node_model.cpp

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// Qt model for nodes controlled by a rosmon instance
// Author: Max Schwarz <max.schwarz@uni-bonn.de>
 
#include "node_model.h"
 
#include <QColor>
 
#include <ros/node_handle.h>
 
#include "format_data_size.h"
 
Q_DECLARE_METATYPE(rosmon_msgs::StateConstPtr)
 
namespace rqt_rosmon
{
 
NodeModel::NodeModel(ros::NodeHandle& nh, QObject* parent)
 : QAbstractTableModel(parent)
 , m_nh(nh)
 , m_namespace("/rosmon")
{
        qRegisterMetaType<rosmon_msgs::StateConstPtr>();
        connect(this, SIGNAL(stateReceived(rosmon_msgs::StateConstPtr)),
                SLOT(updateState(rosmon_msgs::StateConstPtr)),
                Qt::QueuedConnection
        );
}
 
void NodeModel::setNamespace(const QString& ns)
{
        m_namespace = ns;
 
        if(!ns.isEmpty())
        {
                try
                {
                        ros::NodeHandle nh(m_nh, ns.toStdString());
                        m_sub_state = nh.subscribe("state", 1, &NodeModel::stateReceived, this);
                }
                catch(ros::InvalidNameException& name)
                {
                        ROS_WARN("Got invalid name '%s'", qPrintable(ns));
                        m_sub_state.shutdown();
                }
        }
        else
                m_sub_state.shutdown();
 
        beginResetModel();
        m_entries.clear();
        endResetModel();
}
 
void NodeModel::unsubscribe()
{
        m_sub_state.shutdown();
}
 
void NodeModel::updateState(const rosmon_msgs::StateConstPtr& state)
{
        std::vector<bool> covered(m_entries.size(), false);
 
        // Look for changed & new rows
        for(const auto& nodeState : state->nodes)
        {
                Entry key;
                key.name = QString::fromStdString(nodeState.name);
                key.ns = QString::fromStdString(nodeState.ns);
                key.state = nodeState.state;
                key.restartCount = nodeState.restart_count;
                key.load = nodeState.system_load + nodeState.user_load;
                key.memory = nodeState.memory;
 
                auto it = std::lower_bound(m_entries.begin(), m_entries.end(), key);
                int row = it - m_entries.begin();
 
                if(it == m_entries.end() || !((it->name == key.name) && (it->ns == key.ns)))
                {
                        beginInsertRows(QModelIndex(), row, row);
                        m_entries.insert(it, key);
                        covered.insert(covered.begin() + row, true);
                        endInsertRows();
                }
                else
                {
                        *it = key;
                        covered[row] = true;
                        dataChanged(index(row, 0), index(row, COL_COUNT-1));
                }
        }
 
        // Look for deleted rows
        auto it = m_entries.begin();
        std::size_t covIdx = 0;
 
        while(it != m_entries.end())
        {
                int row = it - m_entries.begin();
 
                if(!covered[covIdx])
                {
                        beginRemoveRows(QModelIndex(), row, row);
                        it = m_entries.erase(it);
                        endRemoveRows();
                }
                else
                        ++it;
 
                ++covIdx;
        }
}
 
int NodeModel::rowCount(const QModelIndex& parent) const
{
        if(parent.isValid())
                return 0;
 
        return m_entries.size();
}
 
int NodeModel::columnCount(const QModelIndex& parent) const
{
        if(parent.isValid())
                return 0;
 
        return COL_COUNT;
}
 
QVariant NodeModel::data(const QModelIndex& index, int role) const
{
        if(!index.isValid())
                return QVariant();
 
        if(index.row() < 0 || index.row() >= (int)m_entries.size())
                return QVariant();
 
        const Entry& entry = m_entries[index.row()];
 
        switch(role)
        {
                case Qt::DisplayRole:
                        switch(index.column())
                        {
                                case COL_NAME:
                                        return entry.name;
                                case COL_NAMESPACE:
                                        return entry.ns;
                                case COL_LOAD:
                                        return QString::number(entry.load, 'f', 2);
                                case COL_MEMORY:
                                        return formattedDataSize(entry.memory, 2);
                                case COL_RESTART_COUNT:
                                        return entry.restartCount;
                        }
                        break;
                case Qt::EditRole:
                        switch(index.column())
                        {
                                case COL_MEMORY:
                                        return (uint)entry.memory;
                        }
                        break;
                case Qt::TextAlignmentRole:
                        switch(index.column())
                        {
                                case COL_NAME:
                                        return QVariant();
                                case COL_NAMESPACE:
                                        return QVariant();
                                case COL_RESTART_COUNT:
                                case COL_LOAD:
                                case COL_MEMORY:
                                        return int(Qt::AlignRight | Qt::AlignVCenter);
                        }
                        break;
                case Qt::BackgroundColorRole:
                        switch(entry.state)
                        {
                                case rosmon_msgs::NodeState::RUNNING:
                                        return QVariant();
                                case rosmon_msgs::NodeState::IDLE:
                                        return QColor(200, 200, 200);
                                case rosmon_msgs::NodeState::CRASHED:
                                        return QColor(255, 100, 100);
                                case rosmon_msgs::NodeState::WAITING:
                                        return QColor(255, 255, 128);
                        }
                        break;
                case SortRole:
                        switch(index.column())
                        {
                                case COL_NAME:
                                        return entry.name;
                                case COL_NAMESPACE:
                                        return entry.ns;
                                case COL_LOAD:
                                        return entry.load;
                                case COL_MEMORY:
                                        return static_cast<unsigned int>(entry.memory);
                                case COL_RESTART_COUNT:
                                        return entry.restartCount;
                        }
                break;
        }
 
        return QVariant();
}
 
QVariant NodeModel::headerData(int section, Qt::Orientation orientation, int role) const
{
        if(role != Qt::DisplayRole || orientation != Qt::Horizontal)
                return QAbstractTableModel::headerData(section, orientation, role);
 
        switch(section)
        {
                case COL_NAME:          return "Node";
                case COL_NAMESPACE:     return "Namespace";
                case COL_LOAD:          return "CPU Load";
                case COL_MEMORY:        return "Memory";
                case COL_RESTART_COUNT: return "#Restarts";
        }
 
        return QVariant();
}
 
}