forked from coin-or/qpOASES
-
Notifications
You must be signed in to change notification settings - Fork 0
/
MessageHandling.cpp
632 lines (538 loc) · 24.4 KB
/
MessageHandling.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
/*
* This file is part of qpOASES.
*
* qpOASES -- An Implementation of the Online Active Set Strategy.
* Copyright (C) 2007-2017 by Hans Joachim Ferreau, Andreas Potschka,
* Christian Kirches et al. All rights reserved.
*
* qpOASES 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.
*
* qpOASES 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 qpOASES; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
/**
* \file src/MessageHandling.cpp
* \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
* \version 3.2
* \date 2007-2017
*
* Implementation of the MessageHandling class including global return values.
*
*/
#include <stdio.h>
#ifdef __MATLAB__
#include "mex.h"
#endif
#include <qpOASES/MessageHandling.hpp>
#include <qpOASES/Utils.hpp>
BEGIN_NAMESPACE_QPOASES
/** Default file to display messages. */
FILE* stdFile = stdout;
#ifndef __SUPPRESSANYOUTPUT__
/** Defines pairs of global return values and messages. */
MessageHandling::ReturnValueList returnValueList[] =
{
/* miscellaneous */
{ SUCCESSFUL_RETURN, "Successful return", VS_VISIBLE },
{ RET_DIV_BY_ZERO, "Division by zero", VS_VISIBLE },
{ RET_INDEX_OUT_OF_BOUNDS, "Index out of bounds", VS_VISIBLE },
{ RET_INVALID_ARGUMENTS, "At least one of the arguments is invalid", VS_VISIBLE },
{ RET_ERROR_UNDEFINED, "Error number undefined", VS_VISIBLE },
{ RET_WARNING_UNDEFINED, "Warning number undefined", VS_VISIBLE },
{ RET_INFO_UNDEFINED, "Info number undefined", VS_VISIBLE },
{ RET_EWI_UNDEFINED, "Error/warning/info number undefined", VS_VISIBLE },
{ RET_AVAILABLE_WITH_LINUX_ONLY, "This function is available under Linux only", VS_HIDDEN },
{ RET_UNKNOWN_BUG, "The error occurred is not yet known", VS_VISIBLE },
{ RET_PRINTLEVEL_CHANGED, "Print level changed", VS_VISIBLE },
{ RET_NOT_YET_IMPLEMENTED, "Requested function is not yet implemented.", VS_VISIBLE },
/* Indexlist */
{ RET_INDEXLIST_MUST_BE_REORDERD, "Index list has to be reordered", VS_VISIBLE },
{ RET_INDEXLIST_EXCEEDS_MAX_LENGTH, "Index list exceeds its maximal physical length", VS_VISIBLE },
{ RET_INDEXLIST_CORRUPTED, "Index list corrupted", VS_VISIBLE },
{ RET_INDEXLIST_OUTOFBOUNDS, "Physical index is out of bounds", VS_VISIBLE },
{ RET_INDEXLIST_ADD_FAILED, "Adding indices from another index set failed", VS_VISIBLE },
{ RET_INDEXLIST_INTERSECT_FAILED, "Intersection with another index set failed", VS_VISIBLE },
/* SubjectTo / Bounds / Constraints */
{ RET_INDEX_ALREADY_OF_DESIRED_STATUS, "Index is already of desired status", VS_VISIBLE },
{ RET_ADDINDEX_FAILED, "Adding index to index set failed", VS_VISIBLE },
{ RET_REMOVEINDEX_FAILED, "Removing index from index set failed", VS_VISIBLE },
{ RET_SWAPINDEX_FAILED, "Cannot swap between different indexsets", VS_VISIBLE },
{ RET_NOTHING_TO_DO, "Nothing to do", VS_VISIBLE },
{ RET_SETUP_BOUND_FAILED, "Setting up bound index failed", VS_VISIBLE },
{ RET_SETUP_CONSTRAINT_FAILED, "Setting up constraint index failed", VS_VISIBLE },
{ RET_MOVING_BOUND_FAILED, "Moving bound between index sets failed", VS_VISIBLE },
{ RET_MOVING_CONSTRAINT_FAILED, "Moving constraint between index sets failed", VS_VISIBLE },
{ RET_SHIFTING_FAILED, "Shifting of bounds/constraints failed", VS_VISIBLE },
{ RET_ROTATING_FAILED, "Rotating of bounds/constraints failed", VS_VISIBLE },
/* QProblem */
{ RET_QPOBJECT_NOT_SETUP, "The QP object has not been setup correctly, use another constructor", VS_VISIBLE },
{ RET_QP_ALREADY_INITIALISED, "QProblem has already been initialised", VS_VISIBLE },
{ RET_NO_INIT_WITH_STANDARD_SOLVER, "Initialisation via extern QP solver is not yet implemented", VS_VISIBLE },
{ RET_RESET_FAILED, "Reset failed", VS_VISIBLE },
{ RET_INIT_FAILED, "Initialisation failed", VS_VISIBLE },
{ RET_INIT_FAILED_TQ, "Initialisation failed due to TQ factorisation", VS_VISIBLE },
{ RET_INIT_FAILED_CHOLESKY, "Initialisation failed due to Cholesky decomposition", VS_VISIBLE },
{ RET_INIT_FAILED_HOTSTART, "Initialisation failed! QP could not be solved!", VS_VISIBLE },
{ RET_INIT_FAILED_INFEASIBILITY, "Initial QP could not be solved due to infeasibility!", VS_VISIBLE },
{ RET_INIT_FAILED_UNBOUNDEDNESS, "Initial QP could not be solved due to unboundedness!", VS_VISIBLE },
{ RET_INIT_FAILED_REGULARISATION, "Initialisation failed as Hessian matrix could not be regularised", VS_VISIBLE },
{ RET_INIT_SUCCESSFUL, "Initialisation done", VS_VISIBLE },
{ RET_OBTAINING_WORKINGSET_FAILED, "Failed to obtain working set for auxiliary QP", VS_VISIBLE },
{ RET_SETUP_WORKINGSET_FAILED, "Failed to setup working set for auxiliary QP", VS_VISIBLE },
{ RET_SETUP_AUXILIARYQP_FAILED, "Failed to setup auxiliary QP for initialised homotopy", VS_VISIBLE },
{ RET_NO_CHOLESKY_WITH_INITIAL_GUESS, "Externally computed Cholesky factor cannot be combined with an initial guess", VS_VISIBLE },
{ RET_NO_EXTERN_SOLVER, "No extern QP solver available", VS_VISIBLE },
{ RET_QP_UNBOUNDED, "QP is unbounded", VS_VISIBLE },
{ RET_QP_INFEASIBLE, "QP is infeasible", VS_VISIBLE },
{ RET_QP_NOT_SOLVED, "Problems occurred while solving QP with standard solver", VS_VISIBLE },
{ RET_QP_SOLVED, "QP successfully solved", VS_VISIBLE },
{ RET_UNABLE_TO_SOLVE_QP, "Problems occurred while solving QP", VS_VISIBLE },
{ RET_INITIALISATION_STARTED, "Starting problem initialisation...", VS_VISIBLE },
{ RET_HOTSTART_FAILED, "Unable to perform homotopy due to internal error", VS_VISIBLE },
{ RET_HOTSTART_FAILED_TO_INIT, "Unable to initialise problem", VS_VISIBLE },
{ RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, "Unable to perform homotopy as previous QP is not solved", VS_VISIBLE },
{ RET_ITERATION_STARTED, "Iteration", VS_VISIBLE },
{ RET_SHIFT_DETERMINATION_FAILED, "Determination of shift of the QP data failed", VS_VISIBLE },
{ RET_STEPDIRECTION_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE },
{ RET_STEPLENGTH_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE },
{ RET_OPTIMAL_SOLUTION_FOUND, "Optimal solution of neighbouring QP found", VS_VISIBLE },
{ RET_HOMOTOPY_STEP_FAILED, "Unable to perform homotopy step", VS_VISIBLE },
{ RET_HOTSTART_STOPPED_INFEASIBILITY, "Premature homotopy termination because QP is infeasible", VS_VISIBLE },
{ RET_HOTSTART_STOPPED_UNBOUNDEDNESS, "Premature homotopy termination because QP is unbounded", VS_VISIBLE },
{ RET_WORKINGSET_UPDATE_FAILED, "Unable to update working sets according to initial guesses", VS_VISIBLE },
{ RET_MAX_NWSR_REACHED, "Maximum number of working set recalculations performed", VS_VISIBLE },
{ RET_CONSTRAINTS_NOT_SPECIFIED, "Problem does comprise constraints! You have to specify new constraints' bounds", VS_VISIBLE },
{ RET_INVALID_FACTORISATION_FLAG, "Invalid factorisation flag", VS_VISIBLE },
{ RET_UNABLE_TO_SAVE_QPDATA, "Unable to save QP data", VS_VISIBLE },
{ RET_STEPDIRECTION_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE },
{ RET_STEPDIRECTION_FAILED_CHOLESKY, "Abnormal termination due to Cholesky factorisation", VS_VISIBLE },
{ RET_CYCLING_DETECTED, "Cycling detected", VS_VISIBLE },
{ RET_CYCLING_NOT_RESOLVED, "Cycling cannot be resolved, QP is probably infeasible", VS_VISIBLE },
{ RET_CYCLING_RESOLVED, "Cycling probably resolved", VS_VISIBLE },
{ RET_STEPSIZE, "", VS_VISIBLE },
{ RET_STEPSIZE_NONPOSITIVE, "", VS_VISIBLE },
{ RET_SETUPSUBJECTTOTYPE_FAILED, "Setup of SubjectToTypes failed", VS_VISIBLE },
{ RET_ADDCONSTRAINT_FAILED, "Addition of constraint to working set failed", VS_VISIBLE },
{ RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, "Addition of constraint to working set failed", VS_VISIBLE },
{ RET_ADDBOUND_FAILED, "Addition of bound to working set failed", VS_VISIBLE },
{ RET_ADDBOUND_FAILED_INFEASIBILITY, "Addition of bound to working set failed", VS_VISIBLE },
{ RET_REMOVECONSTRAINT_FAILED, "Removal of constraint from working set failed", VS_VISIBLE },
{ RET_REMOVEBOUND_FAILED, "Removal of bound from working set failed", VS_VISIBLE },
{ RET_REMOVE_FROM_ACTIVESET, "Removing from active set:", VS_VISIBLE },
{ RET_ADD_TO_ACTIVESET, "Adding to active set:", VS_VISIBLE },
{ RET_REMOVE_FROM_ACTIVESET_FAILED, "Removing from active set failed", VS_VISIBLE },
{ RET_ADD_TO_ACTIVESET_FAILED, "Adding to active set failed", VS_VISIBLE },
{ RET_CONSTRAINT_ALREADY_ACTIVE, "Constraint is already active", VS_VISIBLE },
{ RET_ALL_CONSTRAINTS_ACTIVE, "All constraints are active, no further constraint can be added", VS_VISIBLE },
{ RET_LINEARLY_DEPENDENT, "New bound/constraint is linearly dependent", VS_VISIBLE },
{ RET_LINEARLY_INDEPENDENT, "New bound/constraint is linearly independent", VS_VISIBLE },
{ RET_LI_RESOLVED, "Linear independence of active constraint matrix successfully resolved", VS_VISIBLE },
{ RET_ENSURELI_FAILED, "Failed to ensure linear independence of active constraint matrix", VS_VISIBLE },
{ RET_ENSURELI_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE },
{ RET_ENSURELI_FAILED_NOINDEX, "QP is infeasible", VS_VISIBLE },
{ RET_ENSURELI_FAILED_CYCLING, "QP is infeasible", VS_VISIBLE },
{ RET_BOUND_ALREADY_ACTIVE, "Bound is already active", VS_VISIBLE },
{ RET_ALL_BOUNDS_ACTIVE, "All bounds are active, no further bound can be added", VS_VISIBLE },
{ RET_CONSTRAINT_NOT_ACTIVE, "Constraint is not active", VS_VISIBLE },
{ RET_BOUND_NOT_ACTIVE, "Bound is not active", VS_VISIBLE },
{ RET_HESSIAN_NOT_SPD, "Projected Hessian matrix not positive definite", VS_VISIBLE },
{ RET_HESSIAN_INDEFINITE, "Hessian matrix is indefinite", VS_VISIBLE },
{ RET_MATRIX_SHIFT_FAILED, "Unable to update matrices or to transform vectors", VS_VISIBLE },
{ RET_MATRIX_FACTORISATION_FAILED, "Unable to calculate new matrix factorisations", VS_VISIBLE },
{ RET_PRINT_ITERATION_FAILED, "Unable to print information on current iteration", VS_VISIBLE },
{ RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, "No global message output file initialised", VS_VISIBLE },
{ RET_DISABLECONSTRAINTS_FAILED, "Unable to disable constraints", VS_VISIBLE },
{ RET_ENABLECONSTRAINTS_FAILED, "Unable to enable constraints", VS_VISIBLE },
{ RET_ALREADY_ENABLED, "Bound or constraint is already enabled", VS_VISIBLE },
{ RET_ALREADY_DISABLED, "Bound or constraint is already disabled", VS_VISIBLE },
{ RET_NO_HESSIAN_SPECIFIED, "No Hessian matrix has been specified", VS_VISIBLE },
{ RET_USING_REGULARISATION, "Using regularisation as Hessian matrix is not positive definite", VS_VISIBLE },
{ RET_EPS_MUST_BE_POSITVE, "Eps for regularisation must be sufficiently positive", VS_VISIBLE },
{ RET_REGSTEPS_MUST_BE_POSITVE, "Maximum number of regularisation steps must be non-negative", VS_VISIBLE },
{ RET_HESSIAN_ALREADY_REGULARISED, "Hessian has been already regularised", VS_VISIBLE },
{ RET_CANNOT_REGULARISE_IDENTITY, "Identity Hessian matrix cannot be regularised", VS_VISIBLE },
{ RET_CANNOT_REGULARISE_SPARSE, "Sparse matrix cannot be regularised as diagonal entry is missing", VS_VISIBLE },
{ RET_NO_REGSTEP_NWSR, "No additional regularisation step could be performed due to limits", VS_VISIBLE },
{ RET_FEWER_REGSTEPS_NWSR, "Fewer additional regularisation steps have been performed due to limits", VS_VISIBLE },
{ RET_CHOLESKY_OF_ZERO_HESSIAN, "Cholesky decomposition of (unregularised) zero Hessian matrix", VS_VISIBLE },
{ RET_ZERO_HESSIAN_ASSUMED, "Zero Hessian matrix assumed as null pointer passed without specifying hessianType", VS_VISIBLE },
{ RET_CONSTRAINTS_ARE_NOT_SCALED, "(should not be thrown, no longer in use)", VS_VISIBLE },
{ RET_INITIAL_BOUNDS_STATUS_NYI, "(should not be thrown, no longer in use)", VS_VISIBLE },
{ RET_ERROR_IN_CONSTRAINTPRODUCT, "Error in user-defined constraint product function", VS_VISIBLE },
{ RET_FIX_BOUNDS_FOR_LP, "All initial bounds must be fixed when solving an (unregularised) LP", VS_VISIBLE },
{ RET_USE_REGULARISATION_FOR_LP, "Set options.enableRegularisation=BT_TRUE for solving LPs", VS_VISIBLE },
/* SQProblem */
{ RET_UPDATEMATRICES_FAILED, "Unable to update QP matrices", VS_VISIBLE },
{ RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED, "Unable to update matrices as previous QP is not solved", VS_VISIBLE },
/* Utils */
{ RET_UNABLE_TO_OPEN_FILE, "Unable to open file", VS_VISIBLE },
{ RET_UNABLE_TO_WRITE_FILE, "Unable to write into file", VS_VISIBLE },
{ RET_UNABLE_TO_READ_FILE, "Unable to read from file", VS_VISIBLE },
{ RET_FILEDATA_INCONSISTENT, "File contains inconsistent data", VS_VISIBLE },
/* Options */
{ RET_OPTIONS_ADJUSTED, "Options needed to be adjusted for consistency reasons", VS_VISIBLE },
/* SolutionAnalysis */
{ RET_UNABLE_TO_ANALYSE_QPROBLEM, "Unable to analyse (S)QProblem(B) object", VS_VISIBLE },
/* Benchmark */
{ RET_NWSR_SET_TO_ONE, "Maximum number of working set changes was set to 1", VS_VISIBLE },
{ RET_UNABLE_TO_READ_BENCHMARK, "Unable to read benchmark data", VS_VISIBLE },
{ RET_BENCHMARK_ABORTED, "Benchmark aborted", VS_VISIBLE },
{ RET_INITIAL_QP_SOLVED, "Initial QP solved", VS_VISIBLE },
{ RET_QP_SOLUTION_STARTED, "Solving QP no.", VS_VISIBLE },
{ RET_BENCHMARK_SUCCESSFUL, "Benchmark terminated successfully", VS_VISIBLE },
/* Sparse matrices */
{ RET_NO_DIAGONAL_AVAILABLE, "Sparse matrix does not have entries on full diagonal", VS_VISIBLE },
{ RET_DIAGONAL_NOT_INITIALISED, "Diagonal data of sparse matrix has not been initialised", VS_VISIBLE },
/* Dropping of infeasible constraints */
{ RET_ENSURELI_DROPPED, "Linear independence resolved by dropping blocking constraint", VS_VISIBLE },
/* Schur complement computations */
{ RET_KKT_MATRIX_SINGULAR, "KKT matrix is singular", VS_VISIBLE },
{ RET_QR_FACTORISATION_FAILED, "QR factorization of Schur complement failed", VS_VISIBLE },
{ RET_INERTIA_CORRECTION_FAILED, "Inertia correction of KKT matrix failed", VS_VISIBLE },
{ RET_NO_SPARSE_SOLVER, "No Sparse Solver installed", VS_VISIBLE },
/* Simple exitflags */
{ RET_SIMPLE_STATUS_P1, "QP problem could not be solved within given number of iterations", VS_VISIBLE },
{ RET_SIMPLE_STATUS_P0, "QP problem solved", VS_VISIBLE },
{ RET_SIMPLE_STATUS_M1, "QP problem could not be solved due to an internal error", VS_VISIBLE },
{ RET_SIMPLE_STATUS_M2, "QP problem is infeasible (and thus could not be solved)", VS_VISIBLE },
{ RET_SIMPLE_STATUS_M3, "QP problem is unbounded (and thus could not be solved)", VS_VISIBLE },
/* IMPORTANT: Terminal list element! */
{ TERMINAL_LIST_ELEMENT, "", VS_HIDDEN }
};
#else /* __SUPPRESSANYOUTPUT__ */
MessageHandling::ReturnValueList returnValueList[1]; /* Do not use messages for embedded platforms! */
#endif /* __SUPPRESSANYOUTPUT__ */
/*****************************************************************************
* P U B L I C *
*****************************************************************************/
/*
* M e s s a g e H a n d l i n g
*/
MessageHandling::MessageHandling( )
{
errorVisibility = VS_VISIBLE;
warningVisibility = VS_VISIBLE;
infoVisibility = VS_VISIBLE;
outputFile = stdFile;
errorCount = 0;
}
/*
* M e s s a g e H a n d l i n g
*/
MessageHandling::MessageHandling( FILE* _outputFile )
{
errorVisibility = VS_VISIBLE;
warningVisibility = VS_HIDDEN;
infoVisibility = VS_HIDDEN;
outputFile = _outputFile;
errorCount = 0;
}
/*
* M e s s a g e H a n d l i n g
*/
MessageHandling::MessageHandling( VisibilityStatus _errorVisibility,
VisibilityStatus _warningVisibility,
VisibilityStatus _infoVisibility
)
{
errorVisibility = _errorVisibility;
warningVisibility = _warningVisibility;
infoVisibility = _infoVisibility;
outputFile = stdFile;
errorCount = 0;
}
/*
* M e s s a g e H a n d l i n g
*/
MessageHandling::MessageHandling( FILE* _outputFile,
VisibilityStatus _errorVisibility,
VisibilityStatus _warningVisibility,
VisibilityStatus _infoVisibility
)
{
errorVisibility = _errorVisibility;
warningVisibility = _warningVisibility;
infoVisibility = _infoVisibility;
outputFile = _outputFile;
errorCount = 0;
}
/*
* M e s s a g e H a n d l i n g
*/
MessageHandling::MessageHandling( const MessageHandling& rhs )
{
errorVisibility = rhs.errorVisibility;
warningVisibility = rhs.warningVisibility;
infoVisibility = rhs.infoVisibility;
outputFile = rhs.outputFile;
errorCount = rhs.errorCount;
}
/*
* ~ M e s s a g e H a n d l i n g
*/
MessageHandling::~MessageHandling( )
{
#ifndef __SUPPRESSANYOUTPUT__
if ( ( outputFile != 0 ) && ( outputFile != stdout ) && ( outputFile != stderr ) )
fclose( outputFile );
#endif /* __SUPPRESSANYOUTPUT__ */
}
/*
* o p e r a t o r =
*/
MessageHandling& MessageHandling::operator=( const MessageHandling& rhs )
{
if ( this != &rhs )
{
errorVisibility = rhs.errorVisibility;
warningVisibility = rhs.warningVisibility;
infoVisibility = rhs.infoVisibility;
outputFile = rhs.outputFile;
errorCount = rhs.errorCount;
}
return *this;
}
/*
* t h r o w E r r o r
*/
returnValue MessageHandling::throwError( returnValue Enumber,
const char* additionaltext,
const char* functionname,
const char* filename,
const unsigned long linenumber,
VisibilityStatus localVisibilityStatus
)
{
/* consistency check */
if ( Enumber <= SUCCESSFUL_RETURN )
return throwError( RET_ERROR_UNDEFINED,0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE );
/* Call to common throwMessage function if error shall be displayed. */
if ( errorVisibility == VS_VISIBLE )
return throwMessage( Enumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"ERROR" );
else
return Enumber;
}
/*
* t h r o w W a r n i n g
*/
returnValue MessageHandling::throwWarning( returnValue Wnumber,
const char* additionaltext,
const char* functionname,
const char* filename,
const unsigned long linenumber,
VisibilityStatus localVisibilityStatus
)
{
/* consistency check */
if ( Wnumber <= SUCCESSFUL_RETURN )
return throwError( RET_WARNING_UNDEFINED,0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE );
/* Call to common throwMessage function if warning shall be displayed. */
if ( warningVisibility == VS_VISIBLE )
return throwMessage( Wnumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"WARNING" );
else
return Wnumber;
}
/*
* t h r o w I n f o
*/
returnValue MessageHandling::throwInfo( returnValue Inumber,
const char* additionaltext,
const char* functionname,
const char* filename,
const unsigned long linenumber,
VisibilityStatus localVisibilityStatus
)
{
/* consistency check */
if ( Inumber < SUCCESSFUL_RETURN )
return throwError( RET_INFO_UNDEFINED,0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE );
/* Call to common throwMessage function if info shall be displayed. */
if ( infoVisibility == VS_VISIBLE )
return throwMessage( Inumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"INFO" );
else
return Inumber;
}
/*
* r e s e t
*/
returnValue MessageHandling::reset( )
{
setErrorVisibilityStatus( VS_VISIBLE );
setWarningVisibilityStatus( VS_HIDDEN );
setInfoVisibilityStatus( VS_HIDDEN );
setOutputFile( stdFile );
setErrorCount( 0 );
return SUCCESSFUL_RETURN;
}
/*
* l i s t A l l M e s s a g e s
*/
returnValue MessageHandling::listAllMessages( )
{
#ifndef __SUPPRESSANYOUTPUT__
int_t keypos = 0;
char myPrintfString[MAX_STRING_LENGTH];
/* Run through whole returnValueList and print each item. */
while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT )
{
snprintf( myPrintfString,MAX_STRING_LENGTH," %d - %s \n",(int)keypos,returnValueList[keypos].data );
myPrintf( myPrintfString );
++keypos;
}
#endif /* __SUPPRESSANYOUTPUT__ */
return SUCCESSFUL_RETURN;
}
/*****************************************************************************
* P R O T E C T E D *
*****************************************************************************/
/*
* t h r o w M e s s a g e
*/
returnValue MessageHandling::throwMessage( returnValue RETnumber,
const char* additionaltext,
const char* functionname,
const char* filename,
const unsigned long linenumber,
VisibilityStatus localVisibilityStatus,
const char* RETstring
)
{
#ifndef __SUPPRESSANYOUTPUT__
int_t keypos = 0;
char myPrintfString[MAX_STRING_LENGTH];
/* 1) Determine number of whitespace for output. */
char whitespaces[MAX_STRING_LENGTH];
int_t numberOfWhitespaces = (errorCount-1)*2;
if ( numberOfWhitespaces < 0 )
numberOfWhitespaces = 0;
if ( numberOfWhitespaces > 40 )
numberOfWhitespaces = 40;
if ( numberOfWhitespaces >= (int_t)MAX_STRING_LENGTH )
numberOfWhitespaces = (int_t)MAX_STRING_LENGTH-1;
memset( whitespaces, ' ', (size_t) numberOfWhitespaces );
whitespaces[numberOfWhitespaces] = '\0';
/* 2) Find error/warning/info in list. */
while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT )
{
if ( returnValueList[keypos].key == RETnumber )
break;
else
++keypos;
}
if ( returnValueList[keypos].key == TERMINAL_LIST_ELEMENT )
{
throwError( RET_EWI_UNDEFINED,0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE );
return RETnumber;
}
/* 3) Print error/warning/info. */
if ( ( returnValueList[keypos].globalVisibilityStatus == VS_VISIBLE ) && ( localVisibilityStatus == VS_VISIBLE ) )
{
if ( errorCount < 0 )
{
myPrintf( "\n" );
errorCount = 0;
}
if ( errorCount > 0 )
{
snprintf( myPrintfString,MAX_STRING_LENGTH,"%s->", whitespaces );
myPrintf( myPrintfString );
}
if ( additionaltext == 0 )
{
#ifdef __DEBUG__
snprintf( myPrintfString,MAX_STRING_LENGTH,"%s (%s, %s:%d): \t%s\n",
RETstring,functionname,filename,(int_t)linenumber,returnValueList[keypos].data
);
#else
snprintf( myPrintfString,MAX_STRING_LENGTH,"%s: %s\n",
RETstring,returnValueList[keypos].data
);
#endif
myPrintf( myPrintfString );
}
else
{
#ifdef __DEBUG__
snprintf( myPrintfString,MAX_STRING_LENGTH,"%s (%s, %s:%d): \t%s %s\n",
RETstring,functionname,filename,(int_t)linenumber,returnValueList[keypos].data,additionaltext
);
#else
snprintf( myPrintfString,MAX_STRING_LENGTH,"%s: %s %s\n",
RETstring,returnValueList[keypos].data,additionaltext
);
#endif
myPrintf( myPrintfString );
}
/* take care of proper indention for subsequent error messages */
if ( RETstring[0] == 'E' )
{
++errorCount;
}
else
{
if ( errorCount > 0 )
myPrintf( "\n" );
errorCount = 0;
}
}
#endif /* __SUPPRESSANYOUTPUT__ */
return RETnumber;
}
/****************************************************************************/
/* S T A T I C P U B L I C */
/****************************************************************************/
const char* MessageHandling::getErrorCodeMessage( const returnValue _returnValue
)
{
#ifndef __SUPPRESSANYOUTPUT__
int_t keypos = 0;
/* 2) Find error/warning/info in list. */
while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT )
{
if ( returnValueList[keypos].key == _returnValue )
break;
else
++keypos;
}
if ( returnValueList[keypos].key == TERMINAL_LIST_ELEMENT )
{
return "Unknown error code";
}
return (returnValueList[keypos].data != 0) ? returnValueList[keypos].data : "No message for this error code";
#else /* __SUPPRESSANYOUTPUT__ */
return "No message for this error code";
#endif /* __SUPPRESSANYOUTPUT__ */
}
/*****************************************************************************
* G L O B A L M E S S A G E H A N D L E R *
*****************************************************************************/
/** Global message handler for all qpOASES modules.*/
#if defined(__DSPACE__) || defined(__XPCTARGET__)
static MessageHandling globalMessageHandler( stdFile,VS_VISIBLE,VS_HIDDEN,VS_HIDDEN );
#endif
/*
* g e t G l o b a l M e s s a g e H a n d l e r
*/
MessageHandling* getGlobalMessageHandler( )
{
#ifndef __DSPACE__
#ifndef __XPCTARGET__
static MessageHandling globalMessageHandler( stdFile,VS_VISIBLE,VS_VISIBLE,VS_VISIBLE );
#endif /* __DSPACE__ */
#endif /* __XPCTARGET__ */
return &globalMessageHandler;
}
END_NAMESPACE_QPOASES
/*
* end of file
*/