Commit changes to templated logger

This mechanism allows us to eliminate at compile time logging calls that affect performance

Author: Joaopmoliveira

applications/friopenigtlinkfaketracker/main.cpp

@@ -108,7 +108,7 @@ void start_tracking(std::shared_ptr<curan::communication::Server<curan::communic
 	}
 	catch (...)
 	{
-		curan::utilities::cout << "exception was thrown in the communication loop\n";
+		curan::utilities::print<curan::utilities::major_failure>("exception was thrown in the communication loop\n");
 	}
 }
 
@@ -247,8 +247,7 @@ int main(int argc, char *argv[])
 		auto server_joints = curan::communication::Server<curan::communication::protocols::fri>::make(context, port_fri);
 
 		std::thread thred_joint{[&](){ start_joint_tracking(server_joints, state_flag, shared_state);}};
-
-		curan::utilities::cout << "Starting server with port: " << port << " and in the localhost\n";
+		curan::utilities::print<curan::utilities::major_failure>("Starting server with port: {:d} and in the localhost\n",port);
 		context.run();
 		keep_going.store(false);
 		robot_flag.set(false);
@@ -257,6 +256,6 @@ int main(int argc, char *argv[])
 	}
 	catch (std::exception &e)
 	{
-		std::cout << "main Exception : " << e.what() << std::endl;
+		curan::utilities::print<curan::utilities::major_failure>("main Exception : {}\n" ,e.what() );
 	}
 }

applications/friopenigtlinktracker/main.cpp

@@ -29,7 +29,7 @@ void robot_control(curan::robotic::RobotLBR& lbr)
 {
 	try
 	{
-		curan::utilities::cout << "Lauching robot control thread\n";
+		curan::utilities::print<curan::utilities::info>("Lauching robot control thread\n");
 		KUKA::FRI::UdpConnection connection{20};
 		KUKA::FRI::ClientApplication app(connection, lbr);
 		app.connect(DEFAULT_PORTID, NULL);
@@ -245,7 +245,7 @@ int main(int argc, char *argv[])
 			std::cout << "joint tracking stopping" << std::endl;
 		}}; //--------------------------- 
 
-		curan::utilities::cout << "Starting server with port: " << port << " and in the localhost\n";
+		curan::utilities::print<curan::utilities::info>("Starting server with port: {:d} and in the localhost\n",port);
 		context.run();
 		server_joints->cancel();
 		client.cancel();
@@ -256,6 +256,6 @@ int main(int argc, char *argv[])
 	}
 	catch (std::exception &e)
 	{
-		std::cout << "main Exception : " << e.what() << std::endl;
+		curan::utilities::print<curan::utilities::major_failure>("main Exception : {}\n",e.what());
 	}
 }

applications/gaussian_mixture/datacollection/main.cpp

@@ -124,7 +124,7 @@ int main(int argc, char* argv[]) {
 
 	try
 	{
-		curan::utilities::cout << "Lauching robot control thread\n";
+		curan::utilities::print<curan::utilities::info>("Lauching robot control thread\n");
 
 		KUKA::FRI::UdpConnection connection{20};
 		KUKA::FRI::ClientApplication app(connection, client);

applications/gaussian_mixture/limitcycle/main.cpp

@@ -111,7 +111,7 @@ int main(int argc, char* argv[]) {
 
 	try
 	{
-		curan::utilities::cout << "Lauching robot control thread\n";
+		curan::utilities::print<curan::utilities::info>("Lauching robot control thread\n");
 
 		KUKA::FRI::UdpConnection connection{20};
 		KUKA::FRI::ClientApplication app(connection, client);

libraries/communication/include/communication/Client.h

@@ -42,6 +42,14 @@ namespace curan
 									   {
 									   };
 
+ 			Client(const Client &other) = delete;
+
+  			Client &operator=(const Client &other) = delete;
+
+  			Client(Client &&other) = delete;
+
+  			Client &operator=(Client &&other) = delete;
+
 		public:
 			~Client()
 			{

libraries/communication/include/communication/Server.h

@@ -35,10 +35,6 @@ namespace curan
 			{
 			}
 
-			Server(asio::io_context &io_context, unsigned short port, std::function<bool(std::error_code ec)> connection_callback) : _cxt{io_context}, acceptor_{_cxt, asio::ip::tcp::endpoint(asio::ip::tcp::v4(), port)}
-			{
-			}
-
 		public:
 			static inline std::shared_ptr<Server<protocol>> make(asio::io_context &io_context, unsigned short port)
 			{
@@ -55,7 +51,7 @@ namespace curan
 			*/
 			static inline std::shared_ptr<Server<protocol>> make(asio::io_context &io_context, unsigned short port, std::function<bool(std::error_code ec)> connection_callback)
 			{
-				std::shared_ptr<Server<protocol>> server = std::shared_ptr<Server<protocol>>(new Server{io_context, port, connection_callback});
+				std::shared_ptr<Server<protocol>> server = std::shared_ptr<Server<protocol>>(new Server{io_context, port});
 				server->accept(connection_callback);
 				return server;
 			}
@@ -98,17 +94,20 @@ namespace curan
 				acceptor_.cancel();
 			}
 
-			void write(std::shared_ptr<utilities::MemoryBuffer> buffer)
+			bool write(std::shared_ptr<utilities::MemoryBuffer> buffer)
 			{
 				std::lock_guard<std::mutex> g{mut};
+				bool send_info = false;
 				if (list_of_clients.size() == 0)
-					return;
-				list_of_clients.remove_if([buffer](std::shared_ptr<Client<protocol>> &client)
-										  {
-		if(!client->get_socket().sendable())
-			return true;
-		client->write(buffer);
-		return false; });
+					return send_info;
+				
+				list_of_clients.remove_if([buffer,&send_info](std::shared_ptr<Client<protocol>> &client){
+					if(!client->get_socket().sendable())
+						return true;
+					client->write(buffer);
+					send_info = true;
+					return false; });
+				return send_info;
 			}
 
 			inline asio::io_context &get_context()
@@ -129,10 +128,8 @@ namespace curan
 							for (auto &submitted_callables : callables)
 								client_ptr->connect(submitted_callables);
 							list_of_clients.push_back(client_ptr);
-							
 						}
-						else
-						{
+						else{ //what else to do if the user did not provide any callback mechanism? 
 							throw std::runtime_error("cannot wait for client");
 						}
 						accept();
@@ -156,12 +153,8 @@ namespace curan
 							else
 								client_ptr->get_socket().close();
 						}
-						else
-						{
-							connection_callback(ec);
-						}
-
-						accept(connection_callback);
+						else if(connection_callback(ec))
+								accept(connection_callback);
 					});
 			}
 		};

libraries/communication/include/communication/Socket.h

@@ -89,7 +89,6 @@ namespace curan
 							   bool shoud_write = to_send.empty();
 							   auto size_before = to_send.size();
 							   to_send.push_back(buff);
-							   // std::printf("(pointer = %llu ) before (%llu) after (%llu)\n",(size_t) this, size_before, to_send.size());
 							   if (shoud_write && is_connected)
 								   do_write();
 						   });
@@ -153,10 +152,12 @@ namespace curan
 				auto client = owner.lock();
 				timer.async_wait([this, client, connection_callback](asio::error_code ec)
 								 {
-				if (is_connected)
-					return;
-				close();
-				connection_callback(ec); });
+					if (is_connected)
+						return;
+					close();
+					connection_callback(ec);
+					 }
+				);
 				asio::async_connect(_socket, endpoints,
 									[this, client, connection_callback](std::error_code ec, asio::ip::tcp::endpoint e)
 									{

libraries/imageprocessing/src/StudyManager.cpp

@@ -66,7 +66,7 @@ bool StudyManager::load_studies(std::vector<std::filesystem::path> paths) {
 				}
 				catch (const itk::ExceptionObject& e) {
 					std::string s{ e.what() };
-					utilities::cout << "Exception thrown: " + s;
+					utilities::print<utilities::minor_failure>("StudyManager load_studies exception thrown: {}",e.what());
 					return false;
 				}
 				study.study_img.push_back(image2D);
@@ -80,7 +80,7 @@ bool StudyManager::load_studies(std::vector<std::filesystem::path> paths) {
 
 			if (tagItr == end)
 			{
-				std::cerr << "Tag " << entryId; std::cerr << " not found in the DICOM header" << std::endl;
+				utilities::print<utilities::minor_failure>("Tag {} not found in the DICOM header\n",entryId);
 				return false;
 			}
 
@@ -90,7 +90,7 @@ bool StudyManager::load_studies(std::vector<std::filesystem::path> paths) {
 				tagvalue = entryvalue->GetMetaDataObjectValue();
 			}
 			else {
-				std::cerr << "Entry was not of string type" << std::endl;
+				utilities::print<utilities::minor_failure>("Entry was not of string type\n");
 				return false;
 			}
 
@@ -146,7 +146,7 @@ bool StudyManager::load_studies(std::vector<std::filesystem::path> paths) {
 
 		if (tagItr == end)
 		{
-			std::cerr << "Tag " << entryId; std::cerr << " not found in the DICOM header" << std::endl;
+			utilities::print<utilities::minor_failure>("Tag {} not found in the DICOM header\n",entryId);
 			return false;
 		}
 
@@ -155,7 +155,7 @@ bool StudyManager::load_studies(std::vector<std::filesystem::path> paths) {
 		if (entryvalue) {
 			tagvalue = entryvalue->GetMetaDataObjectValue();
 		} else {
-			std::cerr << "Entry was not of string type" << std::endl;
+			utilities::print<utilities::minor_failure>("Entry was not of string type\n");
 			return false;
 		}
 

libraries/imageprocessing/src/VolumeAlgorithms.cpp

@@ -51,7 +51,7 @@ bool GetPerpendicularSlice(Volume& in_vol, InternalImageType::Pointer& out_vol,
 		filter->Update();
 	}
 	catch (const itk::ExceptionObject& e) {
-		utilities::cout << e.what();
+		utilities::print<utilities::minor_failure>("GetPerpendicularSlice() exception thrown: {}",e.what());
 		return false;
 	}
 
@@ -210,8 +210,10 @@ int TrilinearInterpolation(const Eigen::Vector4d point,
 					a *= ACCUMULATION_MULTIPLIER; // needs to be done for proper conversion to unsigned short for accumulation buffer
 					break;
 				default:
-					std::string s = "Unknown Compounding operator detected, value " + std::to_string(compoundingMode) + ". Leaving value as-is.";
-					utilities::cout << s;
+					{
+						std::string compmode = std::to_string(compoundingMode);
+						utilities::print<utilities::minor_failure>("Unknown Compounding operator detected, value {0}. Leaving value as-is\n",compmode);
+					}
 					break;
 				}
 				inPtrTmp++;
@@ -363,8 +365,10 @@ int NearestNeighborInterpolation(const Eigen::Vector4d point,
 			break;
 		}
 		default:
-			std::string s = "Unknown Compounding operator detected, value " + std::to_string(compoundingMode) + ". Leaving value as-is.";
-			utilities::cout << s;
+			{	
+				std::string msg{std::to_string(compoundingMode)};
+				utilities::print<utilities::minor_failure>("Unknown Compounding operator detected, value {0}. Leaving value as-is\n",msg);
+			}
 			break;
 		}
 		return 1;

libraries/imageprocessing/src/VolumeReconstructor.cpp

@@ -314,8 +314,7 @@ void VolumeReconstructor::fill_holes()
 		break;
 	default:
 	{
-		std::string s = "Unknown interpolation mode: " + std::to_string(fillType);
-		utilities::cout << s;
+		utilities::print<utilities::minor_failure>("Unknown interpolation mode: {}\n", std::to_string(fillType));
 		return;
 	}
 	}