HMIConsoleOutput.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Apr 22 20:40:59 CEST 2004  HMIConsoleOutput.hpp

                        HMIConsoleOutput.hpp -  description
                           -------------------
    begin                : Thu April 22 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library 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 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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 this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef HMI_CONSOLE_OUTPUT_HPP
#define HMI_CONSOLE_OUTPUT_HPP

#include <rtt/TaskContext.hpp>
#include <rtt/PeriodicActivity.hpp>
#include <rtt/Method.hpp>
#include <rtt/Logger.hpp>
#include <rtt/os/MutexLock.hpp>
#include <sstream>
#include <iostream>

#include <ocl/OCL.hpp>

namespace OCL
{
    class HMIConsoleOutput
        : public RTT::TaskContext
    {
        std::string coloron;
        std::string coloroff;
        std::string _prompt;
        std::ostringstream messages;
        std::ostringstream backup;
        std::ostringstream logmessages;
        std::ostringstream logbackup;

        RTT::OS::Mutex msg_lock;
        RTT::OS::Mutex log_lock;

    public :
        HMIConsoleOutput( const std::string& name = "cout")
            : TaskContext( name ),
              coloron("\033[1;34m"), coloroff("\033[0m"),
              _prompt("HMIConsoleOutput :\n")
        {
            this->clear();

            this->methods()->addMethod( method( "display", &HMIConsoleOutput::display, this),
                               "Display a message on the console",
                               "message","The message to be displayed"
                                );
            this->methods()->addMethod( method( "displayBool", &HMIConsoleOutput::displayBool, this),
                               "Display a boolean on the console",
                               "boolean","The Boolean to be displayed"
                                );
            this->methods()->addMethod( method( "displayInt", &HMIConsoleOutput::displayInt, this),
                               "Display a integer on the console",
                               "integer","The Integer to be displayed"
                                );
            this->methods()->addMethod( method( "displayDouble", &HMIConsoleOutput::displayDouble, this),
                               "Display a double on the console",
                               "double","The Double to be displayed"
                                );
            this->methods()->addMethod( method( "log", &HMIConsoleOutput::log, this),
                               "Log a message on the console",
                               "message","The message to be logged"
                                );
            this->methods()->addMethod( method( "logBool", &HMIConsoleOutput::logBool, this),
                               "Log a boolean on the console",
                               "boolean","The Boolean to be logged"
                                );
            this->methods()->addMethod( method( "logInt", &HMIConsoleOutput::logInt, this),
                               "Log a integer on the console",
                               "integer","The Integer to be logged"
                                );
            this->methods()->addMethod( method( "logDouble", &HMIConsoleOutput::logDouble, this),
                               "Log a double on the console",
                               "double","The Double to be logged"
                                );

        }

        ~HMIConsoleOutput()
        {
            this->stop();
        }

        void updateHook()
        {
            {
                RTT::OS::MutexLock lock1( msg_lock );
                if ( ! messages.str().empty() ) {
                    std::cout << coloron << _prompt<< coloroff <<
                        messages.str() << std::endl;
                    messages.rdbuf()->str("");
                }
            }
            {
                RTT::OS::MutexLock lock1( log_lock );
                if ( ! logmessages.str().empty() ) {
                    RTT::log(RTT::Info) << logmessages.str() << RTT::endlog();
                    logmessages.rdbuf()->str("");
                }
            }
        }

        void enableColor(bool yesno = true)
        {
            if (yesno == true) {
                coloron = "\033[1;34m";
                coloroff = "\033[0m";
            } else {
                coloron.clear();
                coloroff.clear();
            }
        }

        void setPrompt(const std::string& prompt)
        {
            _prompt = prompt;
        }


        void display(const std::string & what)
        {
            this->enqueue( what );
        }

        template<class T>
        void enqueue( const T& what )
        {
            {
                RTT::OS::MutexTryLock try_lock(msg_lock);
                if (try_lock.isSuccessful())
                {
                    // we got the lock, copy everything...
                    messages << backup.str();
                    messages << what << std::endl;
                    backup.rdbuf()->str("");
                }
                else
                    // no lock, backup.
                    backup << what << std::endl;
            }
            // support for non periodic logging:
            // do not hold a lock when calling trigger() !
            if (this->engine()->getActivity())
                this->engine()->getActivity()->trigger();

        }

        void displayBool(bool what)
        {
            this->enqueue( what );
        }

        void displayInt( int what)
        {
            this->enqueue( what );
        }

        void displayDouble( double what )
        {
            this->enqueue( what );
        }

        template<class T>
        void dolog( const T& what )
        {
            {
                RTT::OS::MutexTryLock try_lock(log_lock);
                if (try_lock.isSuccessful())
                {
                    // we got the lock, copy everything...
                    logmessages << logbackup.str();
                    logmessages << what;
                    logbackup.rdbuf()->str("");
                }
                else
                    // no lock, backup.
                    logbackup << what;
            }
            // support for non periodic logging:
            // do not hold a lock when calling trigger() !
            if (this->engine()->getActivity())
                this->engine()->getActivity()->trigger();
        }


        void log(const std::string & what)
        {
            this->dolog( what );
        }
        void logBool(bool what)
        {
            this->dolog( what );
        }

        void logInt( int what)
        {
            this->dolog( what );
        }

        void logDouble( double what )
        {
            this->dolog( what );
        }

    };

}

#endif

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