suppress driver chatter when YARP_QUIET is set

svn path=/trunk/yarp2/; revision=8385

ChangeLog

@@ -1,3 +1,8 @@
+2010-11-26  Paul Fitzpatrick  <paulfitz@alum.mit.edu>
+
+	* src/libYARP_dev/src/ServerControlBoard.cpp: when YARP_QUIET
+	is set, suppress driver chatter [thanks Gianluca Massera]
+
 2010-11-25  Ugo Pattacini <ugo.pattacini@iit.it>
 
 	* GazeControl.h and CartesianControl.h: added methods to save/restore

src/libYARP_OS/include/yarp/os/Log.h

@@ -33,6 +33,11 @@ YARP_OS_API void __yarp_warn(const char *str);
 YARP_OS_API void __yarp_info(const char *str);
 YARP_OS_API void __yarp_debug(const char *str);
 
+YARP_OS_API bool yarp_show_error();
+YARP_OS_API bool yarp_show_warn();
+YARP_OS_API bool yarp_show_info();
+YARP_OS_API bool yarp_show_debug();
+
 #define YARP_LOG_ERROR(x) __yarp_error(x)
 #define YARP_LOG_WARN(x) __yarp_warn(x)
 #define YARP_LOG_INFO(x) __yarp_info(x)

src/libYARP_OS/include/yarp/os/impl/Logger.h

@@ -115,6 +115,18 @@ class yarp::os::impl::Logger : public ACE_Log_Msg_Callback {
         return pid;
     }
 
+    bool shouldShowInfo() {
+        return (verbose>=0);
+    }
+
+    bool shouldShowError() {
+        return true;
+    }
+
+    bool shouldShowDebug() {
+        return (verbose>0);
+    }
+
 private:
     void show(int level, const String& txt);
     void exit(int result);

src/libYARP_OS/src/Logger.cpp

@@ -100,3 +100,21 @@ void __yarp_info(const char *str) {
 void __yarp_debug(const char *str) {
     YARP_DEBUG(Logger::get(),str);
 }
+
+
+bool yarp_show_error() {
+    return Logger::get().shouldShowError();
+}
+
+bool yarp_show_warn() {
+    return Logger::get().shouldShowError();
+}
+
+bool yarp_show_info() {
+    return Logger::get().shouldShowInfo();
+}
+
+bool yarp_show_debug() {
+    return Logger::get().shouldShowDebug();
+}
+

src/libYARP_OS/src/RateThread.cpp

@@ -385,10 +385,12 @@ bool RateThreadWrapper::open(double framerate, bool polling) {
     int period = 0;
     if (framerate>0) {
         period=(int) (0.5+1000.0/framerate);
-        ACE_OS::printf("Setting framerate to: %.0lf[Hz] (thread period %d[ms])\n", 
-                       framerate, period);
+        YARP_SPRINTF2(Logger::get(),info,
+                      "Setting framerate to: %.0lf[Hz] (thread period %d[ms])\n", 
+                      framerate, period);
     } else {
-        ACE_OS::printf("No framerate specified, polling the device\n");
+        YARP_SPRINTF0(Logger::get(),info,
+                      "No framerate specified, polling the device");
         period=0; //continuous
     }    
     RateThread::setRate(period);

src/libYARP_dev/include/yarp/dev/TestFrameGrabber.h

@@ -16,6 +16,7 @@
 #include <yarp/os/Searchable.h>
 #include <yarp/os/Time.h>
 #include <yarp/os/Vocab.h>
+#include <yarp/os/Log.h>
 
 #define VOCAB_LINE VOCAB4('l','i','n','e')
 
@@ -100,16 +101,15 @@ class YARP_dev_API yarp::dev::TestFrameGrabber : public DeviceDriver,
                             yarp::os::Value(VOCAB_LINE, true),
                             "bouncy [ball], scrolly [line], grid [grid], random [rand]").asVocab();
 
-		if (freq!=-1)
-		{
-			printf("Test grabber period %g / freq %g , mode [%s]\n", period, freq,
-				yarp::os::Vocab::decode(mode).c_str());
-		}
-		else
-		{
-			printf("Test grabber period %g / freq [inf], mode [%s]\n", period,
-				yarp::os::Vocab::decode(mode).c_str());
-		}
+        if (yarp_show_info()) {
+            if (freq!=-1) {
+                printf("Test grabber period %g / freq %g , mode [%s]\n", period, freq,
+                       yarp::os::Vocab::decode(mode).c_str());
+            } else {
+                printf("Test grabber period %g / freq [inf], mode [%s]\n", period,
+                       yarp::os::Vocab::decode(mode).c_str());
+            }
+        }
 
 		bx = w/2;
         by = h/2;

src/libYARP_dev/include/yarp/dev/TestMotor.h

@@ -18,6 +18,7 @@
 #include <yarp/dev/PolyDriver.h>
 
 #include <yarp/os/Time.h>
+#include <yarp/os/Log.h>
 
 namespace yarp {
     namespace dev {
@@ -45,7 +46,9 @@ class YARP_dev_API yarp::dev::TestMotor : public DeviceDriver,
 
     virtual bool getAxes(int *ax) {
         *ax = njoints;
-        printf("TestMotor reporting %d axes present\n", *ax);
+        if (yarp_show_info()) {
+            printf("TestMotor reporting %d axes present\n", *ax);
+        }
         return true;
     }
 

src/libYARP_dev/src/Drivers.cpp

@@ -202,17 +202,23 @@ static void handler (int) {
     handleTime = now;
     ct++;
     if (ct>3) {
-        printf("Aborting...\n");
+        if (yarp_show_info()) {
+            printf("Aborting...\n");
+        }
         ACE_OS::exit(1);
     }
     if (terminatorKey!="") {
-        printf("[try %d of 3] Trying to shut down %s\n", 
-               ct,
-               terminatorKey.c_str());
+        if (yarp_show_info()) {
+            printf("[try %d of 3] Trying to shut down %s\n", 
+                   ct,
+                   terminatorKey.c_str());
+        }
         terminated = true;
         Terminator::terminateByName(terminatorKey.c_str());
     } else {
-        printf("Aborting...\n");
+        if (yarp_show_info()) {
+            printf("Aborting...\n");
+        }
         ACE_OS::exit(1);
     }
 }
@@ -366,25 +372,29 @@ int Drivers::yarpdev(int argc, char *argv[]) {
         if (service!=NULL) {
             double now = Time::now();
             if (now-startTime>dnow) {
-                printf("yarpdev: device active...\n");
-                fflush(stdout);
+                if (yarp_show_info()) {
+                    YARP_LOG_INFO("device active...");
+                }
                 startTime += dnow;
             }
             // we requested single threading, so need to
             // give the device its chance
             service->updateService();
         } else {
             // we don't need to do anything
-            printf("yarpdev: device active in background...\n");
-            fflush(stdout);
+            if (yarp_show_info()) {
+                YARP_LOG_INFO("device active in background...");
+            }
             Time::delay(dnow);
         }
     }
 
     delete terminee;
     dd.close();
 
-    printf("yarpdev is finished.\n");
+    if (yarp_show_info()) {
+        printf("yarpdev is finished.\n");
+    }
 
     return 0;
 }

src/libYARP_dev/src/PolyDriver.cpp

@@ -277,9 +277,13 @@ bool PolyDriver::coreOpen(yarp::os::Searchable& prop) {
                 ConstString name = creator->getName();
                 ConstString wrapper = creator->getWrapper();
                 ConstString code = creator->getCode();
-                printf("yarpdev: created %s <%s>.  See C++ class %s for documentation.\n",
-                       (name==wrapper)?"wrapper":"device",
-                       name.c_str(), code.c_str());
+                if (yarp_show_info()) {
+                    ConstString msg = ConstString("created ") +
+                        ((name==wrapper)?"wrapper":"device") +
+                        " <" + name + ">. See C++ class " +
+                        code + " for documentation.";
+                    YARP_LOG_INFO(msg);
+                }
             }
         }
         dd = driver;

src/libYARP_dev/src/ServerControlBoard.cpp

@@ -243,7 +243,9 @@ class yarp::dev::ServerControlBoard :
 
         Value *name;
         if (prop.check("subdevice",name,"name of specific control device to wrap")) {
-            printf("Subdevice %s\n", name->toString().c_str());
+            if (yarp_show_info()) {
+                printf("ControlBoard subdevice is %s\n", name->toString().c_str());
+            }
             if (name->isString()) {
                 // maybe user isn't doing nested configuration
                 Property p;
@@ -355,7 +357,9 @@ class yarp::dev::ServerControlBoard :
     * The thread main loop deals with writing on ports here.
     */
     virtual void run() {
-        printf("Server control board starting\n");
+        if (yarp_show_info()) {
+            printf("Server control board starting\n");
+        }
         double before, now;
         while (!isStopping()) {
             before = Time::now();
@@ -379,10 +383,15 @@ class yarp::dev::ServerControlBoard :
                 Time::delay(k);
             }
             else {
-                printf("Can't comply with the %d ms period\n", thread_period);
+                if (yarp_show_warn()) {
+                    printf("Can't comply with the %d ms period\n", 
+                           thread_period);
+                }
             }
         }
-        printf("Server control board stopping\n");
+        if (yarp_show_info()) {
+            printf("Server control board stopping\n");
+        }
     }
 
     /* IPidControl */

src/libYARP_dev/src/ServerFrameGrabber.cpp

@@ -115,19 +115,27 @@ bool ServerFrameGrabber::open(yarp::os::Searchable& config) {
 
     if (fgAv!=NULL) {
         if (separatePorts) {
-            printf("Grabber for images and sound (in separate ports)\n");
+            if (yarp_show_info()) {
+                printf("Grabber for images and sound (in separate ports)\n");
+            }
             YARP_ASSERT(p2!=NULL);
             thread.attach(new DataWriter2<yarp::sig::ImageOf<yarp::sig::PixelRgb>, yarp::sig::Sound>(p,*p2,*this,canDrop,addStamp));
         } else {
-            printf("Grabber for images and sound (in shared port)\n");
+            if (yarp_show_info()) {
+                printf("Grabber for images and sound (in shared port)\n");
+            }
             thread.attach(new DataWriter<ImageRgbSound>(p,*this,canDrop,
                                                         addStamp));
         }
     } else if (fgImage!=NULL) {
-        printf("Grabber for images\n");
+        if (yarp_show_debug()) {
+            printf("Grabber for images\n");
+        }
         thread.attach(new DataWriter<yarp::sig::ImageOf<yarp::sig::PixelRgb> >(p,*this,canDrop,addStamp,fgTimed));
     } else if (fgSound!=NULL) {
-        printf("Grabber for sound\n");
+        if (yarp_show_info()) {
+            printf("Grabber for sound\n");
+        }
         thread.attach(new DataWriter<yarp::sig::Sound>(p,*this,canDrop));
     } else {
         printf("subdevice <%s> doesn't look like a framegrabber\n",