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[SofaSimulationCore] Clearer message when a linear solver is missing #2221

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merged 4 commits into from
Jul 9, 2021
Merged

[SofaSimulationCore] Clearer message when a linear solver is missing #2221

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c2ed412
[SofaSimulationCore] Clearer message when a linear solver is missing
alxbilger Jul 1, 2021
2194407
Merge remote-tracking branch 'upstream/master' into missinglinearsolver
alxbilger Jul 6, 2021
88db670
[SofaCore] add helper functions in ObjectFactory
alxbilger Jul 6, 2021
4ae3d3b
[SofaBaseCollision] Use the object factory helper functions
alxbilger Jul 6, 2021
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56 changes: 2 additions & 54 deletions SofaKernel/modules/SofaBaseCollision/src/SofaBaseCollision/BruteForceDetection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,65 +33,13 @@ int BruteForceDetectionClass = core::RegisterObject(

void BruteForceDetection::init()
{
std::vector<std::string> broadPhaseComponents;
std::vector<std::string> narrowPhaseComponents;
findAllDetectionComponents(broadPhaseComponents, narrowPhaseComponents);

if (broadPhaseComponents.empty())
{
broadPhaseComponents.push_back(BruteForceBroadPhase::GetClass()->className);
}
if (narrowPhaseComponents.empty())
{
narrowPhaseComponents.push_back(BVHNarrowPhase::GetClass()->className);
}

const auto comma_fold = [](std::string a, std::string b)
{
return std::move(a) + ", " + std::move(b);
};

const std::string broadPhaseComponentsString = std::accumulate(
std::next(broadPhaseComponents.begin()), broadPhaseComponents.end(),
broadPhaseComponents[0],
comma_fold);

const std::string narrowPhaseComponentsString = std::accumulate(
std::next(narrowPhaseComponents.begin()), narrowPhaseComponents.end(),
narrowPhaseComponents[0],
comma_fold);
const std::string broadPhaseComponentsString = sofa::core::ObjectFactory::getInstance()->listClassesDerivedFrom<sofa::core::collision::BroadPhaseDetection>();
const std::string narrowPhaseComponentsString = sofa::core::ObjectFactory::getInstance()->listClassesDerivedFrom<sofa::core::collision::NarrowPhaseDetection>();

msg_deprecated() << "As a replacement, use a BroadPhase component, such as [" << broadPhaseComponentsString
<< "]," << msgendl
<< " AND a NarrowPhase component, such as [" << narrowPhaseComponentsString << "]." << msgendl
<< " " << BruteForceBroadPhase::GetClass()->className << " and " << BVHNarrowPhase::GetClass()->className << " have been automatically added to your scene for backward compatibility.";
}

void BruteForceDetection::findAllDetectionComponents(std::vector<std::string> &broadPhaseComponents,
std::vector<std::string> &narrowPhaseComponents)
{
std::vector<sofa::core::ObjectFactory::ClassEntry::SPtr> entries;
sofa::core::ObjectFactory::getInstance()->getAllEntries(entries);

for (const auto &entry : entries)
{
const auto creatorEntry = entry->creatorMap.begin();
if (creatorEntry != entry->creatorMap.end())
{
const sofa::core::objectmodel::BaseClass *baseClass = creatorEntry->second->getClass();
if (baseClass)
{
if (baseClass->hasParent(sofa::core::collision::BroadPhaseDetection::GetClass()))
{
broadPhaseComponents.push_back(baseClass->className);
}
if (baseClass->hasParent(sofa::core::collision::NarrowPhaseDetection::GetClass()))
{
narrowPhaseComponents.push_back(baseClass->className);
}
}
}
}
}

} // namespace sofa::component::collision
4 changes: 0 additions & 4 deletions SofaKernel/modules/SofaBaseCollision/src/SofaBaseCollision/BruteForceDetection.h
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Expand Up @@ -58,10 +58,6 @@ class SOFA_SOFABASECOLLISION_API BruteForceDetection final : public sofa::core::
BruteForceDetection() = default;
~BruteForceDetection() override = default;

private:

void findAllDetectionComponents(std::vector<std::string>& broadPhaseComponents, std::vector<std::string>& narrowPhaseComponents);

};

} // namespace sofa::component::collision
47 changes: 47 additions & 0 deletions SofaKernel/modules/SofaCore/src/sofa/core/ObjectFactory.h
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Expand Up @@ -24,6 +24,7 @@

#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/helper/NameDecoder.h>
#include <numeric>

namespace sofa
{
Expand Down Expand Up @@ -127,6 +128,14 @@ class SOFA_CORE_API ObjectFactory
/// Return the list of classes from a given target
std::string listClassesFromTarget(std::string target, std::string separator = ", ");

/// Fill the given vector with all the registered classes derived from BaseClass
template<class BaseClass>
void getEntriesDerivedFrom(std::vector<ClassEntry::SPtr>& result) const;

/// Return the list of classes derived from BaseClass as a string
template<class BaseClass>
std::string listClassesDerivedFrom(const std::string& separator = ", ") const;

/// Add an alias name for an already registered class
///
/// \param name name of the new alias
Expand Down Expand Up @@ -190,6 +199,44 @@ class SOFA_CORE_API ObjectFactory
void setCallback(OnCreateCallback cb) { m_callbackOnCreate = cb ; }
};

template<class BaseClass>
void ObjectFactory::getEntriesDerivedFrom(std::vector<ClassEntry::SPtr>& result) const
{
result.clear();
for (const auto& r : registry)
{
ClassEntry::SPtr entry = r.second;
// Push the entry only if it is not an alias
if (entry->className == r.first)
{
const auto creatorEntry = entry->creatorMap.begin();
if (creatorEntry != entry->creatorMap.end())
{
const auto* baseClass = creatorEntry->second->getClass();
if (baseClass && baseClass->hasParent(BaseClass::GetClass()))
{
result.push_back(entry);
}
}
}
}
}

template<class BaseClass>
std::string ObjectFactory::listClassesDerivedFrom(const std::string& separator) const
{
std::vector<ClassEntry::SPtr> entries;
getEntriesDerivedFrom<BaseClass>(entries);
if (entries.empty()) return std::string();

const auto join = [&separator](std::string a, ClassEntry::SPtr b)
{
return std::move(a) + separator + b->className;
};
return std::accumulate(std::next(entries.begin()), entries.end(),
entries.front()->className, join);
}

/**
* \brief Typed Creator class used to create instances of object type RealObject
*/
Expand Down
37 changes: 23 additions & 14 deletions SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/MechanicalOperations.cpp
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Expand Up @@ -55,18 +55,19 @@
#include <sofa/defaulttype/BaseMatrix.h>
#include <sofa/core/behavior/ConstraintSolver.h>

using namespace sofa::core;
namespace sofa
{
#include <sofa/core/ObjectFactory.h>

namespace simulation
{
#include <numeric>

namespace common
using namespace sofa::core;

namespace sofa::simulation::common
{

using namespace sofa::simulation::mechanicalvisitor;

std::map<core::objectmodel::BaseContext*, bool> MechanicalOperations::hasShownMissingLinearSolverMap;

MechanicalOperations::MechanicalOperations(const sofa::core::MechanicalParams* mparams, sofa::core::objectmodel::BaseContext* ctx, bool precomputedTraversalOrder)
:mparams(*mparams),ctx(ctx),executeVisitor(*ctx,precomputedTraversalOrder)
{
Expand Down Expand Up @@ -434,7 +435,7 @@ void MechanicalOperations::m_resetSystem()
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";
showMissingLinearSolverError();
return;
}
s->resetSystem();
Expand All @@ -445,7 +446,7 @@ void MechanicalOperations::m_setSystemMBKMatrix(SReal mFact, SReal bFact, SReal
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";
showMissingLinearSolverError();
return;
}
mparams.setMFactor(mFact);
Expand All @@ -459,7 +460,7 @@ void MechanicalOperations::m_setSystemRHVector(core::MultiVecDerivId v)
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";

return;
}
s->setSystemRHVector(v);
Expand All @@ -470,7 +471,7 @@ void MechanicalOperations::m_setSystemLHVector(core::MultiVecDerivId v)
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";
showMissingLinearSolverError();
return;
}
s->setSystemLHVector(v);
Expand All @@ -482,7 +483,7 @@ void MechanicalOperations::m_solveSystem()
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";
showMissingLinearSolverError();
return;
}
s->solveSystem();
Expand All @@ -493,7 +494,7 @@ void MechanicalOperations::m_print( std::ostream& out )
LinearSolver* s = ctx->get<LinearSolver>(ctx->getTags(), BaseContext::SearchDown);
if (!s)
{
msg_error(ctx) << "Requires a LinearSolver.";
showMissingLinearSolverError();
return;
}
defaulttype::BaseMatrix* m = s->getSystemBaseMatrix();
Expand Down Expand Up @@ -581,8 +582,16 @@ void MechanicalOperations::printWithElapsedTime( core::ConstMultiVecId /*v*/, un
{
}

}

void MechanicalOperations::showMissingLinearSolverError() const
{
if (!hasShownMissingLinearSolverMap[ctx])
{
const auto solvers = sofa::core::ObjectFactory::getInstance()->listClassesDerivedFrom<sofa::core::behavior::BaseLinearSolver>();
msg_error(ctx) << "A linear solver is required, but has not been found. Add a linear solver to your scene to "
"fix this issue. The list of available linear solver components "
"is: [" << solvers << "].";
hasShownMissingLinearSolverMap[ctx] = true;
}
}

}
6 changes: 6 additions & 0 deletions SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/MechanicalOperations.h
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Expand Up @@ -162,6 +162,12 @@ class SOFA_SIMULATION_CORE_API MechanicalOperations
void setDf(core::MultiVecDerivId& v);
void setDf(core::ConstMultiVecDerivId& v);

/// Warn the user that a linear solver is required but has not been found
void showMissingLinearSolverError() const;

/// Store if the "missing linear solver" error message has already been shown for a given context
static std::map<core::objectmodel::BaseContext*, bool> hasShownMissingLinearSolverMap;

};

}
Expand Down
55 changes: 2 additions & 53 deletions modules/SofaGeneralMeshCollision/src/SofaGeneralMeshCollision/DirectSAP.cpp
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Expand Up @@ -31,66 +31,15 @@ namespace sofa::component::collision

void DirectSAP::init()
{
std::vector<std::string> broadPhaseComponents;
std::vector<std::string> narrowPhaseComponents;
findAllDetectionComponents(broadPhaseComponents, narrowPhaseComponents);

if (broadPhaseComponents.empty())
{
broadPhaseComponents.push_back(BruteForceBroadPhase::GetClass()->className);
}
if (narrowPhaseComponents.empty())
{
narrowPhaseComponents.push_back(DirectSAPNarrowPhase::GetClass()->className);
}

const auto comma_fold = [](std::string a, std::string b)
{
return std::move(a) + ", " + std::move(b);
};

const std::string broadPhaseComponentsString = std::accumulate(
std::next(broadPhaseComponents.begin()), broadPhaseComponents.end(),
broadPhaseComponents[0],
comma_fold);

const std::string narrowPhaseComponentsString = std::accumulate(
std::next(narrowPhaseComponents.begin()), narrowPhaseComponents.end(),
narrowPhaseComponents[0],
comma_fold);
const std::string broadPhaseComponentsString = sofa::core::ObjectFactory::getInstance()->listClassesDerivedFrom<sofa::core::collision::BroadPhaseDetection>();
const std::string narrowPhaseComponentsString = sofa::core::ObjectFactory::getInstance()->listClassesDerivedFrom<sofa::core::collision::NarrowPhaseDetection>();

msg_deprecated() << "As a replacement, use a BroadPhase component such as [" << broadPhaseComponentsString << "] " << msgendl
<< " AND a NarrowPhase component such as [" << narrowPhaseComponentsString << "]." << msgendl
<< " " << BruteForceBroadPhase::GetClass()->className << " and " << DirectSAPNarrowPhase::GetClass()->className
<< " have been automatically added to your scene for backward compatibility.";
}

void DirectSAP::findAllDetectionComponents(std::vector<std::string> &broadPhaseComponents,
std::vector<std::string> &narrowPhaseComponents)
{
std::vector<sofa::core::ObjectFactory::ClassEntry::SPtr> entries;
sofa::core::ObjectFactory::getInstance()->getAllEntries(entries);

for (const auto &entry : entries)
{
const auto creatorEntry = entry->creatorMap.begin();
if (creatorEntry != entry->creatorMap.end())
{
const sofa::core::objectmodel::BaseClass *baseClass = creatorEntry->second->getClass();
if (baseClass)
{
if (baseClass->hasParent(sofa::core::collision::BroadPhaseDetection::GetClass()))
{
broadPhaseComponents.push_back(baseClass->className);
}
if (baseClass->hasParent(sofa::core::collision::NarrowPhaseDetection::GetClass()))
{
narrowPhaseComponents.push_back(baseClass->className);
}
}
}
}
}
} // namespace sofa::component::collision


4 changes: 0 additions & 4 deletions modules/SofaGeneralMeshCollision/src/SofaGeneralMeshCollision/DirectSAP.h
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Expand Up @@ -59,10 +59,6 @@ class SOFA_SOFAGENERALMESHCOLLISION_API DirectSAP final : public sofa::core::obj
DirectSAP() = default;
~DirectSAP() override = default;

private:

void findAllDetectionComponents(std::vector<std::string>& broadPhaseComponents, std::vector<std::string>& narrowPhaseComponents);

};

} // namespace sofa::component::collision
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