Merge pull request #313 from borglab/demangle

Demangle the type when printing

gtsam/CMakeLists.txt

@@ -172,6 +172,10 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with
 	endif()
 endif()
 
+if(WIN32) # library to help with demangling variable names on Windows
+  target_link_libraries(gtsam PRIVATE Dbghelp)
+endif()
+
 install(
 	TARGETS gtsam
 	EXPORT GTSAM-exports

gtsam/base/GenericValue.h

@@ -20,6 +20,7 @@
 #pragma once
 
 #include <gtsam/base/Manifold.h>
+#include <gtsam/base/types.h>
 #include <gtsam/base/Value.h>
 
 #include <boost/make_shared.hpp>
@@ -83,7 +84,7 @@ public:
 
   /// Virtual print function, uses traits
   virtual void print(const std::string& str) const {
-    std::cout << "(" << typeid(T).name() << ") ";
+    std::cout << "(" << demangle(typeid(T).name()) << ") ";
     traits<T>::Print(value_, str);
   }
 

gtsam/base/types.cpp

@@ -0,0 +1,67 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     types.cpp
+ * @brief    Functions for handling type information
+ * @author   Varun Agrawal
+ * @date     May 18, 2020
+ * @addtogroup base
+ */
+
+#include <gtsam/base/types.h>
+
+#ifdef _WIN32
+#define WIN32_LEAN_AND_MEAN
+#include <windows.h>
+#include <DbgHelp.h>
+#endif
+
+#ifdef __GNUG__
+#include <cstdlib>
+#include <cxxabi.h>
+#include <string>
+#endif
+
+namespace gtsam {
+
+/// Pretty print Value type name
+std::string demangle(const char* name) {
+  // by default set to the original mangled name
+  std::string demangled_name = std::string(name);
+
+#ifdef __GNUG__
+  // g++ version of demangle
+  char* demangled = nullptr;
+  int status = -1; // some arbitrary value to eliminate the compiler warning
+  demangled = abi::__cxa_demangle(name, nullptr, nullptr, &status),
+  
+  demangled_name = (status == 0) ? std::string(demangled) : std::string(name);
+
+  std::free(demangled);
+
+#elif _WIN32
+    char undecorated_name[1024];
+    
+    if (UnDecorateSymbolName(
+        name, undecorated_name, sizeof(undecorated_name),
+        UNDNAME_COMPLETE))
+    {
+      // successful conversion, take value from: undecorated_name			                      
+      demangled_name = std::string(undecorated_name);               
+    }
+    // else keep using mangled name
+#endif
+
+  return demangled_name;
+}
+
+} /* namespace gtsam */

gtsam/base/types.h

@@ -53,6 +53,9 @@
 
 namespace gtsam {
 
+  /// Function to demangle type name of variable, e.g. demangle(typeid(x).name())
+  std::string demangle(const char* name);
+
   /// Integer nonlinear key type
   typedef std::uint64_t Key;
 

gtsam/nonlinear/Values.cpp

@@ -232,10 +232,21 @@ namespace gtsam {
 
   /* ************************************************************************* */
   const char* ValuesIncorrectType::what() const throw() {
-    if(message_.empty())
+    if(message_.empty()) {
+      std::string storedTypeName = demangle(storedTypeId_.name());
+      std::string requestedTypeName = demangle(requestedTypeId_.name());
+
+      if (storedTypeName == requestedTypeName) {
+        message_ = "WARNING: Detected types with same name but different `typeid`. \
+          This is usually caused by incorrect linking/inlining settings when compiling libraries using GTSAM. \
+          If you are a user, please report to the author of the library using GTSAM. \
+          If you are a package maintainer, please consult `cmake/GtsamPybindWrap.cmake`, line 74 for details.";
+      } else {
         message_ =
         "Attempting to retrieve value with key \"" + DefaultKeyFormatter(key_) + "\", type stored in Values is " +
-          std::string(storedTypeId_.name()) + " but requested type was " + std::string(requestedTypeId_.name());
+         storedTypeName + " but requested type was " + requestedTypeName;
+      }
+    }
     return message_.c_str();
   }
 

gtsam/nonlinear/internal/ExpressionNode.h

@@ -84,7 +84,7 @@ public:
   /// Streaming
   GTSAM_EXPORT
   friend std::ostream& operator<<(std::ostream& os, const ExpressionNode& node) {
-    os << "Expression of type " << typeid(T).name();
+    os << "Expression of type " << demangle(typeid(T).name());
     if (node.traceSize_ > 0) os << ", trace size = " << node.traceSize_;
     os << "\n";
     return os;
@@ -219,7 +219,7 @@ static void PrintJacobianAndTrace(const std::string& indent,
                                   const typename Jacobian<T, A>::type& dTdA,
                                   const ExecutionTrace<A> trace) {
   static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]");
-  std::cout << indent << "D(" << typeid(T).name() << ")/D(" << typeid(A).name()
+  std::cout << indent << "D(" << demangle(typeid(T).name()) << ")/D(" << demangle(typeid(A).name())
             << ") = " << dTdA.format(kMatlabFormat) << std::endl;
   trace.print(indent);
 }
@@ -605,7 +605,7 @@ class ScalarMultiplyNode : public ExpressionNode<T> {
     /// Print to std::cout
     void print(const std::string& indent) const {
       std::cout << indent << "ScalarMultiplyNode::Record {" << std::endl;
-      std::cout << indent << "D(" << typeid(T).name() << ")/D(" << typeid(T).name()
+      std::cout << indent << "D(" << demangle(typeid(T).name()) << ")/D(" << demangle(typeid(T).name())
                 << ") = " << scalar_dTdA << std::endl;
       trace.print();
       std::cout << indent << "}" << std::endl;

gtsam/nonlinear/tests/testValues.cpp

@@ -589,6 +589,23 @@ TEST(Values, MatrixDynamicInsertFixedRead) {
   CHECK_EXCEPTION(values.at<Matrix23>(key1), exception);
 }
 
+TEST(Values, Demangle) {
+  Values values;
+  Matrix13 v; v << 5.0, 6.0, 7.0;
+  values.insert(key1, v);
+  string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, 3>) [\n	5, 6, 7\n]\n\n";
+
+  stringstream buffer;
+  streambuf * old = cout.rdbuf(buffer.rdbuf());
+
+  values.print();
+
+  string actual = buffer.str();
+  cout.rdbuf(old);
+
+  EXPECT(assert_equal(expected, actual));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */