mtsComponentViewer.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Peter Kazanzides
  Created on: 2010-09-07
 
  (C) Copyright 2010-2023 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/

 
#ifndef _mtsComponentViewer_h
#define _mtsComponentViewer_h
 
 
#include <cisstMultiTask/mtsTaskFromSignal.h>
#include <cisstMultiTask/mtsParameterTypes.h>
#include <cisstMultiTask/mtsManagerComponentBase.h>
#include <cisstMultiTask/mtsManagerComponentServices.h>
#include <cisstOSAbstraction/osaPipeExec.h>
#include <cisstOSAbstraction/osaThread.h>
 
// Always include last!
#include <cisstMultiTask/mtsExport.h>
 
class CISST_EXPORT mtsComponentViewer : public mtsTaskFromSignal
{
   CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);
 
private:
 
    // Utility method that sends the whole string except the '\0'
    void WriteString(osaPipeExec & pipe, const std::string & s, double timeoutInSec = 0.1);
 
protected:
 
    osaPipeExec UDrawPipe;
    bool UDrawPipeConnected;
    std::string UDrawResponse;
 
    bool ConnectionStarted;
    mtsDescriptionConnection ConnectionRequest;
 
    // Use a separate reader thread because osaPipeExec::Read is blocking.
    // This could be eliminated if a non-blocking Read is implemented.
    osaThread ReaderThread;
    osaThreadSignal ReadyToRead;
    void *ReadFromUDrawGraph(int);
    bool ReaderThreadFinished;
    bool WaitingForResponse;
    static void ParseArgs(const std::string &input, std::string &arg1, std::string &arg2);
    static bool ParseProcessAndComponent(const std::string &input, std::string &processName,
                                         std::string &componentName);
    virtual void ProcessResponse(void);
 
    bool ConnectToUDrawGraph(void);
 
    virtual void SendAllInfo(void);
    void ActivateMenuItems(void);
 
    std::string GetComponentInUDrawGraphFormat(const std::string & processName, const std::string & componentName,
                                               const mtsComponentState & componentState) const;
    std::string GetStateInUDrawGraphFormat(const mtsComponentState &componentState) const;
    std::string GetConnectionInUDrawGraphFormat(const mtsDescriptionConnection &connection) const;
 
    enum BorderType { BORDER_NONE, BORDER_SINGLE, BORDER_DOUBLE };
    void ChangeComponentBorder(const std::string &processName, const std::string &componentName, BorderType border);
 
    // Event Handlers
    virtual void AddComponentHandler(const mtsDescriptionComponent &componentInfo);
    virtual void ChangeStateHandler(const mtsComponentStateChange &componentStateChange);
    virtual void AddConnectionHandler(const mtsDescriptionConnection &connectionInfo);
    virtual void RemoveConnectionHandler(const mtsDescriptionConnection &connectionInfo);
 
public:
 
    mtsComponentViewer(const std::string & name);
 
    virtual ~mtsComponentViewer();
    void Configure(const std::string & CMN_UNUSED(filename)) override {}
    void Startup(void) override;
    void Run(void) override;
    void Cleanup(void) override;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsComponentViewer)
 
#endif // _mts_ComponentViewer.h