DebugHelper.hpp

Go to the documentation of this file.

#pragma once

#include <ros/ros.h>
#include <string>
#include <sstream>
#include <vector>

namespace next_best_view {

class DebugHelper {

public:

    enum DebugLevel {
        PARAMETERS = 1,
        SERVICE_CALLS = 2,
        VISUALIZATION = 4,
        CALCULATION = 8,
        RATING = 16,
        ROBOT_MODEL = 32,
        MAP = 64,
        FILTER = 128,
        IK_RATING = 256,
        SPACE_SAMPLER = 512,
        HYPOTHESIS_UPDATER = 1024,
        WORLD = 2048,
        VOXEL_GRID = 4096
    };

private:

    static boost::shared_ptr<DebugHelper> instancePtr;
    static const int ALL = PARAMETERS + SERVICE_CALLS + VISUALIZATION + CALCULATION
                            + RATING + ROBOT_MODEL + MAP + FILTER + IK_RATING + SPACE_SAMPLER
                            + HYPOTHESIS_UPDATER + WORLD + VOXEL_GRID;
    static const int NONE = 0;

    ros::NodeHandle mNodeHandle;
    unsigned int mLevels;

public:

    static boost::shared_ptr<DebugHelper> getInstance();

    void write(const char * text, DebugLevel level);

    void write(const std::string &text, DebugLevel level);

    void write(const std::ostream &text, DebugLevel level);

    void writeNoticeably(const char * text, DebugLevel level);

    void writeNoticeably(const std::string &text, DebugLevel level);

    void writeNoticeably(const std::ostream &text, DebugLevel level);

    unsigned int getLevel();

    std::string getLevelString();


    void setLevels(std::string levelsStr);

    void setLevels();

private:

    DebugHelper();

    static int parseLevels(std::vector<std::string> levels);

    static void addToString(std::string& s, const std::string& add);

    bool checkLevel(DebugLevel level);

};

typedef boost::shared_ptr<DebugHelper> DebugHelperPtr;
}