Pr/21 commit2

.gitignore

@@ -2,3 +2,5 @@
 build
 *.user
 .vscode
+.vs/
+out/

CMakeLists.txt

@@ -75,8 +75,9 @@ link_directories(
 
 add_definitions(${PCL_DEFINITIONS})
 
-
+ 
 set(client_SRCS
+  src/common/notifications.cpp
   src/modules/polar_to_cart_converter.cpp
   src/modules/distance_filter.cpp
   src/modules/ring_intensity_filter.cpp
@@ -142,7 +143,8 @@ if (PACKAGE_FOR_DEV)
   if(WIN32)
   install(TARGETS quanergy_client
     EXPORT QuanergyClientTargets
-    RUNTIME DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib)
+    ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
+    RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT shlib)
   else()
   install(TARGETS quanergy_client
     EXPORT QuanergyClientTargets

apps/dynamic_connection.cpp

@@ -18,6 +18,9 @@
 // sensor pipeline
 #include <quanergy/pipelines/sensor_pipeline.h>
 
+// handle notifications
+#include <quanergy/common/notifications.h>
+
 int main(int argc, char** argv)
 {
   namespace po = boost::program_options;

apps/visualizer.cpp

@@ -17,6 +17,9 @@
 // sensor pipeline
 #include <quanergy/pipelines/sensor_pipeline.h>
 
+// handle notifications
+#include <quanergy/common/notifications.h>
+
 int main(int argc, char** argv)
 {
   namespace po = boost::program_options;

include/quanergy/client/exceptions.h

@@ -35,15 +35,27 @@ namespace quanergy
     };
 
     /** \brief error parsing header */
-    struct InvalidHeaderError : public std::exception
+    struct ParseTimeoutError : public std::exception
     {
-      virtual const char* what() const throw() { return "Invalid header"; }
+        virtual const char* what() const throw() { return "Parse timeout error"; }
+    };
+
+    /** \brief error parsing header */
+    struct InvalidHeaderError : public std::runtime_error
+    {
+        explicit InvalidHeaderError(const std::string& message)
+            : std::runtime_error("Invalid header! Details: " + message) {}
+        explicit InvalidHeaderError()
+            : std::runtime_error("Invalid header!") {}
     };
 
     /** \brief packet size doesn't match data description */
-    struct SizeMismatchError : public std::exception
+    struct SizeMismatchError : public std::runtime_error
     {
-      virtual const char* what() const throw() { return "Packet sizes don't match"; }
+        explicit SizeMismatchError(const std::string& message)
+            : std::runtime_error("Packet sizes don't match! Details: " + message) {}
+        explicit SizeMismatchError()
+            : std::runtime_error("Packet sizes don't match!") {}
     };
 
     /** \brief Invalid packet */

include/quanergy/client/impl/tcp_client.hpp

@@ -115,8 +115,8 @@ namespace quanergy
     template <class HEADER>
     void TCPClient<HEADER>::startDataConnect()
     {
-      std::cout << "Attempting to connect (" << host_query_.host_name()
-                << ":" << host_query_.service_name() << ")..." << std::endl;
+      log.info << "Attempting to connect (" << host_query_.host_name()
+              << ":" << host_query_.service_name() << ")..." << std::endl;
       boost::asio::ip::tcp::resolver resolver(io_service_);
 
       try
@@ -138,23 +138,25 @@ namespace quanergy
                                      }
                                      else if (error)
                                      {
-                                       std::cerr << "Unable to bind to socket (" << host_query_.host_name()
-                                                 << ":" << host_query_.service_name() << ")! "
-                                                 << error.message() << std::endl;
+                                       log.error << "Unable to bind to socket (" << host_query_.host_name()
+                                           << ":" << host_query_.service_name() << ")! "
+                                           << error.message() << std::endl;
+
                                        throw SocketBindError(error.message());
                                      }
                                      else
                                      {
-                                       std::cout << "Connection established" << std::endl;
+                                       log.info << "Connection established" << std::endl;
+
                                        startDataRead();
                                      }
                                    });
       }
       catch (boost::system::system_error& e)
       {
-        std::cerr << "Unable to resolve host (" << host_query_.host_name()
-                  << ":" << host_query_.service_name() << ")! "
-                  << e.what() << std::endl;
+        log.error << "Unable to resolve host (" << host_query_.host_name()
+            << ":" << host_query_.service_name() << ")! "
+            << e.what() << std::endl;
         throw SocketBindError(e.what());
       }
     }
@@ -177,8 +179,8 @@ namespace quanergy
       }
       else if (error)
       {
-        std::cerr << "Error reading header: "
-                  << error.message() << std::endl;
+        log.error << "Error reading header: "
+           << error.message() << std::endl;
         throw SocketReadError(error.message());
       }
       else
@@ -213,8 +215,9 @@ namespace quanergy
       }
       else if (error)
       {
-        std::cerr << "Error reading body: "
-                  << error.message() << std::endl;
+        log.error << "Error reading body: "
+            << error.message() << std::endl;
+
         throw SocketReadError(error.message());
       }
       else
@@ -227,7 +230,7 @@ namespace quanergy
         while (buff_queue_.size() > max_queue_size_)
         {
           buff_queue_.pop();
-          std::cout << "Warning: Client dropped packet due to full buffer" << std::endl;
+          log.warn << "Client dropped packet due to full buffer" << std::endl;
         }
         lk.unlock();
 

include/quanergy/client/packet_header.h

@@ -24,6 +24,8 @@
 
 #include <quanergy/client/exceptions.h>
 
+#include <quanergy/common/notifications.h>
+
 #include <iostream>
 
 namespace quanergy
@@ -98,9 +100,8 @@ namespace quanergy
     {
       if (deserialize(object.signature) != SIGNATURE)
       {
-        std::cerr << "Invalid header signature: " << std::hex << std::showbase
-                  << object.signature << std::dec << std::noshowbase << std::endl;
-
+        log.error << "Invalid header signature: " << std::hex << std::showbase
+                << object.signature << std::dec << std::noshowbase << std::endl;
         return false;
       }
 

include/quanergy/common/notifications.h

@@ -0,0 +1,120 @@
+/****************************************************************
+ **                                                            **
+ **  Copyright(C) 2020 Quanergy Systems. All Rights Reserved.  **
+ **  Contact: http://www.quanergy.com                          **
+ **                                                            **
+ ****************************************************************/
+
+ /** \file notifications.h
+   * \brief Define classes for handling notifications.
+   *
+   */
+
+#ifndef QUANERGY_NOTIFICATIONS_H
+#define QUANERGY_NOTIFICATIONS_H
+
+#include <iostream>
+#include <sstream>
+
+#include <quanergy/common/dll_export.h>
+
+namespace quanergy
+{
+  /** \brief severity level of the notification */
+  enum class NotificationLevel { Trace, Debug, Info, Warn, Error };
+
+  /** \brief string buffer for notifier */
+  class DLLEXPORT NotifierBuf : public std::stringbuf
+  {
+  public:
+    /** \brief constructor
+      * \param name notifier name printed in output
+      * \param level notifier level printed in output
+      */
+    NotifierBuf(std::string name, NotificationLevel level);
+
+    /** \brief called on flush allowing us to forward to sink_ */
+    virtual int sync() override;
+
+    /** \brief set the downstream sink */
+    void SetSink(std::ostream* sink) { sink_ = sink; }
+
+    /** \brief enable formatting on output (time, level, name) */
+    void EnableFormatting(bool enable = true) { add_formatting_ = enable; }
+
+  protected:
+    /** \brief sink to stream to on flush */
+    std::ostream* sink_ = nullptr;
+
+    /** \brief flag determining whether to include time, level, and name */
+    bool add_formatting_ = true;
+
+    /** \brief name used for formatting */
+    std::string name_;
+
+    /** \brief level string used for formatting */
+    std::string level_string_;
+  };
+
+  /** \brief ostream for notifier */
+  class DLLEXPORT NotifierStream : public std::ostream
+  {
+  public:
+    /** \brief constructor
+      * \param name notifier name printed in output
+      * \param level notifier level printed in output
+      */
+    NotifierStream(std::string name, NotificationLevel level);
+
+    /** \brief set the downstream sink */
+    void SetSink(std::ostream* sink) { buf_.SetSink(sink); }
+
+    /** \brief enable formatting on output (time, level, name) */
+    void EnableFormatting(bool enable = true) { buf_.EnableFormatting(enable); }
+
+  protected:
+    /** \brief the notification buffer for this stream */
+    NotifierBuf buf_;
+  };
+
+  /** \brief class to keep the various streams 
+   *  by default, error streams to cerr and info and warn stream to cout
+  */
+  class DLLEXPORT Notifier
+  {
+  public:
+    /** \brief constructor
+      * \param name notifier name printed in output
+      */
+    Notifier(std::string name);
+
+    /** \brief set the downstream sink for one or more streams */
+    void SetSinks(std::ostream* sink, NotificationLevel minLevel = NotificationLevel::Trace, NotificationLevel maxLevel = NotificationLevel::Error);
+    /** \brief set the downstream sink for one stream */
+    void SetSink(std::ostream* sink, NotificationLevel level);
+
+    /** \brief clear the downstream sink for one or more streams */
+    void ClearSinks(NotificationLevel minLevel = NotificationLevel::Trace, NotificationLevel maxLevel = NotificationLevel::Error);
+    /** \brief clear the downstream sink for one stream */
+    void ClearSink(NotificationLevel level);
+
+    /** \brief enable formatting on output (time, level, name) */
+    void EnableFormatting(bool enable = true);
+
+    /** \brief the error stream */
+    NotifierStream error;
+    /** \brief the warn stream */
+    NotifierStream warn;
+    /** \brief the info stream */
+    NotifierStream info;
+    /** \brief the debug stream */
+    NotifierStream debug;
+    /** \brief the info stream */
+    NotifierStream trace;
+  };
+
+  static Notifier log {"QuanergyClient"};
+
+} // namespace quanergy
+
+#endif

include/quanergy/parsers/data_packet_01.h

@@ -91,9 +91,10 @@ namespace quanergy
           sizeof(DataHeader01) +
           object.data_header.point_count * sizeof(DataPoint01))
       {
-        std::cerr << "Invalid sizes: " << object.data_header.point_count
+        std::stringstream ss;
+        ss << "Invalid sizes: " << object.data_header.point_count
                   << " points and " << object.packet_header.size << " bytes" << std::endl;
-        throw SizeMismatchError();
+        throw SizeMismatchError(ss.str());
       }
 
       object.data_points.resize(object.data_header.point_count);

include/quanergy/pipelines/async.h

@@ -22,6 +22,8 @@
 #include <atomic>
 #include <iostream>
 
+#include <quanergy/common/notifications.h>
+
 namespace quanergy
 {
   namespace pipeline
@@ -88,7 +90,7 @@ namespace quanergy
         // while shouldn't be necessary but doesn't hurt just to be sure
         while (input_queue_.size() > max_queue_size_)
         {
-          std::cerr << "Warning: AsyncModule dropped input due to full buffer" << std::endl;
+          log.warn << "AsyncModule dropped input due to full buffer" << std::endl;
           input_queue_.pop();
         }
 

src/client/device_info.cpp

@@ -17,6 +17,9 @@
 #include <boost/property_tree/ptree.hpp>
 #include <boost/property_tree/xml_parser.hpp>
 
+// Handle notifications
+#include <quanergy/common/notifications.h>
+
 using namespace quanergy::client;
 
 DeviceInfo::DeviceInfo(const std::string& host)
@@ -25,7 +28,7 @@ DeviceInfo::DeviceInfo(const std::string& host)
   std::stringstream device_info_stream;
 
   // get deviceInfo from sensor for calibration
-  std::cout << "Attempting to get device info from " << host << std::endl;
+  quanergy::log.info << "Attempting to get device info from " << host << "..." << std::endl;
   http_client.read(device_info_path_, device_info_stream);
   boost::property_tree::ptree device_info_tree;
   boost::property_tree::read_xml(device_info_stream, device_info_tree);
@@ -63,7 +66,7 @@ DeviceInfo::DeviceInfo(const std::string& host)
     } // if laser data
 
   } // if cal data
-
+  quanergy::log.info << "Device info retrieval complete." << std::endl;
 } // constructor