ui.h

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// Terminal UI
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef ROSBAG_FANCY_UI_H
#define ROSBAG_FANCY_UI_H

#include "terminal.h"
#include "topic_manager.h"
#include "message_queue.h"

#include <ros/steady_timer.h>

#include <boost/signals2.hpp>

namespace rosbag_fancy
{

class BagWriter;
class BagReader;

class UI
{
public:
        UI(TopicManager& config, MessageQueue& queue, BagWriter& writer);

        void draw();

private:
        template<class... Args>
        void printLine(unsigned int& lineCounter, const Args& ... args);

        TopicManager& m_topicManager;
        MessageQueue& m_queue;
        BagWriter& m_bagWriter;

        Terminal m_term;

        ros::SteadyTimer m_timer;
        ros::WallTime m_lastDrawTime;
};

class PlaybackUI
{
public:
        explicit PlaybackUI(TopicManager& topics, const ros::Time& startTime, const ros::Time& endTime);

        void setPositionInBag(const ros::Time& stamp);
        void setPaused(bool paused);

        void draw();

        void handleInput();

        boost::signals2::signal<void()> seekForwardRequested;
        boost::signals2::signal<void()> seekBackwardRequested;
        boost::signals2::signal<void()> pauseRequested;
        boost::signals2::signal<void()> exitRequested;

private:
        template<class... Args>
        void printLine(unsigned int& lineCounter, const Args& ... args);

        TopicManager& m_topicManager;

        ros::Time m_startTime;
        ros::Time m_endTime;

        Terminal m_term;

        ros::SteadyTimer m_timer;
        ros::WallTime m_lastDrawTime;

        ros::Time m_positionInBag;

        ros::SteadyTime m_lastSeekFwd;
        ros::SteadyTime m_lastSeekBwd;

        bool m_paused = false;
};

}

#endif