printable.h

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//
// Copyright (c) 2018, University of Edinburgh
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#ifndef EXOTICA_CORE_PRINTABLE_H_
#define EXOTICA_CORE_PRINTABLE_H_

#include <iomanip>
#include <iostream>
#include <map>
#include <vector>

#include <Eigen/Geometry>
#include <kdl/frames.hpp>

#ifndef __PRETTY_FUNCTION__
#define __PRETTY_FUNCTION__ __func__
#endif

#ifdef EXOTICA_CORE_DEBUG_MODE
#define CHECK_EXECUTION std::cout << "\033[1;32m[EXOTica]:\033[0m Ok in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n";                        
#define INDICATE_FAILURE std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\033[0m\n";  
#define WARNING(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[33mWarning in " << __PRETTY_FUNCTION__ << ": " << x << "\033[0m\n";                                                           
#define ERROR(x) std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n" \
                           << x << "\033[0m\n";                                                                   // With endline
#define INFO(x) std::clog << "\033[1;32m[EXOTica]:\033[0m Info in " << __PRETTY_FUNCTION__ << ": " << x << "\n";  // With endline
#else
#define CHECK_EXECUTION                                                                                                                                                                         // No operation
#define INDICATE_FAILURE std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\033[0m\n";  
#define WARNING(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[33mWarning in " << __PRETTY_FUNCTION__ << ": " << x << "\033[0m\n";                                                           
#define ERROR(x) std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n" \
                           << x << "\033[0m\n";  // With endline
#define INFO(x)
#endif
#define HIGHLIGHT(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[36m" << x << "\033[0m\n";
#define HIGHLIGHT_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m \033[36m" << x << "\033[0m\n";
#define WARNING_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m \033[33m" << x << "\033[0m\n";
#define INFO_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m " << x << "\n";
#define INFO_PLAIN(x) std::cout << x << "\n";

namespace exotica
{
class Printable
{
public:
    virtual void Print(std::ostream& os) const = 0;
};

std::ostream& operator<<(std::ostream& os, const Printable& s);

template <typename T>
std::ostream& operator<<(std::ostream& os, const std::vector<T>& s)
{
    for (auto& p : s) os << p << "\n";
    return os;
}

template <typename I, typename T>
std::ostream& operator<<(std::ostream& os, const std::map<I, T>& s)
{
    for (auto& p : s) os << p.first << ": " << p.second << "\n";
    return os;
}

std::string ToString(const KDL::Frame& s);

std::string ToString(const Eigen::Isometry3d& s);

void PrintDimensions(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd> m);
}  // namespace exotica

#endif  // EXOTICA_CORE_PRINTABLE_H_