debug_helper.hpp

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#pragma once

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

namespace world_model {

class DebugHelper {

public:

    enum DebugLevel {
        PARAMETERS = 1,
        SERVICE_CALLS = 2,
        COMMON_INFORMATION = 4,
        FOUND_OBJECT = 8,
        VIEW_PORT = 16,
        COMPLETE_PATTERN = 32
    };

private:

    static boost::shared_ptr<DebugHelper> instancePtr;
    static const int ALL = PARAMETERS + SERVICE_CALLS + COMMON_INFORMATION + FOUND_OBJECT
                            + VIEW_PORT + COMPLETE_PATTERN;
    static const int NONE = 0;

    unsigned int mLevels;

public:

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

    static void resetInstance();

    void write(const char * text, const unsigned int &levels) const;

    void write(const std::string &text, const unsigned int &levels) const;

    void write(const std::ostream &text, const unsigned int &levels) const;

    void writeNoticeably(const char * text, const unsigned int &levels) const;

    void writeNoticeably(const std::string &text, const unsigned int &levels) const;

    void writeNoticeably(const std::ostream &text, const unsigned int &levels) const;

    unsigned int getLevel() const;

    std::string getLevelString() const;


    void setLevels();

private:

    DebugHelper();

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

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

    bool checkLevel(const unsigned int &levels) const;

    std::string getDebugLevelString(const unsigned int &levels) const;

};

typedef boost::shared_ptr<DebugHelper> DebugHelperPtr;
}