ui.h

Go to the documentation of this file.

// console user interface
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef UI_H
#define UI_H

#include "monitor/monitor.h"
#include "fd_watcher.h"
#include "terminal.h"
#include "log_event.h"

#include <ros/wall_timer.h>

#include <map>
#include <unordered_set>

namespace rosmon
{

class UI
{
public:
        explicit UI(monitor::Monitor* monitor, const FDWatcher::Ptr& fdWatcher);
        ~UI();

        void update();
        void log(const LogEvent& event);
private:
        struct ChannelInfo
        {
                ChannelInfo()
                {}

                ChannelInfo(Terminal* term)
                 : parser{term}
                {}

                ChannelInfo(Terminal* term, uint32_t color)
                 : parser{term}
                 , labelColor(color)
                {}

                Terminal::Parser parser;
                uint32_t labelColor;
        };

        void drawStatusLine();
        void checkWindowSize();
        void setupColors();

        void readInput();
        void checkTerminal();

        void handleKey(int key);

        bool anyMuted() const;

        void startAll();

        void stopAll();

        void muteAll();

        void unmuteAll();

        bool stderrOnly();

        void toggleStderrOnly();

        void scheduleUpdate();

        std::string nodeDisplayName(monitor::NodeMonitor& node, std::size_t maxWidth = std::string::npos);

        monitor::Monitor* m_monitor;
        FDWatcher::Ptr m_fdWatcher;
        bool m_refresh_required = true;
        bool m_stderr_only = false;

        Terminal m_term;

        int m_columns;
        ros::WallTimer m_sizeTimer;
        ros::WallTimer m_terminalCheckTimer;

        std::map<std::string, ChannelInfo> m_nodeColorMap;

        int m_selectedNode;

        std::string m_strSetColor;

        bool m_searchActive = false;
        std::string m_searchString;
        unsigned int m_searchSelectedIndex;
        std::vector<unsigned int> m_searchNodes;
        unsigned int m_searchDisplayColumns = 0;

        Terminal::Color m_color_bar;

        Terminal::Style m_style_barLine;
        Terminal::Style m_style_bar;
        Terminal::Style m_style_barKey;
        Terminal::Style m_style_barHighlight;

        Terminal::Style m_style_nodeKey;
        Terminal::Style m_style_nodeKeyMuted;

        Terminal::Style m_style_nodeIdle;
        Terminal::Style m_style_nodeRunning;
        Terminal::Style m_style_nodeCrashed;
        Terminal::Style m_style_nodeWaiting;

        Terminal::Style m_style_nodeIdleFaded;
        Terminal::Style m_style_nodeRunningFaded;
        Terminal::Style m_style_nodeCrashedFaded;
        Terminal::Style m_style_nodeWaitingFaded;

        unsigned int m_nodeLabelWidth = 20;
};

}

#endif