Merge branch 'config-script' into 'master'

Update README.md to reflect proper path include See merge request altairLab/optcontrol/libmpc!40
nicolapiccinelli · Jan 30, 2024 · 53c065f · 53c065f
2 parents 4b74b0f + f685c51
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,13 @@
 # Changelog
 
+## [0.4.1] - 2024-01-30
+### Changed
+- Removed coloured output for the integrated logger
+- Configure script now can be used to avoid the installation of the test suite
+
+### Fixed
+- Fixed dockerfile to use the 0.6.3 version of the OSQP solver
+
 ## [0.4.0] - 2023-05-20
 
 ### Added

diff --git a/Dockerfile b/Dockerfile
@@ -78,7 +78,7 @@ RUN git clone https://github.com/stevengj/nlopt /tmp/nlopt \
 ##############################
 # OSQP Solver
 ##############################
-RUN git clone --recursive https://github.com/osqp/osqp /tmp/osqp \
+RUN git clone --depth 1 --branch v0.6.3 --recursive https://github.com/osqp/osqp /tmp/osqp \
     && cd /tmp/osqp \
     && mkdir build \
     && cd build \

diff --git a/README.md b/README.md
@@ -22,6 +22,33 @@ If you are a developer, to setup the debug environment you also need to install:
 The latest version of libmpc++ is available from GitHub https://github.com/nicolapiccinelli/libmpc/releases and does not require any
 installation process other than the one required by its dependecies.
 
+### System wide usage on an Ubuntu Linux
+If you're a developer run the `configure.sh` script with superuser privileges to install the external dependencies
+```
+sudo ./configure.sh
+```
+or `configure.sh --disable-test` if you do not need the test-suite
+```
+sudo ./configure.sh --disable-test
+```
+Then, after installing all the dependencies configure and compile the library using CMake. From the folder containing
+the CMakeLists.txt file compile the library by doing
+```
+mkdir build
+cd build
+cmake ..
+make
+```
+Finally, install the library with superuser privileges
+```
+sudo make install
+```
+This will allow you to install the MPC++ library on your system. Using the include 
+```
+#include <mpc/LMPC.hpp> 
+```
+in your package will be enough to add this library to your project.
+
 ### CMakelists.txt example
 This is an example of a CMakeLists.txt file to use libmpc++ in your project.
 
@@ -36,7 +63,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 
 find_package(mpc++ CONFIG REQUIRED)
 
-# # Declare a C++ library
+# Declare a C++ library
 include_directories(${mpc++_INCLUDE_DIRS})
 add_executable(${PROJECT_NAME} main.cpp)
 target_link_libraries(${PROJECT_NAME} mpc++)
@@ -52,4 +79,4 @@ sudo sh get-docker.sh
 You can build the development image with the command below. Note that the image will be tagged with the name specified after the '-t' option.
 ```console
 docker build -t dev_image .
-```
+```
diff --git a/configure.sh b/configure.sh
@@ -1,5 +1,20 @@
 #!/usr/bin/env bash
 
+# read the parameter --disable-test from the command line 
+# to choose if you want to disable the test suite installation
+# default is to install the test suite
+while test $# -gt 0; do
+  case "$1" in
+    --disable-test)
+      shift
+      DISABLE_TEST=1
+      ;;
+    *)
+      break
+      ;;
+  esac
+done
+
 # install eigen3 from apt
 apt-get install -y libeigen3-dev
 
@@ -32,12 +47,14 @@ cmake --build . --target install
 # this is the test suite
 #########################
 
-# install catch2 from master branch >= 3.x
-cd ../../
-git clone https://github.com/catchorg/Catch2.git
-cd Catch2
-mkdir build
-cd build
-cmake ..
-make -j
-make install
+if [ -z ${DISABLE_TEST+x} ]; then
+    # install catch2 from master branch >= 3.x
+    cd ../../
+    git clone https://github.com/catchorg/Catch2.git
+    cd Catch2
+    mkdir build
+    cd build
+    cmake ..
+    make -j
+    make install
+fi
diff --git a/include/mpc/IComponent.hpp b/include/mpc/IComponent.hpp
@@ -72,7 +72,7 @@ namespace mpc
         {
             if (!isInitialized)
             {
-                Logger::instance().log(Logger::log_type::ERROR) << RED << "MPC library is not initialized, quitting..." << RESET << std::endl;
+                Logger::instance().log(Logger::log_type::ERROR) << "MPC library is not initialized, quitting..." << std::endl;
                 exit(-1);
             }
         }

diff --git a/include/mpc/Logger.hpp b/include/mpc/Logger.hpp
@@ -8,25 +8,6 @@
 #include <ostream>
 #include <string>
 
-//the following are UBUNTU/LINUX, and MacOS ONLY terminal color codes.
-#define RESET "\033[0m"
-#define BLACK "\033[30m"              /* Black */
-#define RED "\033[31m"                /* Red */
-#define GREEN "\033[32m"              /* Green */
-#define YELLOW "\033[33m"             /* Yellow */
-#define BLUE "\033[34m"               /* Blue */
-#define MAGENTA "\033[35m"            /* Magenta */
-#define CYAN "\033[36m"               /* Cyan */
-#define WHITE "\033[37m"              /* White */
-#define BOLDBLACK "\033[1m\033[30m"   /* Bold Black */
-#define BOLDRED "\033[1m\033[31m"     /* Bold Red */
-#define BOLDGREEN "\033[1m\033[32m"   /* Bold Green */
-#define BOLDYELLOW "\033[1m\033[33m"  /* Bold Yellow */
-#define BOLDBLUE "\033[1m\033[34m"    /* Bold Blue */
-#define BOLDMAGENTA "\033[1m\033[35m" /* Bold Magenta */
-#define BOLDCYAN "\033[1m\033[36m"    /* Bold Cyan */
-#define BOLDWHITE "\033[1m\033[37m"   /* Bold White */
-
 #ifdef ERROR
 #undef ERROR
 #endif

diff --git a/test/test_logger.cpp b/test/test_logger.cpp
@@ -5,88 +5,117 @@
 #include "basic.hpp"
 #include <catch2/catch_test_macros.hpp>
 
-TEST_CASE("Checking logger prefix", "[logging]")
+TEST_CASE("Logger outputs log messages based on log level", "[Logger]")
 {
-    std::stringstream ss;
-    mpc::Logger::instance().
-        setStream(&ss).
-        setPrefix("test").
-        setLevel(mpc::Logger::log_level::NORMAL).
-        log(mpc::Logger::log_type::INFO) << "a";
-
-    REQUIRE(ss.str().find("test") != std::string::npos);
-}
-
-TEST_CASE("Checking logger verbosity", "[logging]")
-{
-    std::stringstream ss;
-    mpc::Logger::instance().reset().setStream(&ss);
+    // Set up the logger
+    mpc::Logger &logger = mpc::Logger::instance();
+    std::ostringstream oss;
+    logger.setStream(&oss);
 
-    SECTION("Level NONE")
+    SECTION("Log level set to NONE")
     {
-        mpc::Logger::instance().setLevel(mpc::Logger::log_level::NONE);
-        mpc::Logger::instance().log(mpc::Logger::log_type::DETAIL) << "a";
-        REQUIRE(ss.str().size() == 0);
-
-        ss.str("");
-
-        mpc::Logger::instance().log(mpc::Logger::log_type::INFO) << "a";
-        REQUIRE(ss.str().size() == 0);
+        logger.setLevel(mpc::Logger::log_level::NONE);
 
-        ss.str("");
+        SECTION("Log messages are not output regardless of log type")
+        {
+            logger.log(mpc::Logger::log_type::DETAIL) << "Detail message";
+            logger.log(mpc::Logger::log_type::INFO) << "Info message";
+            logger.log(mpc::Logger::log_type::ERROR) << "Error message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::ERROR) << "a";
-        REQUIRE(ss.str().size() == 0);
+            REQUIRE(oss.str().empty());
+        }
     }
 
-    SECTION("Level DEEP")
+    SECTION("Log level set to DEEP")
     {
-        mpc::Logger::instance().setLevel(mpc::Logger::log_level::DEEP);
-        mpc::Logger::instance().log(mpc::Logger::log_type::DETAIL) << "a";
-        REQUIRE(ss.str().size() > 0);
+        logger.setLevel(mpc::Logger::log_level::DEEP);
 
-        ss.str("");
+        SECTION("Log messages are output when log level allows")
+        {
+            logger.log(mpc::Logger::log_type::DETAIL) << "Detail message";
+            logger.log(mpc::Logger::log_type::INFO) << "Info message";
+            logger.log(mpc::Logger::log_type::ERROR) << "Error message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::INFO) << "a";
-        REQUIRE(ss.str().size() > 0);
+            REQUIRE(oss.str() == "[MPC++] Detail message[MPC++] Info message[MPC++] Error message");
+        }
+    }
+
+    SECTION("Log level set to NORMAL")
+    {
+        logger.setLevel(mpc::Logger::log_level::NORMAL);
 
-        ss.str("");
+        SECTION("Log messages are output for INFO and ERROR log types")
+        {
+            logger.log(mpc::Logger::log_type::DETAIL) << "Detail message";
+            logger.log(mpc::Logger::log_type::INFO) << "Info message";
+            logger.log(mpc::Logger::log_type::ERROR) << "Error message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::ERROR) << "a";
-        REQUIRE(ss.str().size() > 0);
+            REQUIRE(oss.str() == "[MPC++] Info message[MPC++] Error message");
+        }
     }
 
-    SECTION("Level INFO")
+    SECTION("Log level set to ALERT")
     {
-        mpc::Logger::instance().setLevel(mpc::Logger::log_level::NORMAL);
-        mpc::Logger::instance().log(mpc::Logger::log_type::DETAIL) << "a";
-        REQUIRE(ss.str().size() == 0);
+        logger.setLevel(mpc::Logger::log_level::ALERT);
+
+        SECTION("Log messages are output for ERROR log type")
+        {
+            logger.log(mpc::Logger::log_type::DETAIL) << "Detail message";
+            logger.log(mpc::Logger::log_type::INFO) << "Info message";
+            logger.log(mpc::Logger::log_type::ERROR) << "Error message";
 
-        ss.str("");
+            REQUIRE(oss.str() == "[MPC++] Error message");
+        }
+    }
+}
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::INFO) << "a";
-        REQUIRE(ss.str().size() > 0);
+TEST_CASE("Logger sets prefix for log messages", "[Logger]")
+{
+    // Set up the logger
+    mpc::Logger &logger = mpc::Logger::instance();
+    std::ostringstream oss;
+    logger.setLevel(mpc::Logger::log_level::NORMAL);
+    logger.setStream(&oss);
+
+    SECTION("Prefix is set")
+    {
+        logger.setPrefix("PREFIX");
 
-        ss.str("");
+        SECTION("Log messages include the prefix")
+        {
+            logger.log(mpc::Logger::log_type::INFO) << "Message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::ERROR) << "a";
-        REQUIRE(ss.str().size() > 0);
+            REQUIRE(oss.str() == "[MPC++ PREFIX] Message");
+        }
     }
 
-    SECTION("Level ERROR")
+    SECTION("Prefix is not set")
     {
-        mpc::Logger::instance().setLevel(mpc::Logger::log_level::ALERT);
-        mpc::Logger::instance().log(mpc::Logger::log_type::DETAIL) << "a";
-        REQUIRE(ss.str().size() == 0);
+        logger.setPrefix("");
 
-        ss.str("");
+        SECTION("Log messages do not include the prefix")
+        {
+            logger.log(mpc::Logger::log_type::INFO) << "Message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::INFO) << "a";
-        REQUIRE(ss.str().size() == 0);
+            REQUIRE(oss.str() == "[MPC++] Message");
+        }
+    }
+}
 
-        ss.str("");
+TEST_CASE("Logger reset function", "[Logger]")
+{
+    // Set up the logger
+    mpc::Logger &logger = mpc::Logger::instance();
+    std::ostringstream oss;
+    logger.setStream(&oss);
+    logger.setPrefix("PREFIX");
+    logger.setLevel(mpc::Logger::log_level::DEEP);
+
+    SECTION("Logger is reset to default configuration")
+    {
+        logger.reset();
+        logger.log(mpc::Logger::log_type::DETAIL) << "Info message";
 
-        mpc::Logger::instance().log(mpc::Logger::log_type::ERROR) << "a";
-        REQUIRE(ss.str().size() > 0);
+        REQUIRE(oss.str().empty());
     }
 }