print.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
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 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: print.cpp 4681 2012-02-22 23:48:44Z mdixon $
 *
 */
#include <pcl/console/print.h>
#include <algorithm>
#include <cstdlib>
#include <cctype> // for toupper
#include <string>

#if defined WIN32
# include <windows.h>

#ifndef _MSC_VER
# define COMMON_LVB_UNDERSCORE    0
# define COMMON_LVB_REVERSE_VIDEO 0
#endif

WORD 
convertAttributesColor (int attribute, int fg, int bg=0)
{
  static WORD wAttributes[7]  = { 0,                        // TT_RESET
                                   FOREGROUND_INTENSITY ,    // TT_BRIGHT
                                   0,                        // TT_DIM
                                   COMMON_LVB_UNDERSCORE,    // TT_UNDERLINE
                                   0,                        // TT_BLINK
                                   COMMON_LVB_REVERSE_VIDEO, // TT_REVERSE
                                   0                         // TT_HIDDEN
                                 };
  static WORD wFgColors[8]  = { 0,                                                  // TT_BLACK
                                 FOREGROUND_RED,                                     // TT_RED
                                 FOREGROUND_GREEN ,                                  // TT_GREEN
                                 FOREGROUND_GREEN | FOREGROUND_RED ,                 // TT_YELLOW
                                 FOREGROUND_BLUE ,                                   // TT_BLUE
                                 FOREGROUND_RED | FOREGROUND_BLUE ,                  // TT_MAGENTA
                                 FOREGROUND_GREEN | FOREGROUND_BLUE,                 // TT_CYAN
                                 FOREGROUND_GREEN | FOREGROUND_BLUE | FOREGROUND_RED // TT_WHITE
                               };
  static WORD wBgColors[8]  = { 0,                                                  // TT_BLACK
                                 BACKGROUND_RED,                                     // TT_RED
                                 BACKGROUND_GREEN ,                                  // TT_GREEN
                                 BACKGROUND_GREEN | BACKGROUND_BLUE ,                // TT_YELLOW
                                 BACKGROUND_BLUE ,                                   // TT_BLUE
                                 BACKGROUND_RED | BACKGROUND_BLUE ,                  // TT_MAGENTA
                                 BACKGROUND_GREEN | BACKGROUND_BLUE,                 // TT_CYAN
                                 BACKGROUND_GREEN | BACKGROUND_BLUE | BACKGROUND_RED // TT_WHITE
                               };

  return wAttributes[attribute] | wFgColors[fg] | wBgColors[bg];
}

#endif

void
pcl::console::change_text_color (FILE *stream, int attribute, int fg, int bg)
{
#ifdef WIN32
  HANDLE h = GetStdHandle ((stream == stdout) ? STD_OUTPUT_HANDLE : STD_ERROR_HANDLE);
  SetConsoleTextAttribute (h, convertAttributesColor (attribute, fg, bg));
#else
  char command[13];
  // Command is the control command to the terminal
  sprintf (command, "%c[%d;%d;%dm", 0x1B, attribute, fg + 30, bg + 40);
  fprintf (stream, "%s", command);
#endif
}

void
pcl::console::change_text_color (FILE *stream, int attribute, int fg)
{
#ifdef WIN32
  HANDLE h = GetStdHandle ((stream == stdout) ? STD_OUTPUT_HANDLE : STD_ERROR_HANDLE);
  SetConsoleTextAttribute (h, convertAttributesColor (attribute, fg));
#else
  char command[13];
  // Command is the control command to the terminal
  sprintf (command, "%c[%d;%dm", 0x1B, attribute, fg + 30);
  fprintf (stream, "%s", command);
#endif
}

void
pcl::console::reset_text_color (FILE *stream)
{
#ifdef WIN32
  HANDLE h = GetStdHandle ((stream == stdout) ? STD_OUTPUT_HANDLE : STD_ERROR_HANDLE);
  SetConsoleTextAttribute (h, convertAttributesColor (0, TT_WHITE, TT_BLACK));
#else
  char command[13];
  // Command is the control command to the terminal
  sprintf (command, "%c[0;m", 0x1B);
  fprintf (stream, "%s", command);
#endif
}

void
pcl::console::print_color (FILE *stream, int attr, int fg, const char *format, ...)
{
  change_text_color (stream, attr, fg);
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

void
pcl::console::print_info (const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_INFO)) return; 

  reset_text_color (stdout);

  va_list ap;

  va_start (ap, format);
  vfprintf (stdout, format, ap);
  va_end (ap);
}

void
pcl::console::print_info (FILE *stream, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_INFO)) return;

  reset_text_color (stream);

  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
}

void
pcl::console::print_highlight (const char *format, ...)
{
  //if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

  change_text_color (stdout, TT_BRIGHT, TT_GREEN);
  fprintf (stdout, "> ");
  reset_text_color (stdout);

  va_list ap;

  va_start (ap, format);
  vfprintf (stdout, format, ap);
  va_end (ap);
}

void
pcl::console::print_highlight (FILE *stream, const char *format, ...)
{
  //if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

  change_text_color (stream, TT_BRIGHT, TT_GREEN);
  fprintf (stream, "> ");
  reset_text_color (stream);

  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
}

void
pcl::console::print_error (const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_ERROR)) return;

  change_text_color (stderr, TT_BRIGHT, TT_RED);
  va_list ap;

  va_start (ap, format);
  vfprintf (stderr, format, ap);
  va_end (ap);
  
  reset_text_color (stderr);
}

void
pcl::console::print_error (FILE *stream, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_ERROR)) return;

  change_text_color (stream, TT_BRIGHT, TT_RED);
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

void
pcl::console::print_warn (const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_WARN)) return;

  change_text_color (stderr, TT_BRIGHT, TT_YELLOW);
  va_list ap;

  va_start (ap, format);
  vfprintf (stderr, format, ap);
  va_end (ap);
  
  reset_text_color (stderr);
}

void
pcl::console::print_warn (FILE *stream, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_WARN)) return;

  change_text_color (stream, TT_BRIGHT, TT_YELLOW);
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

void
pcl::console::print_value (const char *format, ...)
{
  //if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

  change_text_color (stdout, TT_RESET, TT_CYAN);
  va_list ap;

  va_start (ap, format);
  vfprintf (stdout, format, ap);
  va_end (ap);
  
  reset_text_color (stdout);
}

void
pcl::console::print_value (FILE *stream, const char *format, ...)
{
  //if (!isVerbosityLevelEnabled (L_ALWAYS)) return;

  change_text_color (stream, TT_RESET, TT_CYAN);
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

void
pcl::console::print_debug (const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_DEBUG)) return;

  change_text_color (stdout, TT_RESET, TT_GREEN);
  va_list ap;

  va_start (ap, format);
  vfprintf (stdout, format, ap);
  va_end (ap);
  
  reset_text_color (stdout);
}

void
pcl::console::print_debug (FILE *stream, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (L_DEBUG)) return;

  change_text_color (stream, TT_RESET, TT_GREEN);
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

namespace pcl
{
  namespace console
  {
    static bool s_NeedVerbosityInit = true;
    static VERBOSITY_LEVEL s_VerbosityLevel = pcl::console::L_INFO;
  }
}

void pcl::console::setVerbosityLevel (pcl::console::VERBOSITY_LEVEL level)
{
  if (s_NeedVerbosityInit) pcl::console::initVerbosityLevel ();
  s_VerbosityLevel = level;
}

pcl::console::VERBOSITY_LEVEL
pcl::console::getVerbosityLevel ()
{
  if (s_NeedVerbosityInit) pcl::console::initVerbosityLevel ();
  return s_VerbosityLevel;
}

bool
pcl::console::isVerbosityLevelEnabled (pcl::console::VERBOSITY_LEVEL level)
{
  if (s_NeedVerbosityInit) pcl::console::initVerbosityLevel ();
  return level <= s_VerbosityLevel;  
}

bool 
pcl::console::initVerbosityLevel ()
{
  s_VerbosityLevel = pcl::console::L_INFO; // Default value
  char* pcl_verbosity_level = getenv ( "PCL_VERBOSITY_LEVEL");
  if (pcl_verbosity_level)
  {
    std::string s_pcl_verbosity_level (pcl_verbosity_level);
    std::transform (s_pcl_verbosity_level.begin (), s_pcl_verbosity_level.end (), s_pcl_verbosity_level.begin (), toupper);

    if (s_pcl_verbosity_level.find ("ALWAYS") != std::string::npos)          s_VerbosityLevel = L_ALWAYS;
    else if (s_pcl_verbosity_level.find ("ERROR") != std::string::npos)      s_VerbosityLevel = L_ERROR;
    else if (s_pcl_verbosity_level.find ("WARN") != std::string::npos)       s_VerbosityLevel = L_WARN;
    else if (s_pcl_verbosity_level.find ("INFO") != std::string::npos)       s_VerbosityLevel = L_INFO;
    else if (s_pcl_verbosity_level.find ("DEBUG") != std::string::npos)      s_VerbosityLevel = L_DEBUG;
    else if (s_pcl_verbosity_level.find ("VERBOSE") != std::string::npos)    s_VerbosityLevel = L_VERBOSE;
    else std::cout << "Warning: invalid PCL_VERBOSITY_LEVEL set (" << s_pcl_verbosity_level << ")" << std::endl;
  }

  s_NeedVerbosityInit = false;
  return true;
}

void 
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, FILE *stream, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (level)) return;
  switch (level)
  {
    case L_DEBUG:
      change_text_color (stream, TT_RESET, TT_GREEN);
      break;
    case L_WARN:
      change_text_color (stream, TT_BRIGHT, TT_YELLOW);
      break;
    case L_ERROR:
      change_text_color (stream, TT_BRIGHT, TT_RED);
      break;
    case L_ALWAYS:
    case L_INFO:
    case L_VERBOSE:
    default:
      break;
  }

  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);
}

void 
pcl::console::print (pcl::console::VERBOSITY_LEVEL level, const char *format, ...)
{
  if (!isVerbosityLevelEnabled (level)) return;
  FILE *stream = (level == L_WARN || level == L_ERROR) ? stderr : stdout;
  switch (level)
  {
    case L_DEBUG:
      change_text_color (stream, TT_RESET, TT_GREEN);
      break;
    case L_WARN:
      change_text_color (stream, TT_BRIGHT, TT_YELLOW);
      break;
    case L_ERROR:
      change_text_color (stream, TT_BRIGHT, TT_RED);
      break;
    case L_ALWAYS:
    case L_INFO:
    case L_VERBOSE:
    default:
      break;
  }
  
  va_list ap;

  va_start (ap, format);
  vfprintf (stream, format, ap);
  va_end (ap);
  
  reset_text_color (stream);

}