rosmon_core: Adding verbosity filter feature

rosmon_core/src/terminal.cpp

@@ -7,6 +7,7 @@
 
 #include <term.h>
 #include <curses.h>
+#include <iostream>
 
 // really?
 #ifdef columns
@@ -60,14 +61,18 @@ void Terminal::Parser::parseSetAttributes(const std::string& str)
 			m_bgColor = {};
 		}
 		else if(code >= 30 && code <= 37)
-			m_fgColor = m_term->color(static_cast<SimpleColor>(code - 30));
+		{
+			m_fgCode = code - 30;
+			m_fgColor = m_term->color(static_cast<SimpleColor>(m_fgCode));
+		}
 		else if(code >= 40 && code <= 47)
 			m_bgColor = m_term->color(static_cast<SimpleColor>(code - 40));
 		else if(code == 1)
 			m_bold = true;
 	}
 }
 
+
 bool Terminal::Parser::parse(char c)
 {
 	if(!m_term)
@@ -108,6 +113,17 @@ bool Terminal::Parser::parse(char c)
 	return false;
 }
 
+void Terminal::Parser::resetForegroundCode()
+{
+	m_fgCode = -1;
+}
+
+int Terminal::Parser::getForegroundCode()
+{
+	return m_fgCode;
+}
+
+
 void Terminal::Parser::parse(const std::string& str)
 {
 	if(!m_term)

rosmon_core/src/terminal.h

@@ -111,6 +111,9 @@ class Terminal
 		//! parse string
 		void parse(const std::string& str);
 
+		int getForegroundCode();
+		void resetForegroundCode();
+
 		//! Apply the current internal state (colors) on the terminal
 		void apply();
 
@@ -123,7 +126,7 @@ class Terminal
 		std::vector<std::string> wrap(const std::string& str, unsigned int columns);
 	private:
 		void parseSetAttributes(const std::string& str);
-
+		int parseSetAttributesColorOnly(const std::string& str);
 		enum State
 		{
 			STATE_ESCAPE,
@@ -138,6 +141,7 @@ class Terminal
 
 		Color m_fgColor;
 		Color m_bgColor;
+		int m_fgCode;
 		bool m_bold = false;
 	};
 

rosmon_core/src/ui.cpp

@@ -38,6 +38,7 @@ UI::UI(monitor::Monitor* monitor, const FDWatcher::Ptr& fdWatcher)
  , m_fdWatcher(fdWatcher)
  , m_columns(80)
  , m_selectedNode(-1)
+ , m_verbosityLevel(2)
 {
 	std::atexit(cleanup);
 	m_monitor->logMessageSignal.connect(boost::bind(&UI::log, this, _1));
@@ -209,13 +210,20 @@ void UI::drawStatusLine()
 		else
 		{
 			printKey("A-Z", "Node actions");
+			printKey("F6-F8", "Verbosity");
 			printKey("F9", "Mute all");
 			printKey("F10", "Unmute all");
 			printKey("/", "Node search");
 
+			// Print verbosity level
+			print("   ");
+			m_term.setSimpleForeground(Terminal::Black);
+			m_term.setSimpleBackground(Terminal::White);
+			print(" Verbosity: {} ", m_verbosityLevel);
+			m_style_bar.use();
 			if(anyMuted())
 			{
-				print("      ");
+				print("   ");
 				m_term.setSimpleForeground(Terminal::Black);
 				m_term.setSimpleBackground(Terminal::Yellow);
 				print("! Caution: Nodes muted !");
@@ -404,11 +412,32 @@ void UI::log(const LogEvent& event)
 	// Is this a node message?
 	if(it != m_nodeColorMap.end())
 	{
-		m_term.setLineWrap(false);
+		// Reset fg code for verbosity level checking
+		it->second.parser.resetForegroundCode();
 
 		auto actualLabelWidth = std::max<unsigned int>(m_nodeLabelWidth, event.source.size());
 		auto lines = it->second.parser.wrap(clean, m_columns - actualLabelWidth - 2);
 
+		// Check verbosity filter
+		auto color = it->second.parser.getForegroundCode();
+		switch (color)
+		{
+			case -1: // INFO
+			    if (m_verbosityLevel < 2)
+				    return;
+				break;
+			case 1: // ERR/FATAL
+				break;
+			case 2: // DEBUG
+				if (m_verbosityLevel < 3)
+				    return;
+				break;
+			case 3: // WARN
+				break;
+		}
+
+		m_term.setLineWrap(false);
+
 		for(unsigned int line = 0; line < lines.size(); ++line)
 		{
 			// Draw label
@@ -649,6 +678,26 @@ void UI::handleKey(int c)
 			return;
 		}
 
+		// Check for toggling of verbosity modes
+
+		if(c == Terminal::SK_F6)
+		{
+			setVerbosityLevel(1);
+			return;
+		}
+
+		if(c == Terminal::SK_F7)
+		{
+			setVerbosityLevel(2);
+			return;
+		}
+
+		if(c == Terminal::SK_F8)
+		{
+			setVerbosityLevel(3);
+			return;
+		}
+
 		// Search
 		if(c == '/')
 		{
@@ -723,4 +772,9 @@ void UI::scheduleUpdate()
 	m_refresh_required = true;
 }
 
+void UI::setVerbosityLevel(int level)
+{
+	m_verbosityLevel = level;
+}
+
 }

rosmon_core/src/ui.h

@@ -60,13 +60,16 @@ class UI
 	void unmuteAll();
 
 	void scheduleUpdate();
+
+	void setVerbosityLevel(int level);
 
 	monitor::Monitor* m_monitor;
 	FDWatcher::Ptr m_fdWatcher;
 	bool m_refresh_required = true;
 
 	Terminal m_term;
 
+	int m_verbosityLevel;
 	int m_columns;
 	ros::WallTimer m_sizeTimer;
 	ros::WallTimer m_terminalCheckTimer;