acado_message_handling.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_ACADO_MESSAGE_HANDLING_HPP
#define ACADO_TOOLKIT_ACADO_MESSAGE_HANDLING_HPP

#include <acado/utils/acado_namespace_macros.hpp>
#include <acado/utils/acado_types.hpp>

#include <cstdlib>
#include <iostream>
#include <vector>
#include <string>

#ifdef __MATLAB__
 #include <mex.h>
 #include <iostream>
#endif

BEGIN_NAMESPACE_ACADO

enum VisibilityStatus
{
        VS_VISIBLE,     
        VS_HIDDEN       
};

#ifndef __MATLAB__

#define COL_DEBUG               "\033[1;34m"
#define COL_FATAL               "\033[0;31m"
#define COL_ERROR               "\033[1;31m"
#define COL_WARNING             "\033[1;33m"
#define COL_INFO                "\033[0m"

#else

#define COL_DEBUG               ""
#define COL_FATAL               ""
#define COL_ERROR               ""
#define COL_WARNING             ""
#define COL_INFO                ""

#endif /* __MATLAB__ */

enum returnValueStatus {
        STATUS_UNHANDLED, 
        STATUS_HANDLED    
};

const char* returnValueLevelToString(returnValueLevel level);

const char* returnValueTypeToString(returnValueType type);

// define DEBUG macros if necessary
#ifndef __FUNCTION__
        #define __FUNCTION__ 0
#endif

#ifndef __FILE__
        #define __FILE__ 0
#endif

#ifndef __LINE__
        #define __LINE__ 0
#endif

#define QUOTE_(x) #x
#define QUOTE(x) QUOTE_(x)

#define ACADOERROR(retval) \
                returnValue("Code: ("#retval") \n  File: " __FILE__ "\n  Line: " QUOTE(__LINE__), LVL_ERROR, retval)

#define ACADOERRORTEXT(retval, text) \
                returnValue("Message: "#text"\n  Code:    ("#retval") \n  File:    " __FILE__ "\n  Line:    " QUOTE(__LINE__), LVL_ERROR, retval)

#define ACADOFATAL(retval) \
                returnValue("Code: ("#retval") \n  File: " __FILE__ "\n  Line: " QUOTE(__LINE__), LVL_FATAL, retval)

#define ACADOFATALTEXT(retval, text) \
                returnValue("Message: "#text"\n  Code:    ("#retval") \n  File:    " __FILE__ "\n  Line:    " QUOTE(__LINE__), LVL_FATAL, retval)

#define ACADOWARNING(retval) \
                returnValue("Code: ("#retval") \n  File: " __FILE__ "\n  Line: " QUOTE(__LINE__), LVL_WARNING, retval)

#define ACADOWARNINGTEXT(retval,text) \
                returnValue("Message: "#text"\n  Code:    ("#retval") \n  File:    " __FILE__ "\n  Line:    " QUOTE(__LINE__), LVL_WARNING, retval)

#define ACADOINFO(retval) \
                returnValue("", LVL_INFO, retval)

#define ACADOINFOTEXT(retval,text) \
                returnValue("Message: "#text"\n  Code:    ("#retval") \n  File:    " __FILE__ "\n  Line:    " QUOTE(__LINE__), LVL_INFO, retval)


#define ACADO_TRY(X) for(returnValue ACADO_R = X; !ACADO_R;) return ACADO_R

class Logger
{
public:
        static Logger& instance()
        {
                static Logger instance;
                return instance;
        }

        Logger& setLogLevel(returnValueLevel level)
        {
                logLevel = level;

                return *this;
        }

        returnValueLevel getLogLevel()
        {
                return logLevel;
        }

        std::ostream& get(returnValueLevel level);

private:
        returnValueLevel logLevel;

        Logger()
                : logLevel( LVL_FATAL )
        {}

        Logger(const Logger&);
        Logger& operator=(const Logger&);
        ~Logger()
        {}
};

#define LOG( level ) \
                if (level < Logger::instance().getLogLevel()); \
                else Logger::instance().get( level )



#ifdef __MATLAB__
// Writes character stream to MATLAB console.
class MatlabConsoleStreamBuf : public std::basic_streambuf<char>
{
protected:
    int_type overflow( int_type ch = traits_type::eof() )
    {
        if (!traits_type::eq_int_type(ch, traits_type::eof()))
            return mexPrintf("%c", traits_type::to_char_type(ch)) > 0 ? 0 : traits_type::eof();

        return 0;
    }
};

// Automatically restores previous rdbuf() when goes out of scope.
class RedirectStream
{
public:
    RedirectStream(std::ostream& stream, std::streambuf& new_streambuf)
    :   _stream(stream)
    ,   _old_streambuf(stream.rdbuf())
    {
        _stream.rdbuf(&new_streambuf);
    }

    ~RedirectStream()
    {
        _stream.rdbuf(_old_streambuf);
    }

private:
    std::ostream& _stream;
    std::streambuf * _old_streambuf;
};
#endif

CLOSE_NAMESPACE_ACADO



#endif  // ACADO_TOOLKIT_ACADO_MESSAGE_HANDLING_HPP

/*
 *      end of file
 */