, never in collision, collision in the robot's default position and when the links are adjacent to each other on the kinematic chain. Sampling density specifies how many random robot positions to check for self collision. Higher densities require more computation time.");
  page_instructions->setWordWrap(true);
  layout_->addWidget( page_instructions);

  // Top Button Area -----------------------------------------------
  controls_box_ = new QGroupBox();
  layout_->addWidget( controls_box_ );
  QHBoxLayout *controls_box_layout = new QHBoxLayout( controls_box_ );
  controls_box_layout->setAlignment(Qt::AlignTop | Qt::AlignLeft);

  // Slider Label
  QLabel *density_label = new QLabel();
  density_label->setText("Self Collision Sampling Density:");
  controls_box_layout->addWidget(density_label);

  // Slider
  density_slider_ = new QSlider();
  density_slider_->setTickPosition(QSlider::TicksBelow);
  density_slider_->setMinimum( 0 );
  density_slider_->setMaximum( 99 );
  density_slider_->setSingleStep( 10 );
  density_slider_->setPageStep( 50 );
  density_slider_->setSliderPosition( 9 ); // 10,000 is default
  density_slider_->setTickInterval( 10 );
  density_slider_->setOrientation( Qt::Horizontal );
  controls_box_layout->addWidget(density_slider_);
  connect(density_slider_, SIGNAL(valueChanged(int)), this, SLOT(changeDensityLabel(int)));

  // Slider Value Label
  density_value_label_ = new QLabel();
  density_value_label_->setMinimumWidth(100);
  controls_box_layout->addWidget(density_value_label_);
  changeDensityLabel( density_slider_->value() ); // initialize label with value

  // Generate Button
  generate_button_ = new QPushButton();
  generate_button_->setText("Generate Default Collision Matrix");
  generate_button_->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
  connect(generate_button_, SIGNAL(clicked()), this, SLOT(generateCollisionTable()));
  controls_box_layout->addWidget(generate_button_);

  // Progress Bar Area ---------------------------------------------

  // Progress Label
  progress_label_ = new QLabel();
  progress_label_->setText("Generating Default Collision Matrix");
  progress_label_->hide();
  layout_->addWidget(progress_label_);

  // Progress Bar
  progress_bar_ = new QProgressBar();
  progress_bar_->setMaximum(100);
  progress_bar_->setMinimum(0);
  progress_bar_->hide(); // only show when computation begins
  layout_->addWidget(progress_bar_); //,Qt::AlignCenter);

  // Table Area --------------------------------------------

  // Table
  collision_table_ = new QTableWidget();
  collision_table_->setColumnCount(4);
  collision_table_->setColumnWidth(0, 320);
  collision_table_->setColumnWidth(1, 320);
  collision_table_->setColumnWidth(2, 175);
  collision_table_->setColumnWidth(4, 60);
  collision_table_->setSortingEnabled(true);
  layout_->addWidget(collision_table_);

  // Table Headers
  QStringList titleList;
  titleList.append("Link A");
  titleList.append("Link B");
  titleList.append("Reason Disabled");
  titleList.append("CC Disabled");
  collision_table_->setHorizontalHeaderLabels(titleList);

  // Bottom Area ----------------------------------------
  controls_box_bottom_ = new QGroupBox();
  layout_->addWidget( controls_box_bottom_ );
  QHBoxLayout *controls_box_bottom_layout = new QHBoxLayout( controls_box_bottom_ );

  // Checkbox
  collision_checkbox_ = new QCheckBox();
  collision_checkbox_->setText("Show Non-Disabled Link Pairs");
  connect(collision_checkbox_, SIGNAL(toggled(bool)), this, SLOT(collisionCheckboxToggle()));
  controls_box_bottom_layout->addWidget(collision_checkbox_);
  controls_box_bottom_layout->setAlignment(collision_checkbox_, Qt::AlignLeft);

  // Save Button
  save_button_ = new QPushButton();
  save_button_->setText("Save to SRDF");
  save_button_->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum);
  save_button_->setMinimumWidth(300);
  connect(save_button_, SIGNAL(clicked()), this, SLOT(saveToSRDF()));
  controls_box_bottom_layout->addWidget(save_button_);
  controls_box_bottom_layout->setAlignment(save_button_, Qt::AlignRight);

  // Quit
  //quitButton_ = new QPushButton("Quit");
  //connect(quitButton_, SIGNAL(clicked()), this, SLOT(quit()));
  //layout_->addWidget(quitButton_);

  setLayout(layout_);

  setWindowTitle("Default Collision Matrix");
}

void ComputeDefaultCollisionsWidget::generateCollisionTable()
{
  // Disable controls on form
  disableControls(true);

  unsigned int collision_progress = 0; // shared variable with thread
  progress_bar_->setValue(collision_progress);

  QApplication::processEvents(); // allow the progress bar to be shown

  //generateCollisionTableThread( &collision_progress );

  // Create thread to do actual work
  boost::thread workerThread( boost::bind( &ComputeDefaultCollisionsWidget::generateCollisionTableThread,
                                           this, &collision_progress ));

  // Check interval
  boost::posix_time::seconds check_interval(1);

  // Continually loop until threaded computation is finished
  while( collision_progress < 100 )
  {
    // Set updated progress value.
    progress_bar_->setValue(collision_progress);

    // Allow GUI thread to do its stuff
    QApplication::processEvents();

    // 1 second sleep
    boost::this_thread::sleep(check_interval);
  }

  // Wait for thread to finish
  workerThread.join();

  // Load the results into the GUI
  loadCollisionTable();

  // Hide the progress bar
  disableControls(false); // enable everything else
}

void ComputeDefaultCollisionsWidget::loadCollisionTable()
{
  // Show Progress Bar
  progress_bar_->setValue(0);

  QApplication::processEvents(); // allow the progress bar to be shown
  progress_label_->setText("Loading table...");

  // Setup Collision Table
  collision_table_->clearContents();
  int row = 0;

  // Check if there are no disabled collisions (unprobable?)
  if(link_pairs.size() == 0)
  {
    collision_table_->setRowCount(1);
    QTableWidgetItem* no_collide = new QTableWidgetItem("No Link Pairs Of This Kind");
    collision_table_->setItem(0, 0, no_collide);
  }
  else
  {
    // The table will be populated, so indicate it on the button
    generate_button_->setText("Regenerate Default Collision Matrix");
  }

  int progress_counter = 0;

  for ( moveit_configuration_tools::LinkPairMap::const_iterator pair_it = link_pairs.begin();
        pair_it != link_pairs.end();
        ++pair_it)
  {
    // Add link pair row if 1) it is disabled from collision checking or 2) the SHOW ALL LINK PAIRS checkbox is checked
    if( pair_it->second.disable_check || collision_checkbox_->isChecked() )
    {
      collision_table_->setRowCount( row + 1 );

      // Create row elements
      QTableWidgetItem* linkA = new QTableWidgetItem( pair_it->first.first.c_str() );
      linkA->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QTableWidgetItem* linkB = new QTableWidgetItem( pair_it->first.second.c_str() );
      linkB->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QTableWidgetItem* reason = new QTableWidgetItem( longReasonsToString.at( pair_it->second.reason ) );

      reason->setFlags(Qt::ItemIsEnabled | Qt::ItemIsSelectable);

      QCheckBox* enable_box = new QCheckBox(collision_table_);
      if( pair_it->second.disable_check ) // Checked means no collision checking
      {
        enable_box->setChecked(true);
      } else
      {
        enable_box->setChecked(false);
      }
      //connect(enable_box, SIGNAL(toggled(bool)), this, SLOT(toggleCheckBox(bool)));

      // Insert row elements into collision table
      collision_table_->setItem( row, 0, linkA);
      collision_table_->setItem( row, 1, linkB);
      collision_table_->setItem( row, 2, reason);
      collision_table_->setCellWidget( row, 3, enable_box);

      // Increment row count
      ++row;
    }

    ++progress_counter; // for calculating progress bar

    if( progress_counter % 200 == 0 )
    {
      // Update Progress Bar
      progress_bar_->setValue( progress_counter * 100 / link_pairs.size() );
      QApplication::processEvents(); // allow the progress bar to be shown
    }

  }

}

void ComputeDefaultCollisionsWidget::generateCollisionTableThread( unsigned int *collision_progress )
{
  ROS_INFO("Inner thread");

  unsigned int num_trials = density_slider_->value() * 1000 + 1000; // scale to trials amount

  const bool verbose = true; // Output benchmarking and statistics
  const bool include_never_colliding = true;

  // Load robot description
  planning_scene_monitor::PlanningSceneMonitor psm(ROBOT_DESCRIPTION);

  // Find the default collision matrix - all links that are allowed to collide
  link_pairs = moveit_configuration_tools::computeDefaultCollisions(psm.getPlanningScene(), collision_progress,
                                                                    include_never_colliding, num_trials, verbose);

  // Output results to an XML file
  //moveit_configuration_tools::outputDisabledCollisionsXML( link_pairs );

  // End the progress bar loop
  *collision_progress = 100;

  ROS_INFO_STREAM("Thread complete " << link_pairs.size());
}

void ComputeDefaultCollisionsWidget::quit()
{
  QMessageBox messageBox;
  messageBox.setWindowTitle("Default Collision Matrix");
  messageBox.setText("Do you really want to quit?");
  messageBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
  messageBox.setDefaultButton(QMessageBox::No);
  if(messageBox.exec() == QMessageBox::Yes)
    QApplication::quit();
}

void ComputeDefaultCollisionsWidget::changeDensityLabel(int value)
{
  density_value_label_->setText( QString::number( value*1000 + 1000).append(" samples") );
}

void ComputeDefaultCollisionsWidget::disableControls(bool disable)
{
  controls_box_->setDisabled( disable );
  collision_table_->setDisabled( disable );
  collision_checkbox_->setDisabled( disable );
  save_button_->setDisabled( disable );

  if( disable )
  {
    progress_bar_->show(); // only show when computation begins
    progress_label_->show();
  }
  else
  {
    progress_label_->hide();
    progress_bar_->hide();
  }

  QApplication::processEvents(); // allow the progress bar to be shown
}

void ComputeDefaultCollisionsWidget::collisionCheckboxToggle()
{
  // Show Progress bar
  disableControls( true );

  // Update link_pairs data structure
  copyTableChanges();

  // Now update collision table with updates
  loadCollisionTable();

  // Hide Progress bar
  disableControls( false );
}

void ComputeDefaultCollisionsWidget::copyTableChanges()
{
  progress_label_->setText("Scanning table...");

  int progress_counter = 0;

  // Scan the table for all checkbox changes and save to data structure
  for(int i = 0; i < collision_table_->rowCount(); i++)
  {
    QCheckBox* box = dynamic_cast<QCheckBox*> (collision_table_->cellWidget(i, 3));
    if(box != NULL)
    {
      std::pair<std::string, std::string> link_pair;
      link_pair.first = collision_table_->item(i, 0)->text().toStdString();
      link_pair.second = collision_table_->item(i, 1)->text().toStdString();

      ROS_INFO_STREAM( link_pair.first << " " << link_pair.second );

      // Check if the checbox state has changed from original value
      if( link_pairs[ link_pair ].disable_check != box->isChecked() )
      {
        ROS_INFO_STREAM( link_pair.first << " has changed " );

        // Save the change
        link_pairs[ link_pair ].disable_check = box->isChecked();

        // Set to USER if its disabled but originally it was enabled
        if( link_pairs[ link_pair ].disable_check == true &&
            link_pairs[ link_pair ].reason != moveit_configuration_tools::NOT_DISABLED )
        {
          link_pairs[ link_pair ].reason = moveit_configuration_tools::USER;
          ROS_INFO_STREAM( link_pair.first << " is now USER " );
        }
      }
    }
    else
    {
      ROS_INFO(" NOTHING ");
    }

    ++progress_counter; // for calculating progress bar

    if( progress_counter % 200 == 0 )
    {
      // Update Progress Bar
      progress_bar_->setValue( progress_counter * 100 / link_pairs.size() );
      QApplication::processEvents(); // allow the progress bar to be shown
    }

  }

}

void ComputeDefaultCollisionsWidget::saveToSRDF()
{
  // Show Progress bar
  disableControls( true );

  // Update link_pairs data structure
  copyTableChanges();

  // Do the save
  moveit_configuration_tools::outputDisabledCollisionsXML( link_pairs );

  // Hide Progress bar
  disableControls( false );
}
<|endoftext|>


<commit_before>//  Copyright (C) 2010-2013, Vaclav Haisman. All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without modifica-
//  tion, are permitted provided that the following conditions are met:
//
//  1. Redistributions of  source code must  retain the above copyright  notice,
//     this list of conditions and the following disclaimer.
//
//  2. Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//  THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES,
//  INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
//  FITNESS  FOR A PARTICULAR  PURPOSE ARE  DISCLAIMED.  IN NO  EVENT SHALL  THE
//  APACHE SOFTWARE  FOUNDATION  OR ITS CONTRIBUTORS  BE LIABLE FOR  ANY DIRECT,
//  INDIRECT, INCIDENTAL, SPECIAL,  EXEMPLARY, OR CONSEQUENTIAL  DAMAGES (INCLU-
//  DING, BUT NOT LIMITED TO, PROCUREMENT  OF SUBSTITUTE GOODS OR SERVICES; LOSS
//  OF USE, DATA, OR  PROFITS; OR BUSINESS  INTERRUPTION)  HOWEVER CAUSED AND ON
//  ANY  THEORY OF LIABILITY,  WHETHER  IN CONTRACT,  STRICT LIABILITY,  OR TORT
//  (INCLUDING  NEGLIGENCE OR  OTHERWISE) ARISING IN  ANY WAY OUT OF THE  USE OF
//  THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <log4cplus/helpers/stringhelper.h>

#if defined (LOG4CPLUS_WITH_ICONV)

#ifdef LOG4CPLUS_HAVE_ICONV_H
#include <iconv.h>
#endif

#include <stdexcept>
#include <iostream>
#include <sstream>
#include <cassert>
#include <cerrno>
#include <cstring>

// This is here because some compilers (Sun CC) think that there is a
// difference if the typedefs are not in an extern "C" block.
extern "C"
{

    //! SUSv3 iconv() type.
    typedef size_t (& iconv_func_type_1) (iconv_t cd, char * * inbuf,
	size_t * inbytesleft, char * * outbuf, size_t * outbytesleft);

    //! GNU iconv() type.
    typedef size_t (& iconv_func_type_2) (iconv_t cd, const char * * inbuf,
	size_t * inbytesleft, char * * outbuf, size_t * outbytesleft);

} // extern "C"

namespace log4cplus
{

namespace helpers
{

namespace
{

static iconv_t const iconv_error_handle = reinterpret_cast<iconv_t>(-1);

struct iconv_handle
{
    iconv_handle (char const * to, char const * from)
        : handle (iconv_open (to, from))
    {
        if (handle == iconv_error_handle)
        {
            std::ostringstream oss;
            oss << "iconv_open failed: " << errno;
            std::cerr << oss.str () << std::endl;
            throw std::runtime_error (oss.str ().c_str ());
        }
    }

    ~iconv_handle ()
    {
        if (handle != iconv_error_handle)
        {
            int ret = iconv_close (handle);
            if (ret == -1)
            {
                std::ostringstream oss;
                oss << "iconv_close failed: " << errno;
                std::cerr << oss.str () << std::endl;
                throw std::runtime_error (oss.str ().c_str ());
            }
        }
    }

    size_t
    call_iconv (iconv_func_type_1 iconv_func, char * * inbuf,
        size_t * inbytesleft, char * * outbuf, size_t * outbytesleft)
    {
        return iconv_func (handle, inbuf, inbytesleft, outbuf, outbytesleft);
    }

    size_t
    call_iconv (iconv_func_type_2 iconv_func, char * * inbuf,
        size_t * inbytesleft, char * * outbuf, size_t * outbytesleft)
    {
        return iconv_func (handle, const_cast<const char * *>(inbuf),
            inbytesleft, outbuf, outbytesleft);
    }

    size_t
    do_iconv (char * * inbuf, size_t * inbytesleft, char * * outbuf,
        size_t * outbytesleft)
    {
        return call_iconv (iconv, inbuf, inbytesleft, outbuf, outbytesleft);
    }

    iconv_t handle;
};

template <typename T>
struct question_mark;

template <>
struct question_mark<char>
{
    static char const value = '?';
};

template <>
struct question_mark<wchar_t>
{
    static wchar_t const value = L'?';
};

char const question_mark<char>::value;

wchar_t const question_mark<wchar_t>::value;

template <typename DestType, typename SrcType>
static
void
iconv_conv (std::basic_string<DestType> & result, char const * destenc,
    SrcType const * src, std::size_t size, char const * srcenc)
{
    iconv_handle cvt (destenc, srcenc);
    if (cvt.handle == iconv_error_handle)
    {
        // TODO: Better error handling.
        result.resize (0);
        return;
    }

    typedef DestType outbuf_type;
    typedef SrcType inbuf_type;

    std::size_t result_size = size + size / 3 + 1;
    result.resize (result_size);

    char * inbuf = const_cast<char *>(reinterpret_cast<char const *>(src));
    std::size_t inbytesleft = size * sizeof (inbuf_type);

    char * outbuf = reinterpret_cast<char *>(&result[0]);
    std::size_t outbytesleft = result_size * sizeof (outbuf_type);

    std::size_t res;
    std::size_t const error_retval = static_cast<std::size_t>(-1);

    while (inbytesleft != 0)
    {
        res = cvt.do_iconv (&inbuf, &inbytesleft, &outbuf, &outbytesleft);
        if (res == error_retval)
        {
            switch (errno)
            {
            case EILSEQ:
            case EINVAL:
                if (outbytesleft >= sizeof (outbuf_type))
                {
                    if (inbytesleft > 0)
                    {
                        ++inbuf;
                        inbytesleft -= sizeof (inbuf_type);
                    }

                    *outbuf = question_mark<outbuf_type>::value;
                    ++outbuf;
                    outbytesleft -= sizeof (outbuf_type);

                    continue;
                }

                // Fall through.

            case E2BIG:;
                // Fall through.
            }

            std::size_t const outbuf_index = result_size;
            result_size *= 2;
            result.resize (result_size);
            outbuf = reinterpret_cast<char *>(&result[0] + outbuf_index);
            outbytesleft = (result_size - outbuf_index) * sizeof (outbuf_type);
        }
        else
            result.resize (result_size - outbytesleft / sizeof (outbuf_type));
    }
}

} // namespace

std::string
tostring (const std::wstring & src)
{
    std::string ret;
    iconv_conv (ret, "UTF-8", src.c_str (), src.size (), "WCHAR_T");
    return ret;
}

std::string
tostring (wchar_t const * src)
{
    assert (src);
    std::string ret;
    iconv_conv (ret, "UTF-8", src, std::wcslen (src), "WCHAR_T");
    return ret;
}

std::wstring
towstring (const std::string& src)
{
    std::wstring ret;
    iconv_conv (ret, "WCHAR_T", src.c_str (), src.size (), "UTF-8");
    return ret;
}

std::wstring
towstring (char const * src)
{
    assert (src);
    std::wstring ret;
    iconv_conv (ret, "WCHAR_T", src, std::strlen (src), "UTF-8");
    return ret;
}

} // namespace helpers

} // namespace log4cplus

#endif // LOG4CPLUS_WITH_ICONV
<commit_msg>stringhelper-iconv.cxx: Do not let exception escape ~iconv_handle().<commit_after>//  Copyright (C) 2010-2013, Vaclav Haisman. All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without modifica-
//  tion, are permitted provided that the following conditions are met:
//
//  1. Redistributions of  source code must  retain the above copyright  notice,
//     this list of conditions and the following disclaimer.
//
//  2. Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//  THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED WARRANTIES,
//  INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
//  FITNESS  FOR A PARTICULAR  PURPOSE ARE  DISCLAIMED.  IN NO  EVENT SHALL  THE
//  APACHE SOFTWARE  FOUNDATION  OR ITS CONTRIBUTORS  BE LIABLE FOR  ANY DIRECT,
//  INDIRECT, INCIDENTAL, SPECIAL,  EXEMPLARY, OR CONSEQUENTIAL  DAMAGES (INCLU-
//  DING, BUT NOT LIMITED TO, PROCUREMENT  OF SUBSTITUTE GOODS OR SERVICES; LOSS
//  OF USE, DATA, OR  PROFITS; OR BUSINESS  INTERRUPTION)  HOWEVER CAUSED AND ON
//  ANY  THEORY OF LIABILITY,  WHETHER  IN CONTRACT,  STRICT LIABILITY,  OR TORT
//  (INCLUDING  NEGLIGENCE OR  OTHERWISE) ARISING IN  ANY WAY OUT OF THE  USE OF
//  THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <log4cplus/helpers/stringhelper.h>

#if defined (LOG4CPLUS_WITH_ICONV)

#ifdef LOG4CPLUS_HAVE_ICONV_H
#include <iconv.h>
#endif

#include <stdexcept>
#include <iostream>
#include <sstream>
#include <cassert>
#include <cerrno>
#include <cstring>

// This is here because some compilers (Sun CC) think that there is a
// difference if the typedefs are not in an extern "C" block.
extern "C"
{

    //! SUSv3 iconv() type.
    typedef size_t (& iconv_func_type_1) (iconv_t cd, char * * inbuf,
	size_t * inbytesleft, char * * outbuf, size_t * outbytesleft);

    //! GNU iconv() type.
    typedef size_t (& iconv_func_type_2) (iconv_t cd, const char * * inbuf,
	size_t * inbytesleft, char * * outbuf, size_t * outbytesleft);

} // extern "C"

namespace log4cplus
{

namespace helpers
{

namespace
{

static iconv_t const iconv_error_handle = reinterpret_cast<iconv_t>(-1);

struct iconv_handle
{
    iconv_handle (char const * to, char const * from)
        : handle (iconv_open (to, from))
    {
        if (handle == iconv_error_handle)
        {
            std::ostringstream oss;
            oss << "iconv_open(" << to << ", " << from << ") failed: " << errno;
            std::cerr << oss.str () << std::endl;
            throw std::runtime_error (oss.str ().c_str ());
        }
    }

    ~iconv_handle ()
    {
        try
        {
            if (handle != iconv_error_handle)
            {
                int ret = iconv_close (handle);
                if (ret == -1)
                {
                    std::ostringstream oss;
                    oss << "iconv_close failed: " << errno;
                    std::cerr << oss.str () << std::endl;
                    throw std::runtime_error (oss.str ().c_str ());
                }
            }
        }
        catch (std::runtime_error const &)
        { }
    }

    size_t
    call_iconv (iconv_func_type_1 iconv_func, char * * inbuf,
        size_t * inbytesleft, char * * outbuf, size_t * outbytesleft)
    {
        return iconv_func (handle, inbuf, inbytesleft, outbuf, outbytesleft);
    }

    size_t
    call_iconv (iconv_func_type_2 iconv_func, char * * inbuf,
        size_t * inbytesleft, char * * outbuf, size_t * outbytesleft)
    {
        return iconv_func (handle, const_cast<const char * *>(inbuf),
            inbytesleft, outbuf, outbytesleft);
    }

    size_t
    do_iconv (char * * inbuf, size_t * inbytesleft, char * * outbuf,
        size_t * outbytesleft)
    {
        return call_iconv (iconv, inbuf, inbytesleft, outbuf, outbytesleft);
    }

    iconv_t handle;
};

template <typename T>
struct question_mark;

template <>
struct question_mark<char>
{
    static char const value = '?';
};

template <>
struct question_mark<wchar_t>
{
    static wchar_t const value = L'?';
};

char const question_mark<char>::value;

wchar_t const question_mark<wchar_t>::value;

template <typename DestType, typename SrcType>
static
void
iconv_conv (std::basic_string<DestType> & result, char const * destenc,
    SrcType const * src, std::size_t size, char const * srcenc)
{
    iconv_handle cvt (destenc, srcenc);
    if (cvt.handle == iconv_error_handle)
    {
        // TODO: Better error handling.
        result.resize (0);
        return;
    }

    typedef DestType outbuf_type;
    typedef SrcType inbuf_type;

    std::size_t result_size = size + size / 3 + 1;
    result.resize (result_size);

    char * inbuf = const_cast<char *>(reinterpret_cast<char const *>(src));
    std::size_t inbytesleft = size * sizeof (inbuf_type);

    char * outbuf = reinterpret_cast<char *>(&result[0]);
    std::size_t outbytesleft = result_size * sizeof (outbuf_type);

    std::size_t res;
    std::size_t const error_retval = static_cast<std::size_t>(-1);

    while (inbytesleft != 0)
    {
        res = cvt.do_iconv (&inbuf, &inbytesleft, &outbuf, &outbytesleft);
        if (res == error_retval)
        {
            switch (errno)
            {
            case EILSEQ:
            case EINVAL:
                if (outbytesleft >= sizeof (outbuf_type))
                {
                    if (inbytesleft > 0)
                    {
                        ++inbuf;
                        inbytesleft -= sizeof (inbuf_type);
                    }

                    *outbuf = question_mark<outbuf_type>::value;
                    ++outbuf;
                    outbytesleft -= sizeof (outbuf_type);

                    continue;
                }

                // Fall through.

            case E2BIG:;
                // Fall through.
            }

            std::size_t const outbuf_index = result_size;
            result_size *= 2;
            result.resize (result_size);
            outbuf = reinterpret_cast<char *>(&result[0] + outbuf_index);
            outbytesleft = (result_size - outbuf_index) * sizeof (outbuf_type);
        }
        else
            result.resize (result_size - outbytesleft / sizeof (outbuf_type));
    }
}

} // namespace

std::string
tostring (const std::wstring & src)
{
    std::string ret;
    iconv_conv (ret, "UTF-8", src.c_str (), src.size (), "WCHAR_T");
    return ret;
}

std::string
tostring (wchar_t const * src)
{
    assert (src);
    std::string ret;
    iconv_conv (ret, "UTF-8", src, std::wcslen (src), "WCHAR_T");
    return ret;
}

std::wstring
towstring (const std::string& src)
{
    std::wstring ret;
    iconv_conv (ret, "WCHAR_T", src.c_str (), src.size (), "UTF-8");
    return ret;
}

std::wstring
towstring (char const * src)
{
    assert (src);
    std::wstring ret;
    iconv_conv (ret, "WCHAR_T", src, std::strlen (src), "UTF-8");
    return ret;
}

} // namespace helpers

} // namespace log4cplus

#endif // LOG4CPLUS_WITH_ICONV
<|endoftext|>


<commit_before>#ifndef HMMDISCRETIZATION_HH
#define HMMDISCRETIZATION_HH

#endif // HMMDISCRETIZATION_HH
<commit_msg>[test.hmm-discretization] implement discretizations of cell problems<commit_after>// This file is part of the dune-gdt project:
//   http://users.dune-project.org/projects/dune-gdt
// Copyright holders: Felix Schindler
// License: BSD 2-Clause License (http://opensource.org/licenses/BSD-2-Clause)

#ifndef DUNE_GDT_TEST_HMM_DISCRETIZATION_HH
#define DUNE_GDT_TEST_HMM_DISCRETIZATION_HH

#if !HAVE_DUNE_PDELAB
# error "This one requires dune-pdelab!"
#endif

#include <memory>
#include <vector>
#include <limits>
#include <complex>
#include <type_traits>

#include <dune/common/timer.hh>

#include <dune/stuff/common/memory.hh>
#include <dune/stuff/grid/boundaryinfo.hh>
#include <dune/stuff/grid/information.hh>
#include <dune/stuff/grid/periodicview.hh>
#include <dune/stuff/la/container.hh>
#include <dune/stuff/la/solver.hh>
#include <dune/stuff/functions/interfaces.hh>
#include <dune/stuff/functions/combined.hh>
#include <dune/stuff/functions/constant.hh>

#include <dune/gdt/spaces/cg/pdelab.hh>
#include <dune/gdt/spaces/cg/fem.hh>
#include <dune/gdt/localevaluation/shiftedeval.hh>
#include <dune/gdt/localevaluation/elliptic.hh>
#include <dune/gdt/localevaluation/curlcurl.hh>
#include <dune/gdt/localevaluation/divdiv.hh>           // koennte auch noch divdiv-operator schreiben um tw. Konstruktionen zu verkuerzen
#include <dune/gdt/localevaluation/product-l2deriv.hh>
#include <dune/gdt/localoperator/codim0.hh>
#include <dune/gdt/assembler/system.hh>
#include <dune/gdt/functionals/l2.hh>

enum class ChooseCellProblem { Elliptic, CurlcurlDivreg};

template< class GridViewImp, int polynomialOrder, class GridViewImpext, ChooseCellProblem cellproblem >
class Cell;

template< class GridViewImp, int polynomialOrder, class GridViewImpext >
class Cell< GridViewImp, polynomialOrder, GridViewImpext, ChooseCellProblem::Elliptic >
{
public:
  typedef GridViewImp                                          GridViewType;
  typedef typename GridViewType::template Codim< 0 >::Entity   EntityType;
  typedef typename GridViewImpext::template Codim< 0 >::Entity EntityTypeext;
  typedef typename GridViewType::ctype                         DomainFieldType;
  typedef typename GridViewImpext::ctype                       DomainFieldTypeext;
  static const size_t                                          dimDomain = GridViewType::dimension;
  static const size_t                                          dimDomainext = GridViewImpext::dimension;
  typedef Dune::FieldVector< DomainFieldTypeext, dimDomainext> CoordTypeext;

  static_assert(std::is_same< DomainFieldType, DomainFieldTypeext>::value, "External and internal domain fields have to be the same!");
  static_assert(dimDomain == dimDomainext, "External and internal domains must have the same dimension");

  static const unsigned int polOrder = polynomialOrder;
  typedef double            RangeFieldType;

  typedef Dune::GDT::Spaces::CG::PdelabBased< GridViewType, 1, RangeFieldType, 1 >  SpaceType;  //space of periodic functions

  typedef Dune::Stuff::LocalizableFunctionInterface< EntityTypeext, DomainFieldType, dimDomain, RangeFieldType, 1 > ScalarFct; //parameter is globally defined //enable complex!

  typedef Dune::Stuff::LA::Container< RangeFieldType, Dune::Stuff::LA::ChooseBackend::eigen_sparse >::MatrixType MatrixType;
  typedef Dune::Stuff::LA::Container< RangeFieldType, Dune::Stuff::LA::ChooseBackend::eigen_sparse >::VectorType VectorType;

  Cell(const GridViewType& gridview, const ScalarFct& kappa)
    : space_(gridview)
    , kappa_(kappa)
    , is_assembled_(false)
    , system_matrix_(0,0)
    , rhs_vector_(0)
  {}

  const SpaceType& space() const
  {
    return space_;
  }

  VectorType create_vector() const
  {
    return VectorType(space_.mapper().size());
  }

  template< class Functionext >
  void assemble(Functionext& macro, const DomainFieldTypeext delta, const CoordTypeext xt) const
  {
    using namespace Dune;
    using namespace Dune::GDT;
    if(!is_assembled_) {
      //prepare
      Stuff::LA::SparsityPatternDefault sparsity_pattern = space_.compute_volume_pattern();
      system_matrix_ = MatrixType(space_.mapper().size(), space_.mapper().size(), sparsity_pattern);
      rhs_vector_ = VectorType(space_.mapper().size());
      SystemAssembler< SpaceType > walker(space_);

      //lhs
      typedef LocalEvaluation::Elliptic< ScalarFct > EllipticEval;
      EllipticEval ellipticeval(kappa_);
      typedef LocalOperator::Codim0Integral< LocalEvaluation::ShiftedEval< EllipticEval, CoordTypeext > > ShiftedEllipticOp;
      ShiftedEllipticOp shiftedelliptic(ellipticeval, delta, xt);
      LocalAssembler::Codim0Matrix< ShiftedEllipticOp > matrixassembler(shiftedelliptic);
      walker.add(matrixassembler, system_matrix_);

      //rhs
      //check
      static_assert(std::is_same< typename Functionext::DomainFieldType, DomainFieldTypeext >::value, "the external function is not defined on the coorect domain field");
      static_assert(Functionext::dimDomain == dimDomainext, "dimensions must agree!");
      //evaluate paramete*macro
      typedef Stuff::Functions::Constant< EntityTypeext, DomainFieldTypeext, dimDomainext, typename Functionext::RangeFieldType, Functionext::dimRange > ConstextFunct;
      typename Functionext::RangeType ret(0);
      macro.evaluate(xt, ret);
      ConstextFunct constmacro(-1.0*ret);
      typedef Stuff::Functions::Product< ScalarFct, ConstextFunct > rhsfuncType;
      rhsfuncType rhsfunc(kappa_, constmacro);
      //set up rhs
      typedef LocalEvaluation::L2grad< rhsfuncType > L2gradEval;
      L2gradEval l2gradeval(rhsfunc);
      typedef LocalFunctional::Codim0Integral< LocalEvaluation::ShiftedEval< L2gradEval, CoordTypeext > > ShiftedL2gradOp;
      ShiftedL2gradOp shiftedproduct(l2gradeval, delta, xt);
      LocalAssembler::Codim0Vector< ShiftedL2gradOp > vectorassembler(shiftedproduct);
      walker.add(vectorassembler, rhs_vector_);

      walker.assemble();
      is_assembled_ = true;
    }
  } //assemble

  bool is_assembled() const
  {
    return is_assembled_;
  }

  const MatrixType& system_matrix() const
  {
    return system_matrix_;
  }

  const VectorType& rhs_vector() const
  {
    return rhs_vector_;
  }

  template< class Functionext >
  void solve(VectorType& solution, Functionext& macro, const DomainFieldTypeext delta, const CoordTypeext xt) const
  {
    if(!is_assembled_)
      assemble(macro, delta, xt);
    //Dune::Stuff::LA::Solver< MatrixType >(system_matrix_).apply(rhs_vector_, solution); //geht das so? was mit periodische RW und MW 0?
    Dune::Stuff::LA::Solver< MatrixType > solver(system_matrix_);
    auto opts = Dune::Stuff::LA::Solver< MatrixType >::options();
    opts.set("post_check_solves_system", "0", true);
    solver.apply(rhs_vector_, solution, opts);
    // atm no post_check because error norm is too big, bug or normal?
  }

private:
  const SpaceType    space_;
  const ScalarFct&   kappa_;
  mutable bool       is_assembled_;
  mutable MatrixType system_matrix_;
  mutable VectorType rhs_vector_;
}; //class Cell<....., ChooseCellProblem::Elliptic >

template< class GridViewImp, int polynomialOrder, class GridViewImpext >
class Cell< GridViewImp, polynomialOrder, GridViewImpext, ChooseCellProblem::CurlcurlDivreg >
{
public:
  typedef GridViewImp                                          GridViewType;
  typedef typename GridViewType::template Codim< 0 >::Entity   EntityType;
  typedef typename GridViewImpext::template Codim< 0 >::Entity EntityTypeext;
  typedef typename GridViewType::ctype                         DomainFieldType;
  typedef typename GridViewImpext::ctype                       DomainFieldTypeext;
  static const size_t                                          dimDomain = GridViewType::dimension;
  static const size_t                                          dimRange = dimDomain;
  static const size_t                                          dimDomainext = GridViewImpext::dimension;
  typedef Dune::FieldVector< DomainFieldTypeext, dimDomainext> CoordTypeext;

  static_assert(std::is_same< DomainFieldType, DomainFieldTypeext>::value, "External and internal domain fields have to be the same!");
  static_assert(dimDomain == dimDomainext, "External and internal domains must have the same dimension");
  static_assert(dimDomain == 3, "this cell problem is only defined in 3d");

  static const unsigned int polOrder = polynomialOrder;
  typedef double            RangeFieldType;

  typedef Dune::GDT::Spaces::CG::FemBased< GridViewType, 1, RangeFieldType, dimRange, 1 >  SpaceType;  //space of periodic functions //fem space needs a GridPart and no gridView!!!

  typedef Dune::Stuff::LocalizableFunctionInterface< EntityTypeext, DomainFieldType, dimDomain, RangeFieldType, 1 > ScalarFct; //parameter is globally defined

  typedef Dune::Stuff::LA::Container< RangeFieldType, Dune::Stuff::LA::ChooseBackend::eigen_sparse >::MatrixType MatrixType;
  typedef Dune::Stuff::LA::Container< RangeFieldType, Dune::Stuff::LA::ChooseBackend::eigen_sparse >::VectorType VectorType;

  Cell(const GridViewType& gridview, const ScalarFct& mu,
       const ScalarFct& divparam = Dune::Stuff::Functions::Constant< EntityType, DomainFieldType, dimDomain, RangeFieldType, 1 >(1.0))
    : space_(gridview)
    , mu_(mu)
    , divparam_(divparam)
    , is_assembled_(false)
    , system_matrix_(0,0)
    , rhs_vector_(0)
  {}

  const SpaceType& space() const
  {
    return space_;
  }

  VectorType create_vector() const
  {
    return VectorType(space_.mapper().size());
  }

  template< class Functionext >
  void assemble(Functionext& macro, const DomainFieldTypeext delta, const CoordTypeext xt) const
  {
    using namespace Dune;
    using namespace Dune::GDT;
    if(!is_assembled_) {
      //prepare
      Stuff::LA::SparsityPatternDefault sparsity_pattern = space_.compute_volume_pattern();
      system_matrix_ = MatrixType(space_.mapper().size(), space_.mapper().size(), sparsity_pattern);
      rhs_vector_ = VectorType(space_.mapper().size());
      SystemAssembler< SpaceType > walker(space_);

      //lhs
      typedef LocalEvaluation::CurlCurl< ScalarFct > CurlcurlEval;
      CurlcurlEval curleval(mu_);
      typedef LocalOperator::Codim0Integral< LocalEvaluation::ShiftedEval< CurlcurlEval, CoordTypeext > > ShiftedCurlOp;
      ShiftedCurlOp shiftedcurl(curleval, delta, xt);
      LocalAssembler::Codim0Matrix< ShiftedCurlOp > matrixassembler1(shiftedcurl);
      walker.add(matrixassembler1, system_matrix_);
      typedef LocalEvaluation::Divdiv< ScalarFct > DivdivEval;
      DivdivEval diveval(divparam_);
      typedef LocalOperator::Codim0Integral< LocalEvaluation::ShiftedEval< DivdivEval, CoordTypeext > > ShiftedDivOp;
      ShiftedDivOp shifteddiv(diveval, delta, xt);
      LocalAssembler::Codim0Matrix< ShiftedDivOp > matrixassembler2(shifteddiv);
      walker.add(matrixassembler2, system_matrix_);

      //rhs
      //check
      static_assert(std::is_same< typename Functionext::DomainFieldType, DomainFieldTypeext >::value, "the external function is not defined on the coorect domain field");
      static_assert(Functionext::dimDomain == dimDomainext, "dimensions must agree!");
      //evaluate parameter*macro
      typedef Stuff::Functions::Constant< EntityTypeext, DomainFieldTypeext, dimDomainext, typename Functionext::RangeFieldType, Functionext::dimRange > ConstextFunct;
      typename Functionext::RangeType ret(0);
      macro.evaluate(xt, ret);
      ConstextFunct constmacro(-1.0*ret);
      typedef Stuff::Functions::Product< ScalarFct, ConstextFunct > rhsfuncType;
      rhsfuncType rhsfunc(mu_, constmacro);
      //set up rhs
      typedef LocalEvaluation::L2curl< rhsfuncType > L2curlEval;
      L2curlEval l2curleval(rhsfunc);
      typedef LocalFunctional::Codim0Integral< LocalEvaluation::ShiftedEval< L2curlEval, CoordTypeext > > ShiftedL2curlOp;
      ShiftedL2curlOp shiftedproduct(l2curleval, delta, xt);
      LocalAssembler::Codim0Vector< ShiftedL2curlOp > vectorassembler(shiftedproduct);
      walker.add(vectorassembler, rhs_vector_);

      walker.assemble();
      is_assembled_ = true;
    }
  } //assemble

  bool is_assembled() const
  {
    return is_assembled_;
  }

  const MatrixType& system_matrix() const
  {
    return system_matrix_;
  }

  const VectorType& rhs_vector() const
  {
    return rhs_vector_;
  }

  template< class Functionext >
  void solve(VectorType& solution, Functionext& macro, const DomainFieldTypeext delta, const CoordTypeext xt) const
  {
    if(!is_assembled_)
      assemble(macro, delta, xt);
    //Dune::Stuff::LA::Solver< MatrixType >(system_matrix_).apply(rhs_vector_, solution); //geht das so? was mit periodische RW und MW 0?
    Dune::Stuff::LA::Solver< MatrixType > solver(system_matrix_);
    auto opts = Dune::Stuff::LA::Solver< MatrixType >::options();
    opts.set("post_check_solves_system", "0", true);
    solver.apply(rhs_vector_, solution, opts);
    // atm no post_check because error norm is too big, bug or normal?
  }

private:
  const SpaceType    space_;
  const ScalarFct&   mu_;
  const ScalarFct&   divparam_;
  mutable bool       is_assembled_;
  mutable MatrixType system_matrix_;
  mutable VectorType rhs_vector_;
}; //class Cell<....., Choose::CellProblem::CurlcurlDivreg >

#endif // DUNE_GDT_TEST_HMM_DISCRETIZATION_HH
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