iceoryx_introspection/introspection_app.hpp

Namespaces

Name
iox
iox::client
iox::client::introspection

Classes

	Name
class	iox::client::introspection::IntrospectionApp base class for introspection

Source code

// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef IOX_TOOLS_ICEORYX_INTROSPECTION_INTROSPECTION_APP_HPP
#define IOX_TOOLS_ICEORYX_INTROSPECTION_INTROSPECTION_APP_HPP

#include "iceoryx_introspection/introspection_types.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_utils/platform/getopt.hpp"

#include <map>
#include <ncurses.h>
#include <vector>

namespace iox
{
namespace client
{
namespace introspection
{
static constexpr option longOptions[] = {{"help", no_argument, nullptr, 'h'},
                                         {"version", no_argument, nullptr, 'v'},
                                         {"time", required_argument, nullptr, 't'},
                                         {"mempool", no_argument, nullptr, 0},
                                         {"port", no_argument, nullptr, 0},
                                         {"process", no_argument, nullptr, 0},
                                         {"all", no_argument, nullptr, 0},
                                         {nullptr, 0, nullptr, 0}};

static constexpr const char* shortOptions = "hvt:";

static constexpr iox::units::Duration MIN_UPDATE_PERIOD = 500_ms;
static constexpr iox::units::Duration DEFAULT_UPDATE_PERIOD = 1000_ms;
static constexpr iox::units::Duration MAX_UPDATE_PERIOD = 10000_ms;

enum class ColorPairs : uint8_t
{
    redOnBlack = 1,
    whiteOnRed
};

static const std::map<PrettyOptions, uint32_t> prettyMap = {
    {PrettyOptions::title, A_BOLD | COLOR_PAIR(static_cast<uint8_t>(ColorPairs::redOnBlack))},
    {PrettyOptions::highlight, A_BOLD | A_UNDERLINE},
    {PrettyOptions::error, A_BOLD | COLOR_PAIR(static_cast<uint8_t>(ColorPairs::whiteOnRed))},
    {PrettyOptions::bold, A_BOLD},
    {PrettyOptions::normal, A_NORMAL}};


class IntrospectionApp
{
  public:
    IntrospectionApp(int argc, char* argv[]) noexcept;

    virtual ~IntrospectionApp() noexcept {};

    virtual void run() noexcept = 0;

  protected:
    enum class CmdLineArgumentParsingMode
    {
        ALL,
        ONE
    };

    IntrospectionSelection introspectionSelection;

    bool doIntrospection = false;

    IntrospectionApp() noexcept;

    void
    parseCmdLineArguments(int argc,
                          char** argv,
                          CmdLineArgumentParsingMode cmdLineParsingMode = CmdLineArgumentParsingMode::ALL) noexcept;

    void runIntrospection(const iox::units::Duration updatePeriodMs,
                          const IntrospectionSelection introspectionSelection);

  private:
    void initTerminal();

    void clearToBottom();

    void closeTerminal();

    void refreshTerminal();

    void updateDisplayYX();

    void waitForUserInput(int32_t timeoutMs);

    void printShortInfo(const std::string& binaryName) noexcept;

    void prettyPrint(const std::string& str, const PrettyOptions pr = PrettyOptions::normal);

    void printProcessIntrospectionData(const ProcessIntrospectionFieldTopic* processIntrospectionField);

    void printMemPoolInfo(const MemPoolIntrospectionInfo& introspectionInfo);

    template <typename Subscriber>
    bool waitForSubscription(Subscriber& port);

    std::vector<ComposedPublisherPortData>
    composePublisherPortData(const PortIntrospectionFieldTopic* portData,
                             const PortThroughputIntrospectionFieldTopic* throughputData);

    std::vector<ComposedSubscriberPortData>
    composeSubscriberPortData(const PortIntrospectionFieldTopic* portData,
                              const SubscriberPortChangingIntrospectionFieldTopic* subscriberPortChangingData);

    void printPortIntrospectionData(const std::vector<ComposedPublisherPortData>& publisherPortData,
                                    const std::vector<ComposedSubscriberPortData>& subscriberPortData);

    void printHelp() noexcept;

    template <typename T>
    T bounded(T input, T min, T max) noexcept
    {
        return ((input >= min) ? ((input <= max) ? input : max) : min);
    }

    iox::units::Duration updatePeriodMs = DEFAULT_UPDATE_PERIOD;

    WINDOW* pad;

    int32_t yPad{0};

    int32_t xPad{0};
};

} // namespace introspection
} // namespace client
} // namespace iox

#endif // IOX_TOOLS_ICEORYX_INTROSPECTION_INTROSPECTION_APP_HPP

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Updated on 31 May 2022 at 15:29:16 CEST