rosout_panel.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*
 * wx panel for viewing rosout.
 *
 * Written by Josh Faust
 */
#ifndef RXTOOLS_ROSOUT_PANEL_H
#define RXTOOLS_ROSOUT_PANEL_H

#include "rosout_generated.h"
#include "rosout_filter.h"
#include "rosgraph_msgs/Log.h"

#include <ros/ros.h>
#include <ros/callback_queue.h>

#include <string>
#include <vector>
#include <map>
#include <set>

#include "boost/thread/mutex.hpp"
#include <boost/thread/thread.hpp>

class wxTimer;
class wxTimerEvent;
class wxAuiNotebook;
class wxRichTextCtrl;
class wxScrolledWindow;
class wxSizer;
class wxBitmapButton;
class wxCheckBox;
class wxWindow;
class wxPanel;
class wxEvent;

namespace rxtools
{

class RosoutTextFilter;
typedef boost::shared_ptr<RosoutTextFilter> RosoutTextFilterPtr;

class RosoutSeverityFilter;
typedef boost::shared_ptr<RosoutSeverityFilter> RosoutSeverityFilterPtr;

typedef unsigned int uint32_t; // for swig

struct RosoutMessageSummary
{
  RosoutMessageSummary()
  : debug(0)
  , info(0)
  , warn(0)
  , error(0)
  , fatal(0)
  {}

  ~RosoutMessageSummary()
  {}

  uint32_t debug;
  uint32_t info;
  uint32_t warn;
  uint32_t error;
  uint32_t fatal;
};

class RosoutPanel : public RosoutPanelBase
{
public:
  struct FilterInfo
  {
    RosoutFilterPtr filter;
    wxWindow* control;
    wxSizer* sizer;
    wxCheckBox* enabled_cb;
    wxBitmapButton* delete_button;
    wxBitmapButton* up_button;
    wxBitmapButton* down_button;
    wxPanel* panel;
  };

public:
  RosoutPanel(wxWindow* parent, int id = wxID_ANY, wxPoint pos = wxDefaultPosition, wxSize size = wxDefaultSize, int style = wxTAB_TRAVERSAL);
  ~RosoutPanel();

  void setEnabled(bool enabled);
  void setTopic(const std::string& topic);

  void clear();

  void setBufferSize(uint32_t size);

  RosoutMessageSummary getMessageSummary(double duration) const;

  rosgraph_msgs::LogConstPtr getMessageByIndex(uint32_t index) const;

  RosoutTextFilterPtr createTextFilter();
  RosoutFrame* createNewFrame();

  void clearFilters();

  void refilter();

protected:
  virtual void onSetup(wxCommandEvent& event);
  virtual void onPause(wxCommandEvent& event);
  virtual void onClear(wxCommandEvent& event);

  virtual void onNewWindow(wxCommandEvent& event);
  virtual void onLoggerLevels(wxCommandEvent& event);
  void onLoggerLevelsClose(wxCloseEvent& event);

  void onProcessTimer(wxTimerEvent& evt);

  void onAddFilterPressed(wxCommandEvent& event);
  void onFilterEnableChecked(wxCommandEvent& event);
  void onFilterDelete(wxCommandEvent& event);
  void onFilterMoveUp(wxCommandEvent& event);
  void onFilterMoveDown(wxCommandEvent& event);


  void onFilterChanged(const RosoutFilter*);

  void subscribe();
  void unsubscribe();

  void incomingMessage(const rosgraph_msgs::Log::ConstPtr& message);
  void processMessages();
  void processMessage(const rosgraph_msgs::Log::ConstPtr& message);
  void addMessageToTable(const rosgraph_msgs::Log::ConstPtr& message, uint32_t id);

  bool filter(uint32_t id) const;

  void popMessage();

  void resizeFiltersPane();
  void updateFilterBackgrounds();

  void addFilter(const RosoutFilterPtr& filter, wxWindow* control);
  void removeFilter(const RosoutFilterPtr& filter);

  typedef std::map<uint32_t, rosgraph_msgs::Log::ConstPtr> M_IdToMessage;
  // dirty hack, really need to be able to share a backing set of messages
  void setMessages(const M_IdToMessage& messages);

  void validateOrderedMessages();

  bool enabled_; 
  std::string topic_; 

  ros::NodeHandle nh_;

  typedef std::vector<rosgraph_msgs::Log::ConstPtr> V_Log;
  V_Log message_queue_; 

  wxTimer* process_timer_; 

  uint32_t message_id_counter_; 

  M_IdToMessage messages_; 

  typedef std::vector<uint32_t> V_u32;
  V_u32 ordered_messages_; 

  uint32_t max_messages_; 
  bool needs_refilter_; 
  float refilter_timer_; 

  ros::CallbackQueue callback_queue_;
  ros::Subscriber sub_;

  typedef std::vector<FilterInfo> V_FilterInfo;
  V_FilterInfo filters_;
  // special severity filter, of which there is only one (and it's not in the "filters" collapsible pane)
  RosoutSeverityFilterPtr severity_filter_;

  wxBitmap delete_filter_bitmap_;

  bool pause_;

  LoggerLevelFrame* logger_level_frame_;

  void checkForMaster();

  bool connected_; 
  boost::thread* check_master_thread_; 
  bool shutdown_thread_; 

  const int RECONNECTED_TO_MASTER_EVENT_;
  const int DISCONNECTED_FROM_MASTER_EVENT_;
  void onMasterReconnected(wxEvent& event);
  void onMasterDisconnected(wxEvent& event);
};

} // namespace rxtools

#endif // RXTOOLS_ROSOUT_PANEL_H