Merge branch 'develop' into release_1_1_0

CMakeLists.txt

@@ -70,9 +70,9 @@ elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wsign-conversion -Wswitch-default -Wno-unknown-pragmas")
 
 if(Coverage)
-		#	If coverage option enabled, set compiler and linker flags to gather coverage data
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
-		set(CMAKE_EXE_LINKER_FLAGS "-lgcov")
+    #	If coverage option enabled, set compiler and linker flags to gather coverage data
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_EXE_LINKER_FLAGS "-lgcov")
 endif()
 
 	set(CMAKE_CXX_FLAGS_DEBUG "-g -Og -Winline")
@@ -99,6 +99,24 @@ else()
 	message(FATAL_ERROR "${CMAKE_CXX_COMPILER_ID} is not recognized.")
 endif()
 
+# Check command line to see if OpenMP is to be used.
+option(UseOpenMP "UseOpenMP" FALSE)
+
+# Build with OpenMP if desired, and package can be found.
+if (UseOpenMP)
+	message(STATUS "Attempting to find OpenMP package...")
+	find_package(OpenMP)
+	if (OPENMP_FOUND)
+		set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D USING_OPENMP")
+		message(STATUS "Added OpenMP to buildsystem")
+	else()
+		message(FATAL_ERROR "Command line asked for OpenMP, but package couldn't be found!")
+	endif()
+endif()
+
 #Libraries
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/support/)
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/framework/)

Test/BenchmarkPrognoser/BenchmarkPrognoser.cpp

@@ -17,18 +17,17 @@
  *     All Rights Reserved.
  */
 
-#include <stdio.h>
+#include <iostream>
 
-#include "BenchmarkTimer.h"
 #include "BenchmarkPrognoser.h"
+#include "BenchmarkTimer.h"
 #include "GSAPConfigMap.h"
 
 namespace PCOE {
     // Configuration Keys
 
-    BenchmarkPrognoser::BenchmarkPrognoser(GSAPConfigMap & configMap) : ModelBasedPrognoser(configMap) {
-
-    }
+    BenchmarkPrognoser::BenchmarkPrognoser(GSAPConfigMap& configMap)
+        : ModelBasedPrognoser(configMap) {}
 
     void BenchmarkPrognoser::step() {
         benchmark1.start();
@@ -38,6 +37,12 @@ namespace PCOE {
 
     // destructor
     BenchmarkPrognoser::~BenchmarkPrognoser() {
-        printf("Runtime: [%lld, %lld, %lld] ns\n", benchmark1.getMinStepTime()/nanoseconds(1), benchmark1.getAveStepTime()/nanoseconds(1), benchmark1.getMaxStepTime()/nanoseconds(1));
+        std::cout << "Runtime: [";
+        std::cout << benchmark1.getMinStepTime().count();
+        std::cout << ", ";
+        std::cout << benchmark1.getAveStepTime().count();
+        std::cout << ", ";
+        std::cout << benchmark1.getMaxStepTime().count();
+        std::cout << "] ns" << std::endl;
     }
-}   // namespace PCOE
+} // namespace PCOE

Test/BenchmarkPrognoser/main.cpp

@@ -11,18 +11,7 @@
 #include "PrognoserFactory.h"
 #include "BenchmarkPrognoser.h"
 
-#include "CommunicatorFactory.h"
-#include "RandomCommunicator.h"
-#include "RecorderCommunicator.h"
-#include "PlaybackCommunicator.h"
 #include "ConfigMap.h"
-#include "ModelFactory.h"
-#include "PrognosticsModelFactory.h"
-#include "ObserverFactory.h"
-#include "PredictorFactory.h"
-#include "UnscentedKalmanFilter.h"
-#include "MonteCarloPredictor.h"
-#include "Battery.h"
 #include <ctime>
 #include <fstream>
 #include <iostream>
@@ -37,25 +26,6 @@ int main() {
     PrognoserFactory & prognoserFactory = PrognoserFactory::instance();
     prognoserFactory.Register("BenchmarkPrognoser", PrognoserFactory::Create<BenchmarkPrognoser>);
 
-    // Specify Communicators
-    CommunicatorFactory & commFactory = CommunicatorFactory::instance();
-    commFactory.Register("recorder",  CommunicatorFactory::Create<RecorderCommunicator>);
-    commFactory.Register("playback",  CommunicatorFactory::Create<PlaybackCommunicator>);
-
-    // Register battery model
-    ModelFactory & pModelFactory = ModelFactory::instance();
-    PrognosticsModelFactory & pProgModelFactory = PrognosticsModelFactory::instance();
-    pModelFactory.Register("Battery", ModelFactory::Create<Battery>);
-    pProgModelFactory.Register("Battery", PrognosticsModelFactory::Create<Battery>);
-
-    // Register UKF
-    ObserverFactory & pObserverFactory = ObserverFactory::instance();
-    pObserverFactory.Register("UKF", ObserverFactory::Create<UnscentedKalmanFilter>);
-
-    // Register MonteCarloPredictor
-    PredictorFactory & pPredictorFactory = PredictorFactory::instance();
-    pPredictorFactory.Register("MC", PredictorFactory::Create<MonteCarloPredictor>);
-
     ProgManager PM = ProgManager("bench.cfg");
 
     printf("Benchmarking\n");

Test/supportTests/ConfigMapTests.cpp

@@ -69,17 +69,17 @@ void configMapLoadNonexistent()
         theMap = ConfigMap("Nonexistent.cfg"); // File doesn't exist
         Assert::Fail("Found file that should not exist.");
     }
-    catch (std::ios_base::failure &e) {}
+    catch (std::ios_base::failure) {}
 }
 
 void configMapAddBadSearchPath()
 {
     ConfigMap theMap;
     try {
         theMap.addSearchPath("../badPath");
-        Assert::Fail("Added bad search path");
+        Assert::Fail("ConfigMap added invalid search path.");
     }
-    catch (std::domain_error &e) {}
+    catch (std::domain_error) {}
 }
 
 void configMapTrim()

Test/supportTests/MatrixTests.cpp

@@ -378,7 +378,10 @@ namespace TestMatrix {
             m2.col(n + 1);
             Assert::Fail("Got column that doesn't exist.");
         }
-        catch (std::out_of_range &e) {}
+        catch (std::out_of_range) {}
+        catch (...) {
+            Assert::Fail("Unknown exception thrown with col.");
+        }
     }
 
     void col_setmatrix() {
@@ -523,7 +526,7 @@ namespace TestMatrix {
             m3.row(m + 1, r1);
             Assert::Fail("Set row that doesn't exist.");
         }
-        catch (std::out_of_range &e) {
+        catch (std::out_of_range) {
         }
         try {
             m3.row(0, r2);
@@ -1172,8 +1175,7 @@ namespace TestMatrix {
             matrix.weightedMean(w3);
             Assert::Fail("Calculated weighted mean with wrong number of weights");
         }
-        catch (std::domain_error &e) {
-        }
+        catch (std::domain_error) {}
     }
 
     void weightedcovariance() {
@@ -1200,8 +1202,13 @@ namespace TestMatrix {
         Matrix m1(3, 2, {1, 2, 3, 4, 5, 6});
 
         Matrix m2;
-        std::cout << m1 << std::endl;
-        std::cout << m2 << std::endl;
+        try {
+            std::cout << m1 << std::endl;
+            std::cout << m2 << std::endl;
+        }
+        catch (...) {
+            Assert::Fail("Exception occurred in left bitwise shift.");
+        }
     }
 
 

Test/supportTests/ParticleFilterTests.cpp

@@ -32,7 +32,7 @@ void ctor() {
         ParticleFilter pf = ParticleFilter(&test, N, processNoise, sensorNoise);
         Assert::Fail("Constructor did not catch empty processNoise/sensorNoise vectors");
     }
-    catch (std::range_error &e) {}
+    catch (std::range_error) {}
 }
 
 void ctorWithNonemptyVectors() {
@@ -69,7 +69,7 @@ void ctorWithNonemptyVectors() {
         ParticleFilter pf2 = ParticleFilter(&test, N, processNoise, emptySensorNoise);
         Assert::Fail("Constructor did not catch empty sensorNoise vector");
     }
-    catch (std::range_error &e) {}
+    catch (std::range_error) {}
 }
 
 void GSAPConfigMapCtor() {
@@ -123,7 +123,7 @@ void PFinitialize() {
         pf2.initialize(t0, x, u);
         Assert::Fail("initialize() didn't catch null model.");
     }
-    catch (ConfigurationError &e) {}
+    catch (std::runtime_error) {}
 }
 
 void step() {
@@ -166,7 +166,7 @@ void step() {
         pf.step(t1, u, z);
         Assert::Fail("step() did not catch uninitialized ParticleFilter.");
     }
-    catch (std::domain_error &e) {}
+    catch (std::domain_error) {}
 
     pf.initialize(t0, x, u);
 
@@ -175,7 +175,7 @@ void step() {
         pf.step(t0, u, z);
         Assert::Fail("step() did not catch unchanged time.");
     }
-    catch (std::domain_error &e) {}
+    catch (std::domain_error) {}
 
     pf.setMinNEffective(2000);
     Assert::AreEqual(2000, pf.getMinNEffective());
@@ -206,4 +206,4 @@ void getStateEstimate() {
     ParticleFilter pf = ParticleFilter(&test, N, processNoise, sensorNoise);
     std::vector<UData> stateEstimate = pf.getStateEstimate();
     Assert::AreEqual(3, stateEstimate.size());
-}
+}

Test/supportTests/PredictorTests.cpp

@@ -50,8 +50,6 @@ void testMonteCarloBatteryPredict() {
     GSAPConfigMap configMap;
     configMap.set("Predictor.numSamples", "10");
     configMap.set("Predictor.horizon", "5000");
-    configMap.set("Model.event", "EOD");
-    configMap.set("Model.predictedOutputs", "SOC");
     std::vector<std::string> processNoise;
     for (unsigned int i = 0; i < 8; i++) {
         processNoise.push_back("1e-5");
@@ -103,9 +101,9 @@ void testMonteCarloBatteryPredict() {
 
     // Create progdata
     ProgData data;
-    data.setUncertainty(UType::Samples);
     data.addEvent("EOD");
     data.addSystemTrajectory("SOC");
+    data.setUncertainty(UType::Samples);
     data.sysTrajectories.setNSamples(
         10); // numSamples @todo(MD): Is this right? No basic setup function?
     data.setPredictions(1, 5000); // interval, number of predictions
@@ -135,8 +133,6 @@ void testMonteCarloBatteryConfig() {
     GSAPConfigMap configMap;
     configMap.set("Predictor.numSamples", "100");
     configMap.set("Predictor.horizon", "5000");
-    configMap.set("Model.event", "EOD");
-    configMap.set("Model.predictedOutputs", "SOC");
     std::vector<std::string> processNoise;
     for (unsigned int i = 0; i < 8; i++) {
         processNoise.push_back("1e-5");