node_model.h

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// Qt model for nodes controlled by a rosmon instance
// Author: Max Schwarz <max.schwarz@uni-bonn.de>

#ifndef NODE_MODEL_H
#define NODE_MODEL_H

#include <QAbstractTableModel>

#include <rosmon_msgs/State.h>

#include <ros/subscriber.h>
#include <ros/node_handle.h>

namespace rqt_rosmon
{

class NodeModel : public QAbstractTableModel
{
Q_OBJECT
public:
        enum Column
        {
                COL_NAME,
                COL_NAMESPACE,
                COL_RESTART_COUNT,
                COL_LOAD,
                COL_MEMORY,

                COL_COUNT
        };

        enum Role
        {
                SortRole = Qt::UserRole
        };

        explicit NodeModel(ros::NodeHandle& nh, QObject* parent = nullptr);
        ~NodeModel() override = default;

        int rowCount(const QModelIndex & parent) const override;
        int columnCount(const QModelIndex & parent) const override;
        QVariant data(const QModelIndex & index, int role) const override;

        QVariant headerData(int section, Qt::Orientation orientation, int role) const override;

        inline QString namespaceString() const
        { return m_namespace; }

public Q_SLOTS:
        void setNamespace(const QString& ns);
        void unsubscribe();
Q_SIGNALS:
        void stateReceived(const rosmon_msgs::StateConstPtr& state);
private Q_SLOTS:
        void updateState(const rosmon_msgs::StateConstPtr& state);
private:
        struct Entry
        {
                inline bool operator<(const Entry& other) const
                { return name < other.name; }

                QString name;
                QString ns;
                int state;
                int restartCount;
                double load;
                uint64_t memory;
        };

        ros::NodeHandle m_nh;

        QString m_namespace;

        std::vector<Entry> m_entries;

        ros::Subscriber m_sub_state;
};

}

#endif