monitor.h

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// Monitors execution of a launch file
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef ROSMON_MONITOR_MONITOR_H
#define ROSMON_MONITOR_MONITOR_H

#include "../fd_watcher.h"
#include "../launch/launch_config.h"
#include "../log_event.h"

#include "node_monitor.h"
#include "linux_process_info.h"

#include <boost/signals2.hpp>

#include <ros/node_handle.h>

namespace rosmon
{

namespace monitor
{

class Monitor
{
public:
public:
        explicit Monitor(launch::LaunchConfig::ConstPtr config, FDWatcher::Ptr watcher);

        void setParameters();
        void start();
        void shutdown();
        void forceExit();
        bool allShutdown();

        double shutdownTimeout();

        inline bool ok() const
        { return m_ok; }

        const std::vector<NodeMonitor::Ptr>& nodes() const
        { return m_nodes; }
        std::vector<NodeMonitor::Ptr>& nodes()
        { return m_nodes; }

        launch::LaunchConfig::ConstPtr config() const
        { return m_config; }

        boost::signals2::signal<void(LogEvent)> logMessageSignal;
private:
        struct ProcessInfo
        {
                process_info::ProcessStat stat;
                bool active;
        };

        template<typename... Args>
        void log(const char* fmt, Args&& ... args);

        template<typename... Args>
        void logTyped(LogEvent::Type type, const char* fmt, Args&& ... args);

        void handleRequiredNodeExit(const std::string& name);

#if HAVE_STEADYTIMER
        void updateStats(const ros::SteadyTimerEvent& event);
#else
        void updateStats(const ros::WallTimerEvent& event);
#endif

        launch::LaunchConfig::ConstPtr m_config;

        ros::NodeHandle m_nh;
        FDWatcher::Ptr m_fdWatcher;

        std::vector<NodeMonitor::Ptr> m_nodes;

        bool m_ok;

#if HAVE_STEADYTIMER
        ros::SteadyTimer m_statTimer;
#else
        ros::WallTimer m_statTimer;
#endif

        std::map<int, ProcessInfo> m_processInfos;
};

}

}

#endif