@@ -59,6 +59,7 @@ #include <rtt/MultiVector.hpp> #include <rtt/TypeStream.hpp> #include "TaskBrowser.hpp" +#include <boost/lexical_cast.hpp> #include "rtt/TryCommand.hpp" #include <rtt/TaskContext.hpp> @@ -646,6 +647,9 @@ namespace OCL #endif while (1) { + // Check port status: + checkPorts(); + if (!macrorecording) { if ( context == tb ) cout << green << " Watching " <<coloroff; @@ -689,8 +693,7 @@ namespace OCL } } } - // Check port status: - checkPorts(); + // Call readline wrapper : ::signal( SIGINT, ctrl_c_catcher ); // catch ctrl_c only when editting a line. @@ -803,19 +806,50 @@ namespace OCL void TaskBrowser::checkPorts() { - // check periodically if the taskcontext did not change its ports. - DataFlowInterface::Ports ports; - ports = this->ports()->getPorts(); - for( DataFlowInterface::Ports::iterator i=ports.begin(); i != ports.end(); ++i) { - // If our port is no longer connected, try to reconnect. - PortInterface* p = *i; - PortInterface* tcp = taskcontext->ports()->getPort( p->getName() ); - if ( p->ready() == false || tcp == 0 || tcp->ready() == false) { - this->ports()->removePort( p->getName() ); - delete p; + // Remove from the watch and peeking_ports maps the ports that are + // disconnected because the writer port we were watching has been + // destroyed. + + map<WritePortInterface*, ReadPortInterface*>::iterator peek_it = peeking_ports.begin(); + while(peek_it != peeking_ports.end()) + { + if (!peek_it->second->connected()) + { + delete peek_it->second; + peeking_ports.erase(peek_it++); } - } + else ++peek_it; + } + + ReadPortList::iterator watch_it; + watch_it = watch.begin(); + while(watch_it != watch.end()) + { + ReadPortInterface* reader = watch_it->get<2>(); + if (!reader->connected()) + { + delete reader; + watch.erase(watch_it++); + continue; + } + + // There is a theoretical race condition here, as the writer port + // can disappear between the above test and the display. This only + // means that sometime the value displayed will be bogus. + // + // Note that watch_it should be fixed by changing the DataSourceBase + // interface. + std::string name = watch_it->get<0>(); + sresult << "[" << watch_it - watch.begin() << "] " + << setw(11)<<right<< reader->getTypeInfo()->getTypeName() + << " " << coloron <<setw( 14 )<<left<< name << coloroff; + sresult << " = " << DataSourceBase::shared_ptr(reader->getDataSource()) << "\n"; + + ++watch_it; + } + cout << sresult.str() << flush; + sresult.str(""); } void TaskBrowser::setColorTheme(ColorTheme t) @@ -950,6 +984,25 @@ namespace OCL return pp.peer(); } + bool TaskBrowser::addWatch(PortInterface* port) + { + WritePortInterface* writer = dynamic_cast<WritePortInterface*>(port); + if (!writer) + return false; + + ReadPortList::iterator it; + for (it = watch.begin(); it != watch.end(); ++it) + { + if (it->get<1>() == writer) + return true; + } + + ReadPortInterface* reader = dynamic_cast<ReadPortInterface*>(writer->antiClone()); + writer->createConnection(*reader, ConnPolicy::data()); + watch.push_back( make_tuple(taskcontext->getName() + "." + writer->getName(), writer, reader) ); + return true; + } + void TaskBrowser::browserAction(std::string const& act) { std::stringstream ss(act); @@ -1117,29 +1170,29 @@ namespace OCL cout <<nl << "Disabling all colors"<<endl; return; } - if ( instr == "connect") { + if ( instr == "watch") { if (arg.empty() ) { - cout <<nl << "TaskBrowser connects to all ports of "<<taskcontext->getName()<<endl; + cout <<nl << "TaskBrowser is watching all write ports of "<<taskcontext->getName()<<endl; // create 'anti-ports' to allow port-level interaction with the peer. DataFlowInterface::Ports ports = taskcontext->ports()->getPorts(); - for( DataFlowInterface::Ports::iterator i=ports.begin(); i != ports.end(); ++i) { - if (this->ports()->getPort( (*i)->getName() ) == 0 ) - this->ports()->addPort( (*i)->antiClone() ); - } - RTT::connectPorts(this,taskcontext); + for( DataFlowInterface::Ports::iterator i=ports.begin(); i != ports.end(); ++i) + addWatch(*i); } else { - cout <<nl << "TaskBrowser connects to port '"<<arg <<"' of "<<taskcontext->getName()<<endl; - // create 'anti-port' and connect. - DataFlowInterface::Ports ports = taskcontext->ports()->getPorts(); - for( DataFlowInterface::Ports::iterator i=ports.begin(); i != ports.end(); ++i) { - if ( (*i)->getName() == arg && this->ports()->getPort( (*i)->getName() ) == 0 ) { - this->ports()->addPort( (*i)->antiClone() ); - this->ports()->getPort( arg )->connectTo( *i ); // this should always succeed - assert( this->ports()->getPort( arg )->connected() ); - return; - } - } + if (addWatch(taskcontext->ports()->getPort(arg))) + cout <<nl << "TaskBrowser is watching port '"<<arg <<"' of "<<taskcontext->getName()<<endl; + else + cout <<nl << "TaskBrowser can not watch port '"<<arg <<"' of "<<taskcontext->getName()<<endl; + } + return; + } + if ( instr == "unwatch" ) { + try { + size_t idx = boost::lexical_cast<int>(arg); + if (idx < watch.size()) + watch.erase(watch.begin() + idx); + } catch (boost::bad_lexical_cast) { + cerr << "usage: unwatch [idx]" << endl; } return; } @@ -1518,11 +1571,12 @@ namespace OCL cout << " may use loop or conditional statements, variables etc."<<nl; cout <<titlecol("Connecting Ports")<<nl; - cout << " You can instruct the TaskBrowser to connect to the ports of the current Peer by"<<nl; - cout << " typing "<<comcol(".connect [port-name]")<<", which will temporarily create connections"<<nl; - cout << " to all ports if [port-name] is omitted or to the specified port otherwise."<<nl; - cout << " The TaskBrowser disconnects these ports when it visits another component, but the"<<nl; - cout << " created connection objects remain in place (this is more or less a bug)!"<<nl; + cout << " You can instruct the TaskBrowser to display the values of some ports before each prompt" << nl; + cout << " by using " << comcol(".watch [port-name]") << ". If a name is given, that specific write" << nl; + cout << " port will be added to the set of watched ports. If no name is given, then all write ports" << nl; + cout << " of the given task are added." << nl; + cout << " Watches can be removed by using " << comcol(".unwatch port-index") << ", where the port" << nl; + cout << " port index is the number displayed in front of the port in the watch list." << nl; } void TaskBrowser::printProgram(const std::string& progname, int cl /*= -1*/, TaskContext* progpeer /* = 0 */) { @@ -1714,27 +1768,37 @@ namespace OCL if ( !objlist.empty() ) { for(vector<string>::iterator it = objlist.begin(); it != objlist.end(); ++it) { PortInterface* port = peer->ports()->getPort(*it); - PortInterface::PortType pt = port->getPortType(); + WritePortInterface* writer = dynamic_cast<WritePortInterface*>(port); + // Port type R/W - sresult << nl << " " << (pt == PortInterface::ReadPort ? - " R" : pt == PortInterface::WritePort ? " W" : "RW"); - // Port data type + name - if ( !port->ready() || !port->connection() ) - sresult << "(U) " << setw(11)<<right<< port->getTypeInfo()->getTypeName(); + sresult << nl << " " << (writer ? "W" : "R"); + + // Port connection status + if ( !port->connected() ) + sresult << "(U) "; else - sresult << "(C) " << setw(11)<<right<< port->getTypeInfo()->getTypeName(); - sresult << " " + sresult << "(C) "; + + // Port data type + name + sresult << setw(11)<<right<< port->getTypeInfo()->getTypeName() << " " << coloron <<setw( 14 )<<left<< *it << coloroff; - if ( port->ready() ) - sresult << " = " <<port->connection()->getDataSource(); - else { - ConnectionInterface::shared_ptr c = port->createConnection(); - if ( c ) - sresult << " = " << c->getDataSource(); + + // Note: the port description is already given in the task + // object list, we don't have to put it here as well. + + // And finally, if it is a writer port, the last written + // value. It is done only if the port is already connected + if ( writer && writer->connected() ) + { + ReadPortInterface* reader = peeking_ports[writer]; + if (!reader) + { + peeking_ports[writer] = reader = + dynamic_cast<ReadPortInterface*>(writer->antiClone()); + writer->createConnection(*reader, ConnPolicy::data()); + } + sresult << " = " << DataSourceBase::shared_ptr(reader->getDataSource()); } - // Port description -// if ( peer->getObject(*it) ) -// sresult << " ( "<< taskobject->getObject(*it)->getDescription() << " ) "; } } else { sresult << "(none)"; taskbrowser/TaskBrowser.cpp @@ -66,6 +66,7 @@ #include <string> #include <sstream> #include <vector> +#include <boost/tuple/tuple.hpp> #include <ocl/OCL.hpp> @@ -97,6 +98,12 @@ namespace OCL RTT::DispatchInterface* command; RTT::DataSource<bool>::shared_ptr accepted; + typedef std::vector< boost::tuple<std::string, RTT::WritePortInterface*, RTT::ReadPortInterface*> > ReadPortList; + // For the watch list, order matters + ReadPortList watch; + // For the peeking ports, it does not so much + std::map<RTT::WritePortInterface*, RTT::ReadPortInterface*> peeking_ports; + int debug; /* A static variable for holding the line. */ char *line_read; @@ -141,6 +148,8 @@ namespace OCL #endif static RTT::TaskContext* findPeer( std::string comm ); + bool addWatch(PortInterface* port); + protected: void listText(std::stringstream& txtss,int start, int end, int ln, char s); taskbrowser/TaskBrowser.hpp a3dad9567b6a790f7b08c3d2707f515e28c55383 Sylvain Joyeux sylvain.joyeux@dfki.de http://github.com/doudou/orocos-ocl/commit/02ef5c832d72fd5b85ead1680f9725ed815a4137 02ef5c832d72fd5b85ead1680f9725ed815a4137 2009-03-12T07:31:48-07:00 2009-03-12T07:27:13-07:00 update the task browser to use the new data flow interface The following changes are in effect: * we don't change the TaskBrowser's task set, but use a set of PortInterface internally. Note that thanks to the auto-disconnect feature, we can remove the ports that are dead easily (they're not connected anymore). * remove the .connect command which was pretty useless * add two .watch and .unwatch commands that allow to display the value of given ports before each task browser prompts. ad0bc8ab9ce7413e9fe746dcaa02f6e92d08c4bf Sylvain Joyeux sylvain.joyeux@dfki.de