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uavcan_dynamic_node_id_server - simple output coloring

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This commit is contained in:
Pavel Kirienko
2015-05-23 20:54:12 +03:00
parent 65db68a514
commit bf0fd63bfe
1 changed files with 100 additions and 20 deletions
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libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
+100 -20
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@@ -209,12 +209,40 @@ collectRelevantEvents(const EventTracer& event_tracer, const unsigned num_events
return pairs;
}
enum class CLIColor : unsigned
{
Red = 31,
Green = 32,
Yellow = 33,
Blue = 34,
Magenta = 35,
Cyan = 36,
Default = 39
};
class CLIColorizer
{
const CLIColor color_;
public:
explicit CLIColorizer(CLIColor c) : color_(c)
{
std::printf("\033[%um", static_cast<unsigned>(color_));
}
~CLIColorizer()
{
std::printf("\033[%um", static_cast<unsigned>(CLIColor::Default));
}
};
void redraw(const uavcan_linux::NodePtr& node,
const uavcan::MonotonicTime timestamp,
const EventTracer& event_tracer,
const uavcan::dynamic_node_id_server::DistributedServer& server)
{
using uavcan::dynamic_node_id_server::distributed::RaftCore;
/*
* Constants that are permanent for the designed UI layout
*/
@@ -254,22 +282,24 @@ void redraw(const uavcan_linux::NodePtr& node,
std::printf(" | %-29s %-9s\n", event_name, event_count_str);
};
const auto render_top_str = [&](const char* local_state_name, const char* local_state_value)
const auto render_top_str = [&](const char* local_state_name, const char* local_state_value, CLIColor color)
{
std::printf("%-20s %-16s", local_state_name, local_state_value);
{
CLIColorizer izer(color);
std::printf("%-20s %-16s", local_state_name, local_state_value);
}
render_next_event_counter();
};
const auto render_top_int = [&](const char* local_state_name, long long local_state_value)
const auto render_top_int = [&](const char* local_state_name, long long local_state_value, CLIColor color)
{
char buf[21];
std::snprintf(buf, sizeof(buf) - 1U, "%lld", local_state_value);
render_top_str(local_state_name, buf);
render_top_str(local_state_name, buf, color);
};
const auto raft_state_to_string = [](uavcan::dynamic_node_id_server::distributed::RaftCore::ServerState s)
{
using uavcan::dynamic_node_id_server::distributed::RaftCore;
switch (s)
{
case RaftCore::ServerStateFollower: return "Follower";
@@ -286,6 +316,11 @@ void redraw(const uavcan_linux::NodePtr& node,
return str;
};
const auto colorize_if = [](bool condition, CLIColor color)
{
return condition ? color : CLIColor::Default;
};
/*
* Rendering the data to the CLI
*/
@@ -294,16 +329,45 @@ void redraw(const uavcan_linux::NodePtr& node,
// Local state and relevant event counters - two columns
std::printf(" Local state | Event counters\n");
render_top_int("Node ID", node->getNodeID().get());
render_top_str("State", raft_state_to_string(report.state));
render_top_str("Mode", report.is_active ? "Active" : "Passive");
render_top_int("Last log index", report.last_log_index);
render_top_int("Last log term", report.last_log_term);
render_top_int("Commit index", report.commit_index);
render_top_int("Current term", report.current_term);
render_top_int("Voted for", report.voted_for.get());
render_top_str("Since activity", duration_to_string(time_since_last_activity).c_str());
render_top_int("Unknown nodes", report.num_unknown_nodes);
render_top_int("Node ID",
node->getNodeID().get(),
CLIColor::Default);
render_top_str("State",
raft_state_to_string(report.state),
colorize_if(report.state == RaftCore::ServerStateCandidate, CLIColor::Magenta));
render_top_str("Mode",
report.is_active ? "Active" : "Passive",
colorize_if(report.is_active, CLIColor::Magenta));
render_top_int("Last log index",
report.last_log_index,
CLIColor::Default);
render_top_int("Commit index",
report.commit_index,
colorize_if(report.commit_index != report.last_log_index, CLIColor::Magenta));
render_top_int("Last log term",
report.last_log_term,
CLIColor::Default);
render_top_int("Current term",
report.current_term,
CLIColor::Default);
render_top_int("Voted for",
report.voted_for.get(),
CLIColor::Default);
render_top_str("Since activity",
duration_to_string(time_since_last_activity).c_str(),
CLIColor::Default);
render_top_int("Unknown nodes",
report.num_unknown_nodes,
colorize_if(report.num_unknown_nodes != 0, CLIColor::Magenta));
// Empty line before the next block
std::printf(" ");
@@ -313,14 +377,16 @@ void redraw(const uavcan_linux::NodePtr& node,
std::printf(" Followers ");
render_next_event_counter();
const auto render_followers_state =
[&](const char* name, const std::function<int (std::uint8_t)> value_getter)
const auto render_followers_state = [&](const char* name,
const std::function<int (std::uint8_t)> value_getter,
const std::function<CLIColor (std::uint8_t)> color_getter)
{
std::printf("%-17s", name);
for (std::uint8_t i = 0; i < 4; i++)
{
if (i < (report.cluster_size - 1))
{
CLIColorizer colorizer(color_getter(i));
const auto value = value_getter(i);
if (value >= 0)
{
@@ -339,13 +405,27 @@ void redraw(const uavcan_linux::NodePtr& node,
render_next_event_counter();
};
const auto follower_color_getter = [&](std::uint8_t i)
{
if (!report.followers[i].node_id.isValid()) { return CLIColor::Red; }
if (report.followers[i].match_index != report.last_log_index) { return CLIColor::Magenta; }
return CLIColor::Default;
};
render_followers_state("Node ID", [&](std::uint8_t i)
{
const auto nid = report.followers[i].node_id;
return nid.isValid() ? nid.get() : -1;
});
render_followers_state("Next index", [&](std::uint8_t i) { return report.followers[i].next_index; });
render_followers_state("Match index", [&](std::uint8_t i) { return report.followers[i].match_index; });
},
follower_color_getter);
render_followers_state("Next index",
[&](std::uint8_t i) { return report.followers[i].next_index; },
follower_color_getter);
render_followers_state("Match index",
[&](std::uint8_t i) { return report.followers[i].match_index; },
follower_color_getter);
// Empty line before the next block
std::printf(" ");