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00035 #include "rosout_panel.h"
00036 #include "rosout_setup_dialog.h"
00037 #include "rosout_list_control.h"
00038
00039 #include <wx/wx.h>
00040 #include <wx/artprov.h>
00041
00042 #include <ros/ros.h>
00043 #include <ros/package.h>
00044
00045 #include <sstream>
00046 #include <algorithm>
00047
00048 #include <boost/bind.hpp>
00049
00050 #include "rosout_text_filter.h"
00051 #include "rosout_text_filter_control.h"
00052 #include "rosout_severity_filter.h"
00053 #include "rosout_severity_filter_control.h"
00054
00055 namespace rxtools
00056 {
00057
00058 RosoutPanel::RosoutPanel(wxWindow* parent, int id, wxPoint pos, wxSize size, int style)
00059 : RosoutPanelBase(parent, id, pos, size, style)
00060 , enabled_(false)
00061 , message_id_counter_(0)
00062 , max_messages_(20000)
00063 , needs_refilter_(false)
00064 , refilter_timer_(0.0f)
00065 , pause_(false)
00066 , logger_level_frame_(0)
00067 {
00068 wxInitAllImageHandlers();
00069
00070 nh_.setCallbackQueue(&callback_queue_);
00071
00072 process_timer_ = new wxTimer(this);
00073 process_timer_->Start(250);
00074
00075 Connect(process_timer_->GetId(), wxEVT_TIMER, wxTimerEventHandler(RosoutPanel::onProcessTimer), NULL, this);
00076
00077 table_->setModel(this);
00078
00079 setTopic("/rosout_agg");
00080 setEnabled(true);
00081
00082 std::string icon_path = ros::package::getPath(ROS_PACKAGE_NAME) + "/icons/";
00083 delete_filter_bitmap_ = wxBitmap(wxString::FromAscii((icon_path + "delete-filter-16.png").c_str()), wxBITMAP_TYPE_PNG);
00084
00085 wxBitmap add_bitmap(wxString::FromAscii((icon_path + "add-16.png").c_str()), wxBITMAP_TYPE_PNG);
00086 add_filter_button_->SetBitmapLabel(add_bitmap);
00087
00088 add_filter_button_->Connect(wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler(RosoutPanel::onAddFilterPressed), NULL, this);
00089
00090 {
00091 RosoutSeverityFilterPtr filter(new RosoutSeverityFilter);
00092 RosoutSeverityFilterControl* control = new RosoutSeverityFilterControl(this, filter);
00093 severity_filter_ = filter;
00094 severity_sizer_->Add(control, 0, wxEXPAND);
00095 severity_filter_->getChangedSignal().connect(boost::bind(&RosoutPanel::onFilterChanged, this, _1));
00096 }
00097
00098 createTextFilter();
00099
00100 filters_window_->SetMinSize(wxSize(-1, filters_[0].panel->GetSize().GetHeight() + add_filter_button_->GetSize().GetHeight() + 5));
00101 }
00102
00103 RosoutPanel::~RosoutPanel()
00104 {
00105 unsubscribe();
00106
00107 Disconnect(process_timer_->GetId(), wxEVT_TIMER, wxTimerEventHandler(RosoutPanel::onProcessTimer), NULL, this);
00108
00109 delete process_timer_;
00110
00111 clear();
00112 }
00113
00114 void RosoutPanel::clear()
00115 {
00116 table_->SetItemCount(0);
00117 messages_.clear();
00118 ordered_messages_.clear();
00119 }
00120
00121 void RosoutPanel::setEnabled(bool enabled)
00122 {
00123 if (enabled_ == enabled)
00124 {
00125 return;
00126 }
00127
00128 enabled_ = enabled;
00129 if (enabled)
00130 {
00131 subscribe();
00132 }
00133 else
00134 {
00135 unsubscribe();
00136 }
00137 }
00138
00139 void RosoutPanel::subscribe()
00140 {
00141 if (!enabled_ || topic_.empty())
00142 {
00143 return;
00144 }
00145
00146 sub_ = nh_.subscribe(topic_, 0, &RosoutPanel::incomingMessage, this);
00147 }
00148
00149 void RosoutPanel::unsubscribe()
00150 {
00151 sub_.shutdown();
00152 }
00153
00154 void RosoutPanel::setTopic(const std::string& topic)
00155 {
00156 if (topic == topic_)
00157 {
00158 return;
00159 }
00160
00161 unsubscribe();
00162
00163 topic_ = topic;
00164
00165 subscribe();
00166 }
00167
00168 void RosoutPanel::setMessages(const M_IdToMessage& messages)
00169 {
00170 messages_ = messages;
00171
00172 if (messages.empty())
00173 {
00174 message_id_counter_ = 0;
00175 }
00176 else
00177 {
00178 message_id_counter_ = messages.rbegin()->first;
00179 }
00180
00181 refilter();
00182 }
00183
00184 RosoutFrame* RosoutPanel::createNewFrame()
00185 {
00186 RosoutFrame* frame = new RosoutFrame(0);
00187 frame->rosout_panel_->setMessages(messages_);
00188 frame->Show();
00189 frame->Raise();
00190
00191 return frame;
00192 }
00193
00194 void RosoutPanel::onNewWindow(wxCommandEvent& event)
00195 {
00196 createNewFrame();
00197 }
00198
00199 void RosoutPanel::onLoggerLevelsClose(wxCloseEvent& event)
00200 {
00201 logger_level_frame_->Show(false);
00202 event.Veto();
00203 }
00204
00205 void RosoutPanel::onLoggerLevels(wxCommandEvent& event)
00206 {
00207 if (!logger_level_frame_)
00208 {
00209 logger_level_frame_ = new LoggerLevelFrame(this);
00210 logger_level_frame_->Connect(wxEVT_CLOSE_WINDOW, wxCloseEventHandler(RosoutPanel::onLoggerLevelsClose), NULL, this);
00211 }
00212
00213 logger_level_frame_->Show();
00214 logger_level_frame_->Raise();
00215 }
00216
00217 bool filterEnabledCheckboxEqual(wxWindowID id, const RosoutPanel::FilterInfo& info)
00218 {
00219 return info.enabled_cb && info.enabled_cb->GetId() == id;
00220 }
00221
00222 void RosoutPanel::onFilterEnableChecked(wxCommandEvent& event)
00223 {
00224 V_FilterInfo::iterator it = std::find_if(filters_.begin(), filters_.end(), boost::bind(filterEnabledCheckboxEqual, event.GetId(), _1));
00225 if (it != filters_.end())
00226 {
00227 FilterInfo& info = *it;
00228 info.filter->setEnabled(event.IsChecked());
00229 refilter();
00230 }
00231 }
00232
00233 bool filterDeleteButtonEqual(wxWindowID id, const RosoutPanel::FilterInfo& info)
00234 {
00235 return info.delete_button && info.delete_button->GetId() == id;
00236 }
00237
00238 void RosoutPanel::onFilterDelete(wxCommandEvent& event)
00239 {
00240 V_FilterInfo::iterator it = std::find_if(filters_.begin(), filters_.end(), boost::bind(filterDeleteButtonEqual, event.GetId(), _1));
00241 if (it != filters_.end())
00242 {
00243 FilterInfo& info = *it;
00244 removeFilter(info.filter);
00245 }
00246 }
00247
00248 bool filterUpButtonEqual(wxWindowID id, const RosoutPanel::FilterInfo& info)
00249 {
00250 return info.up_button && info.up_button->GetId() == id;
00251 }
00252
00253 void RosoutPanel::onFilterMoveUp(wxCommandEvent& event)
00254 {
00255 V_FilterInfo::iterator it = std::find_if(filters_.begin(), filters_.end(), boost::bind(filterUpButtonEqual, event.GetId(), _1));
00256 if (it != filters_.end() && it != filters_.begin())
00257 {
00258 FilterInfo& info = *it;
00259
00260 filters_sizer_->Detach(info.panel);
00261 size_t new_index = it - filters_.begin() - 1;
00262 filters_sizer_->Insert(new_index, info.panel, 0, wxEXPAND|wxBOTTOM, 1);
00263 filters_sizer_->Layout();
00264 std::swap(*it, *(it - 1));
00265
00266 resizeFiltersPane();
00267 updateFilterBackgrounds();
00268 }
00269 }
00270
00271 bool filterDownButtonEqual(wxWindowID id, const RosoutPanel::FilterInfo& info)
00272 {
00273 return info.down_button && info.down_button->GetId() == id;
00274 }
00275
00276 void RosoutPanel::onFilterMoveDown(wxCommandEvent& event)
00277 {
00278 V_FilterInfo::iterator it = std::find_if(filters_.begin(), filters_.end(), boost::bind(filterDownButtonEqual, event.GetId(), _1));
00279 if (it != filters_.end() && it != filters_.end() - 1)
00280 {
00281 FilterInfo& info = *it;
00282
00283 filters_sizer_->Detach(info.panel);
00284 size_t new_index = it - filters_.begin() + 1;
00285 filters_sizer_->Insert(new_index, info.panel, 0, wxEXPAND|wxBOTTOM, 1);
00286 filters_sizer_->Layout();
00287 std::swap(*it, *(it + 1));
00288
00289 resizeFiltersPane();
00290 updateFilterBackgrounds();
00291 }
00292 }
00293
00294 void RosoutPanel::updateFilterBackgrounds()
00295 {
00296 for (size_t i = 0; i < filters_.size(); ++i)
00297 {
00298 FilterInfo& info = filters_[i];
00299 if (i % 2 == 0)
00300 {
00301 info.panel->SetBackgroundColour(*wxLIGHT_GREY);
00302 info.control->SetBackgroundColour(*wxLIGHT_GREY);
00303 }
00304 else
00305 {
00306 info.panel->SetBackgroundColour(wxNullColour);
00307 info.control->SetBackgroundColour(wxNullColour);
00308 }
00309 }
00310 }
00311
00312 void RosoutPanel::addFilter(const RosoutFilterPtr& filter, wxWindow* control)
00313 {
00314 table_->preItemChanges();
00315
00316 FilterInfo info;
00317 info.filter = filter;
00318 info.control = control;
00319
00320 info.panel = new wxPanel(filters_window_, wxID_ANY);
00321 filters_sizer_->Add(info.panel, 0, wxEXPAND|wxBOTTOM, 1);
00322 info.panel->SetPosition(wxPoint(0, info.panel->GetSize().GetHeight() * filters_.size()));
00323
00324 if (filters_.size() % 2 == 0)
00325 {
00326 info.panel->SetBackgroundColour(*wxLIGHT_GREY);
00327 info.control->SetBackgroundColour(*wxLIGHT_GREY);
00328 }
00329 else
00330 {
00331 info.panel->SetBackgroundColour(wxNullColour);
00332 info.control->SetBackgroundColour(wxNullColour);
00333 }
00334
00335 control->Reparent(info.panel);
00336
00337 info.sizer = new wxBoxSizer(wxHORIZONTAL);
00338 info.panel->SetSizer(info.sizer);
00339
00340
00341 #if 01
00342
00343 {
00344 info.enabled_cb = new wxCheckBox(info.panel, wxID_ANY, wxT("Enabled"));
00345 info.enabled_cb->SetValue(filter->isEnabled());
00346 info.sizer->Add(info.enabled_cb, 0, wxALIGN_CENTER_VERTICAL);
00347 info.enabled_cb->Connect(wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler(RosoutPanel::onFilterEnableChecked), NULL, this);
00348 }
00349 #endif
00350
00351 info.sizer->Add(control, 1, wxALIGN_CENTER_VERTICAL);
00352
00353 info.delete_button = 0;
00354
00355 {
00356 info.delete_button = new wxBitmapButton(info.panel, wxID_ANY, delete_filter_bitmap_);
00357 info.sizer->Add(info.delete_button, 0, wxALIGN_CENTER_VERTICAL);
00358 info.delete_button->Connect(wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler(RosoutPanel::onFilterDelete), NULL, this);
00359
00360 info.down_button = new wxBitmapButton(info.panel, wxID_ANY, wxArtProvider::GetBitmap(wxART_GO_DOWN, wxART_OTHER, wxSize(16, 16)));
00361 info.sizer->Add(info.down_button, 0, wxALIGN_CENTER_VERTICAL);
00362 info.down_button->Connect(wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler(RosoutPanel::onFilterMoveDown), NULL, this);
00363
00364 info.up_button = new wxBitmapButton(info.panel, wxID_ANY, wxArtProvider::GetBitmap(wxART_GO_UP, wxART_OTHER, wxSize(16, 16)));
00365 info.sizer->Add(info.up_button, 0, wxALIGN_CENTER_VERTICAL);
00366 info.up_button->Connect(wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler(RosoutPanel::onFilterMoveUp), NULL, this);
00367 }
00368
00369 filters_.push_back(info);
00370
00371 resizeFiltersPane();
00372
00373 filters_window_->Scroll(-1, 100000);
00374
00375 filter->getChangedSignal().connect(boost::bind(&RosoutPanel::onFilterChanged, this, _1));
00376
00377 needs_refilter_ = true;
00378
00379 table_->postItemChanges();
00380 }
00381
00382 void RosoutPanel::resizeFiltersPane()
00383 {
00384 filters_window_->Layout();
00385
00386 wxSize sizer_size = filters_window_->GetSizer()->GetMinSize();
00387 if (sizer_size.GetHeight() > 150)
00388 {
00389 filters_window_->SetMinSize(wxSize(-1, 150));
00390 filters_window_->GetSizer()->FitInside(filters_window_);
00391 }
00392 else
00393 {
00394 filters_window_->SetMinSize(wxSize(-1, sizer_size.GetHeight()));
00395 }
00396
00397 Layout();
00398 Refresh();
00399 }
00400
00401 bool filterEquals(const RosoutFilterPtr& filter, const RosoutPanel::FilterInfo& info)
00402 {
00403 return info.filter == filter;
00404 }
00405
00406 void RosoutPanel::removeFilter(const RosoutFilterPtr& filter)
00407 {
00408 V_FilterInfo::iterator it = std::find_if(filters_.begin(), filters_.end(), boost::bind(filterEquals, filter, _1));
00409 if (it != filters_.end())
00410 {
00411 FilterInfo& info = *it;
00412 info.panel->Destroy();
00413 filters_.erase(it);
00414
00415 resizeFiltersPane();
00416 updateFilterBackgrounds();
00417
00418 refilter();
00419 }
00420 }
00421
00422 void RosoutPanel::clearFilters()
00423 {
00424 while (!filters_.empty())
00425 {
00426 removeFilter(filters_.front().filter);
00427 }
00428 }
00429
00430 void RosoutPanel::onFilterChanged(const RosoutFilter*)
00431 {
00432 needs_refilter_ = true;
00433 }
00434
00435 template<class T>
00436 void printStuff(const std::string& name, T* win)
00437 {
00438 wxPoint point = win->GetPosition();
00439 wxSize size = win->GetSize();
00440 ROS_INFO("%s: x: %d, y: %d, w: %d, h: %d", name.c_str(), point.x, point.y, size.GetWidth(), size.GetHeight());
00441 }
00442
00443 #define PRINT_STUFF(description) \
00444 ROS_INFO(description); \
00445 printStuff(" filters_sizer_", filters_sizer_); \
00446 printStuff(" filters_window_->GetSizer()", filters_window_->GetSizer()); \
00447 printStuff(" filters_window_", filters_window_); \
00448 for (size_t i = 0; i < filters_.size(); ++i) \
00449 { \
00450 { \
00451 std::stringstream ss; \
00452 ss << " panel " << i; \
00453 printStuff(ss.str(), filters_[i].panel); \
00454 } \
00455 { \
00456 std::stringstream ss; \
00457 ss << " sizer " << i; \
00458 printStuff(ss.str(), filters_[i].sizer); \
00459 } \
00460 }
00461
00462 void RosoutPanel::onProcessTimer(wxTimerEvent& evt)
00463 {
00464 callback_queue_.callAvailable(ros::WallDuration());
00465
00466 processMessages();
00467
00468 refilter_timer_ += 0.25f;
00469 if (needs_refilter_ && refilter_timer_ > 0.5f)
00470 {
00471 refilter_timer_ = 0.0f;
00472 needs_refilter_ = false;
00473 refilter();
00474 }
00475
00476
00477 }
00478
00479 RosoutTextFilterPtr RosoutPanel::createTextFilter()
00480 {
00481 RosoutTextFilterPtr filter(new RosoutTextFilter);
00482 RosoutTextFilterControl* control = new RosoutTextFilterControl(filters_window_, filter);
00483 addFilter(filter, control);
00484
00485 return filter;
00486 }
00487
00488 void RosoutPanel::onAddFilterPressed(wxCommandEvent& event)
00489 {
00490 createTextFilter();
00491 }
00492
00493 void RosoutPanel::onClear(wxCommandEvent& event)
00494 {
00495 clear();
00496 }
00497
00498 void RosoutPanel::addMessageToTable(const rosgraph_msgs::Log::ConstPtr& message, uint32_t id)
00499 {
00500 ordered_messages_.push_back(id);
00501 }
00502
00503 rosgraph_msgs::LogConstPtr RosoutPanel::getMessageByIndex(uint32_t index) const
00504 {
00505 if (index >= ordered_messages_.size())
00506 {
00507 return rosgraph_msgs::LogConstPtr();
00508 }
00509
00510 M_IdToMessage::const_iterator it = messages_.find(ordered_messages_[index]);
00511 ROS_ASSERT(it != messages_.end());
00512
00513 return it->second;
00514 }
00515
00516 bool RosoutPanel::filter(uint32_t id) const
00517 {
00518
00519 if (filters_.empty())
00520 {
00521 return true;
00522 }
00523
00524 M_IdToMessage::const_iterator it = messages_.find(id);
00525 ROS_ASSERT(it != messages_.end());
00526
00527 const rosgraph_msgs::LogConstPtr& message = it->second;
00528
00529
00530 if (!severity_filter_->filter(message))
00531 {
00532 return false;
00533 }
00534
00535 {
00536 V_FilterInfo::const_iterator it = filters_.begin();
00537 V_FilterInfo::const_iterator end = filters_.end();
00538 for (; it != end; ++it)
00539 {
00540 const FilterInfo& info = *it;
00541 const RosoutFilterPtr& filter = info.filter;
00542 if (filter->isEnabled() && filter->isValid())
00543 {
00544 if (!filter->filter(message))
00545 {
00546 return false;
00547 }
00548 }
00549 }
00550 }
00551
00552 return true;
00553 }
00554
00555 void RosoutPanel::validateOrderedMessages()
00556 {
00557 #if VALIDATE_FILTERING
00558 typedef std::set<uint32_t> S_u32;
00559 S_u32 s;
00560 V_u32::iterator it = ordered_messages_.begin();
00561 V_u32::iterator end = ordered_messages_.end();
00562 for (; it != end; ++it)
00563 {
00564 uint32_t id = *it;
00565 if (!s.insert(id).second)
00566 {
00567 ROS_BREAK();
00568 }
00569 }
00570 #endif
00571 }
00572
00573 void RosoutPanel::refilter()
00574 {
00575 table_->preItemChanges();
00576
00577 ordered_messages_.clear();
00578 M_IdToMessage::iterator it = messages_.begin();
00579 M_IdToMessage::iterator end = messages_.end();
00580 for (; it != end; ++it)
00581 {
00582 uint32_t id = it->first;
00583 rosgraph_msgs::Log::ConstPtr& message = it->second;
00584
00585 if (filter(id))
00586 {
00587 addMessageToTable(message, id);
00588 }
00589 }
00590
00591 validateOrderedMessages();
00592
00593 table_->SetItemCount(ordered_messages_.size());
00594
00595 table_->postItemChanges();
00596 }
00597
00598 void RosoutPanel::popMessage()
00599 {
00600 M_IdToMessage::iterator it = messages_.begin();
00601 if (!ordered_messages_.empty() && ordered_messages_.front() == it->first)
00602 {
00603
00604 ordered_messages_.erase(ordered_messages_.begin());
00605 table_->SetItemCount(ordered_messages_.size());
00606
00607
00608 const S_int32& selection = table_->getSelection();
00609 S_int32 new_selection;
00610
00611 S_int32::const_iterator it = selection.begin();
00612 S_int32::const_iterator end = selection.end();
00613 for (; it != end; ++it)
00614 {
00615 int32_t new_index = *it - 1;
00616 if (new_index >= 0)
00617 {
00618 new_selection.insert(new_index);
00619 }
00620 }
00621
00622 table_->setSelection(new_selection);
00623 }
00624
00625 messages_.erase(it);
00626 }
00627
00628 void RosoutPanel::processMessage(const rosgraph_msgs::Log::ConstPtr& message)
00629 {
00630 uint32_t id = message_id_counter_++;
00631
00632 messages_.insert(std::make_pair(id, message));
00633
00634 if (filter(id))
00635 {
00636 addMessageToTable(message, id);
00637 }
00638
00639 validateOrderedMessages();
00640
00641 if (messages_.size() > max_messages_)
00642 {
00643 popMessage();
00644 }
00645 }
00646
00647 void RosoutPanel::processMessages()
00648 {
00649 if (message_queue_.empty())
00650 {
00651 return;
00652 }
00653
00654 table_->preItemChanges();
00655
00656 V_Log::iterator it = message_queue_.begin();
00657 V_Log::iterator end = message_queue_.end();
00658 for (; it != end; ++it)
00659 {
00660 rosgraph_msgs::Log::ConstPtr& message = *it;
00661
00662 processMessage(message);
00663 }
00664
00665 message_queue_.clear();
00666
00667 table_->SetItemCount(ordered_messages_.size());
00668
00669 table_->postItemChanges();
00670 }
00671
00672 void RosoutPanel::incomingMessage(const rosgraph_msgs::Log::ConstPtr& msg)
00673 {
00674 if (!pause_)
00675 {
00676 message_queue_.push_back(msg);
00677 }
00678 }
00679
00680 void RosoutPanel::onPause(wxCommandEvent& evt)
00681 {
00682 pause_ = evt.IsChecked();
00683 }
00684
00685 void RosoutPanel::onSetup(wxCommandEvent& evt)
00686 {
00687 RosoutSetupDialog dialog(this, topic_, max_messages_);
00688
00689 if (dialog.ShowModal() == wxOK)
00690 {
00691 setTopic(dialog.getTopic());
00692 setBufferSize(dialog.getBufferSize());
00693 }
00694 }
00695
00696 void RosoutPanel::setBufferSize(uint32_t size)
00697 {
00698 max_messages_ = size;
00699 while (messages_.size() >= max_messages_)
00700 {
00701 popMessage();
00702 }
00703 }
00704
00705 RosoutMessageSummary RosoutPanel::getMessageSummary(double duration) const
00706 {
00707 RosoutMessageSummary summary;
00708 ros::Time search_end(0);
00709
00710 if (ros::Time::now().toSec() - duration > 0)
00711 {
00712 search_end = ros::Time::now() - ros::Duration(duration);
00713 }
00714
00715 M_IdToMessage::const_reverse_iterator it = messages_.rbegin();
00716 M_IdToMessage::const_reverse_iterator end = messages_.rend();
00717 for (; it != end; ++it)
00718 {
00719 const rosgraph_msgs::Log::ConstPtr& msg = it->second;
00720
00721 if (msg->header.stamp < search_end)
00722 {
00723 break;
00724 }
00725
00726 switch (msg->level)
00727 {
00728 case rosgraph_msgs::Log::DEBUG:
00729 ++summary.debug;
00730 break;
00731 case rosgraph_msgs::Log::INFO:
00732 ++summary.info;
00733 break;
00734 case rosgraph_msgs::Log::WARN:
00735 ++summary.warn;
00736 break;
00737 case rosgraph_msgs::Log::ERROR:
00738 ++summary.error;
00739 break;
00740 case rosgraph_msgs::Log::FATAL:
00741 ++summary.fatal;
00742 break;
00743 }
00744 }
00745
00746 return summary;
00747 }
00748
00749 }
