main.cpp

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#include <log_view/log_store.h>
#include <log_view/log_view.h>
#include <rosgraph_msgs/Log.h>
 
#include <csignal>
 
#include <ros/ros.h>
 
void handleSigint(int sig);
 
class LogViewer {
  public:
  static bool exit;
 
  LogViewer() :
    logs_(std::make_shared<log_view::LogStore>()),
    view_(logs_)
  {
 
  }
 
  void run() {
    bool connected = false;
    view_.init();
    while (!exit && !view_.exited()) {
      bool master_status = ros::master::check();
      view_.setConnected(master_status);
      view_.setSystemTime(ros::WallTime::now());
      if (!connected && master_status) {
        ros::start();
        signal(SIGINT, handleSigint);
        ros::NodeHandle node;
        sub_ = node.subscribe("/rosout_agg", 10000, &LogViewer::handleMsg, this);
      }
      else if (connected && !master_status) {
        ros::shutdown();
      }
      else if (connected && master_status) {
        ros::spinOnce();
        view_.setRosTime(ros::Time::now());
      }
 
      connected = master_status;
      view_.update();
    }
    view_.close();
  }
 
  void handleMsg(const rosgraph_msgs::LogConstPtr& msg) {
    logs_->addEntry(msg);
  }
 
  private:
    ros::Subscriber sub_;
 
    log_view::LogStorePtr logs_;
    log_view::LogView view_;
};
bool LogViewer::exit = false;
 
void handleSigint(int sig)
{
  LogViewer::exit = true;
}
 
int main(int argc, char **argv)
{
  // prevent ncurses from pausing for 1 second on ESC key
  char escape_var[] = "ESCDELAY=0";
  putenv(escape_var);
  ros::init(argc, argv, "log_viewer", ros::init_options::AnonymousName | ros::init_options::NoRosout);
 
  LogViewer log_viewer;
  log_viewer.run();
 
  exit(0);
}