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Merge pull request #11 from juraph-dev/interaction_improvements_2
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Interaction improvements 2
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@juraph-dev
juraph-dev authored May 6, 2023
2 parents 24a6706 + 9237034 commit f93d99a
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Showing 15 changed files with 179 additions and 98 deletions.
10 changes: 5 additions & 5 deletions include/ornis/channel_interface.hpp
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Expand Up @@ -20,11 +20,11 @@ class Channel

enum class RequestEnum
{
monitorEntryInformation,
monitorEntryInteraction,
monitorEntryInteractionResult,
topicStreamer,
closeStream
monitorEntryInformation = 0,
monitorEntryInteraction = 1,
monitorEntryInteractionResult = 2,
topicStreamer = 3,
closeStream = 4
};

std::mutex access_mutex_;
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4 changes: 3 additions & 1 deletion include/ornis/introspection_functions.hpp
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Expand Up @@ -59,8 +59,10 @@ void writeDataToMessage(uint8_t* message_data, const rosidl_typesupport_introspe
bool populateMessage(uint8_t* message_data, const rosidl_typesupport_introspection_cpp::MessageMembers* members,
const std::string& data);

const std::string sanitiseNumericData(const std::string &data);

void stringToMessageData(uint8_t* message_data, const rosidl_typesupport_introspection_cpp::MessageMember& member,
const std::string& data);
std::string& data);

std::vector<uint32_t> getEntryOffset(std::vector<std::string> entry_path, const std::string& member_type_id,
const rosidl_typesupport_introspection_cpp::MessageMembers* message_members);
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4 changes: 4 additions & 0 deletions include/ornis/msg_tree.hpp
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Expand Up @@ -222,6 +222,10 @@ class MsgTreeNode

MsgTreeNode* getNthNode(const uint& n)
{
if (n == 0)
{
return this;
}
uint search_index = 1;
return findNthNode(n, search_index);
}
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2 changes: 1 addition & 1 deletion include/ornis/options.hpp
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Expand Up @@ -12,8 +12,8 @@ namespace Options
struct rgb
{
int r;
int b;
int g;
int b;
};

enum class CommandEnum
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7 changes: 4 additions & 3 deletions include/ornis/ui.hpp
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Expand Up @@ -43,6 +43,10 @@ class Ui

Options::color_scheme current_scheme_;

// Stores the width of the terminal at startup, and when recieving sigwinch. Used for scaling the ui
uint term_width_;
uint term_height_;

private:
// Class to for storing the current ui state
// TODO: Rename monitorInteraction. That's a silly name.
Expand Down Expand Up @@ -79,9 +83,6 @@ class Ui
};

UserHelpStrings userHelpStrings_;
// Stores the width of the terminal at startup, and when recieving sigwinch. Used for scaling the ui
uint term_width_;
uint term_height_;

void updateMonitor(std::vector<std::pair<std::string, std::string>> updated_values,
const std::unique_ptr<MonitorInterface>& interface);
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112 changes: 68 additions & 44 deletions include/ornis/ui_helpers.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
#ifndef UI_HELPERS_H_
#define UI_HELPERS_H_

#include <algorithm>
#include <codecvt>
#include <cstring>
#include <functional>
Expand All @@ -17,8 +18,10 @@

namespace ui_helpers
{
inline void sizePlaneToString(ncpp::Plane& plane, const std::string& content)
inline void sizePlaneToString(ncpp::Plane& plane, const std::string& content, const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);

int row = 1;
int col = 1;
int longest_col = 0;
Expand Down Expand Up @@ -53,14 +56,16 @@ inline void sizePlaneToString(ncpp::Plane& plane, const std::string& content)

// Fill plane, ensures we don't have a transparent background
ncpp::Cell c(' ');
c.set_bg_rgb8(32, 51, 70);
c.set_fg_rgb8(32, 51, 70);
c.set_bg_rgb8(bg.r, bg.g, bg.b);
c.set_fg_rgb8(bg.r, bg.g, bg.b);
plane.polyfill(row, longest_col, c);
}

inline void sizePlaneToMap(ncpp::Plane& plane, const std::string& title,
const std::map<std::string, std::vector<std::string>>& content_map)
const std::map<std::string, std::vector<std::string>>& content_map,
const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);
size_t row = 1;
size_t col = 1;
size_t longest_col = 0;
Expand Down Expand Up @@ -106,8 +111,8 @@ inline void sizePlaneToMap(ncpp::Plane& plane, const std::string& title,

// Fill plane, ensures we don't have a transparent background
ncpp::Cell c(' ');
c.set_bg_rgb8(32, 51, 70);
c.set_fg_rgb8(32, 51, 70);
c.set_bg_rgb8(bg.r, bg.g, bg.b);
c.set_fg_rgb8(bg.r, bg.g, bg.b);
plane.polyfill(row, longest_col, c);
}

Expand All @@ -125,8 +130,9 @@ inline void sizeTree(const msg_tree::MsgTreeNode& node, size_t& rows, size_t& lo
}

inline void sizePlaneToTree(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree,
const bool skip_root = true)
const Options::color_scheme &color_scheme, const bool skip_root = true)
{
const auto bg = std::get<2>(color_scheme);
size_t rows = 1;
size_t longest_col = 0;

Expand All @@ -140,15 +146,16 @@ inline void sizePlaneToTree(ncpp::Plane& plane, const std::string& title, const

// Fill plane, ensures we don't have a transparent background
ncpp::Cell c(' ');
c.set_bg_rgb8(32, 51, 70);
c.set_fg_rgb8(32, 51, 70);
c.set_bg_rgb8(bg.r, bg.g, bg.b);
c.set_fg_rgb8(bg.r, bg.g, bg.b);
plane.polyfill(rows, longest_col, c);
}

// Overload to allow for functions to specify how much white space they want around the string
inline void sizePlaneToString(ncpp::Plane& plane, const std::string& content, const int& row_buffer,
const int& col_buffer)
const int& col_buffer, const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);
int row = 1;
int col = 1;
int longest_col = 0;
Expand Down Expand Up @@ -185,17 +192,17 @@ inline void sizePlaneToString(ncpp::Plane& plane, const std::string& content, co

// Fill plane, ensures we don't have a transparent background
ncpp::Cell c(' ');
c.set_bg_rgb8(32, 51, 70);
c.set_fg_rgb8(32, 51, 70);
c.set_bg_rgb8(bg.r, bg.g, bg.b);
c.set_fg_rgb8(bg.r, bg.g, bg.b);
plane.polyfill(row, longest_col, c);
}

inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content)
inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content, const Options::color_scheme &color_scheme)
{
plane.erase();
plane.move_top();

ui_helpers::sizePlaneToString(plane, content);
ui_helpers::sizePlaneToString(plane, content, color_scheme);

int row = 1;
int col = 1;
Expand Down Expand Up @@ -223,13 +230,13 @@ inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content)
}

// Identical to previous, but renders a cursor at index
inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content, const int& cursor_index)
inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content, const int& cursor_index, const Options::color_scheme &color_scheme)
{
// Cursor index is a location in string. If -1, place at end of string
plane.erase();
plane.move_top();
// As we have a cursor (And therefore expect to be editing the string), we add a horizontal buffer
ui_helpers::sizePlaneToString(plane, content, 0, 2);
ui_helpers::sizePlaneToString(plane, content, 0, 2, color_scheme);

int string_index = 0;
int row = 1;
Expand Down Expand Up @@ -263,14 +270,14 @@ inline void writeStringToPlane(ncpp::Plane& plane, const std::string& content, c
plane.perimeter_rounded(0, channel, 0);
}

inline void writeStringToTitledPlane(ncpp::Plane& plane, const std::string& title, const std::string& content)
inline void writeStringToTitledPlane(ncpp::Plane& plane, const std::string& title, const std::string& content, const Options::color_scheme &color_scheme)
{
plane.erase();
plane.move_top();

// Add some white space to the front and end of the title string.
title.size() > content.size() ? ui_helpers::sizePlaneToString(plane, title) :
ui_helpers::sizePlaneToString(plane, content);
title.size() > content.size() ? ui_helpers::sizePlaneToString(plane, title, color_scheme) :
ui_helpers::sizePlaneToString(plane, content, color_scheme);

int row = 1;
int col = 1;
Expand Down Expand Up @@ -309,8 +316,10 @@ inline void writeStringToTitledPlane(ncpp::Plane& plane, const std::string& titl
}

inline void writeStringVectorToTitledPlane(ncpp::Plane& plane, const std::string& title,
const std::vector<std::string>& content)
const std::vector<std::string>& content, const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);

plane.erase();
plane.move_top();

Expand All @@ -319,17 +328,17 @@ inline void writeStringVectorToTitledPlane(ncpp::Plane& plane, const std::string
const auto longest_entry = std::max_element(content.begin(), content.end(),
[](const auto& a, const auto& b) { return a.size() < b.size(); });

title.size() > longest_entry->size() ? ui_helpers::sizePlaneToString(plane, title) :
ui_helpers::sizePlaneToString(plane, *longest_entry);
title.size() > longest_entry->size() ? ui_helpers::sizePlaneToString(plane, title, color_scheme) :
ui_helpers::sizePlaneToString(plane, *longest_entry, color_scheme);

const uint col_count = title.size() > longest_entry->size() ? title.size() : longest_entry->size();
// Add one to longest col to account for border
plane.resize(row_count + 2, col_count + 2);

// Fill plane, ensures we don't have a transparent background
ncpp::Cell c(' ');
c.set_bg_rgb8(32, 51, 70);
c.set_fg_rgb8(32, 51, 70);
c.set_fg_rgb8(bg.r, bg.g, bg.b);
c.set_bg_rgb8(bg.r, bg.g, bg.b);
plane.polyfill(row_count, col_count, c);

int row = 1;
Expand Down Expand Up @@ -366,14 +375,14 @@ inline void writeStringVectorToTitledPlane(ncpp::Plane& plane, const std::string

// Identical to previous, but renders a cursor at index
inline void writeStringToTitledPlane(ncpp::Plane& plane, const std::string& title, const std::string& content,
const int& cursor_index)
const int& cursor_index, const Options::color_scheme &color_scheme)
{
plane.erase();
plane.move_top();

// Add some white space to the front and end of the title string.
title.size() > content.size() ? ui_helpers::sizePlaneToString(plane, title, 0, 2) :
ui_helpers::sizePlaneToString(plane, content, 0, 2);
title.size() > content.size() ? ui_helpers::sizePlaneToString(plane, title, 0, 2, color_scheme) :
ui_helpers::sizePlaneToString(plane, content, 0, 2, color_scheme);

int row = 1;
int col = 1;
Expand Down Expand Up @@ -418,7 +427,7 @@ inline void writeStringToTitledPlane(ncpp::Plane& plane, const std::string& titl
}

inline void writeMapToTitledPlane(ncpp::Plane& plane, const std::string& title,
std::map<std::string, std::vector<std::string>>& content)
std::map<std::string, std::vector<std::string>>& content, const Options::color_scheme &color_scheme)
{
plane.erase();
plane.move_top();
Expand All @@ -433,7 +442,7 @@ inline void writeMapToTitledPlane(ncpp::Plane& plane, const std::string& title,
}
}

ui_helpers::sizePlaneToMap(plane, title, content);
ui_helpers::sizePlaneToMap(plane, title, content, color_scheme);

const int bar_length = plane.get_dim_x();
const auto fill_char = "─";
Expand Down Expand Up @@ -490,12 +499,15 @@ inline void writeMapToTitledPlane(ncpp::Plane& plane, const std::string& title,

// Almost identical to writeDetailedTree, but draws a cursor, as well as a different background color for editable
// fields
inline void writeEditingTreeToTitledPlane(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree)
inline void writeEditingTreeToTitledPlane(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree, const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);
const auto fg = std::get<1>(color_scheme);

plane.erase();
plane.move_top();

ui_helpers::sizePlaneToTree(plane, title, tree);
ui_helpers::sizePlaneToTree(plane, title, tree, color_scheme);

size_t row = 1;
int col = 1;
Expand Down Expand Up @@ -548,8 +560,8 @@ inline void writeEditingTreeToTitledPlane(ncpp::Plane& plane, const std::string&
if (node.isEditable())
{
uint64_t highlight = 0;
ncchannels_set_fg_rgb8(&highlight, 0xff, 0xff, 0xff);
ncchannels_set_bg_rgb8(&highlight, 72, 91, 120);
ncchannels_set_fg_rgb8(&highlight, fg.r, fg.g, fg.b);
ncchannels_set_bg_rgb8(&highlight, bg.r, bg.g, bg.b);
ncchannels_set_bg_alpha(&highlight, ncpp::Cell::AlphaOpaque);
plane.stain(row, col - t.entry_data_.size(), 1, t.entry_data_.size() + 1, highlight, highlight, highlight,
highlight);
Expand Down Expand Up @@ -592,12 +604,16 @@ inline void writeEditingTreeToTitledPlane(ncpp::Plane& plane, const std::string&
}

inline void writeSelectionTreeToTitledPlane(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree,
const uint& selected_index)
const uint& selected_index, const Options::color_scheme &color_scheme)
{
const auto bg = std::get<2>(color_scheme);
const auto fg = std::get<1>(color_scheme);
const auto hl = std::get<3>(color_scheme);

plane.erase();
plane.move_top();

ui_helpers::sizePlaneToTree(plane, title, tree, false);
ui_helpers::sizePlaneToTree(plane, title, tree, color_scheme, false);

size_t row = 1;
int col = 1;
Expand Down Expand Up @@ -638,17 +654,18 @@ inline void writeSelectionTreeToTitledPlane(ncpp::Plane& plane, const std::strin
node_line[prefix.length() - 1] = L'└';
}

// (Unforuanately) Need to ensure we re-set the highlight channel each draw
// (Unfortuanately) Need to ensure we re-set the highlight channel each draw
uint64_t highlight_channel = 0;
;
if (highlight)
{
ncchannels_set_fg_rgb8(&highlight_channel, 32, 51, 70);
ncchannels_set_bg_rgb8(&highlight_channel, 0xff, 0xff, 0xff);
ncchannels_set_fg_rgb8(&highlight_channel, fg.r, fg.g, fg.b);
ncchannels_set_bg_rgb8(&highlight_channel, hl.r, hl.g, hl.b);
}
else
{
ncchannels_set_fg_rgb8(&highlight_channel, 0xff, 0xff, 0xff);
ncchannels_set_bg_rgb8(&highlight_channel, 32, 51, 70);
ncchannels_set_fg_rgb8(&highlight_channel, fg.r, fg.g, fg.b);
ncchannels_set_bg_rgb8(&highlight_channel, bg.r, bg.g, bg.b);
}
ncchannels_set_bg_alpha(&highlight_channel, ncpp::Cell::AlphaOpaque);

Expand Down Expand Up @@ -695,12 +712,12 @@ inline void writeSelectionTreeToTitledPlane(ncpp::Plane& plane, const std::strin
}
}

inline void writeDetailedTreeToTitledPlane(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree)
inline void writeDetailedTreeToTitledPlane(ncpp::Plane& plane, const std::string& title, const msg_tree::MsgTree& tree, const Options::color_scheme &color_scheme)
{
plane.erase();
plane.move_top();

ui_helpers::sizePlaneToTree(plane, title, tree);
ui_helpers::sizePlaneToTree(plane, title, tree, color_scheme);

size_t row = 1;
int col = 1;
Expand Down Expand Up @@ -828,15 +845,22 @@ inline bool upInput(const ncinput& input)

inline bool mouseClick(const ncinput& input)
{
return (input.id == NCKEY_BUTTON1 && input.evtype == NCTYPE_RELEASE);
return (input.id == NCKEY_BUTTON1);
}

// Case for confirmation selections
inline bool selectInput(const ncinput& input)
{
// Kitty terminal will send both a press, and release input,
// we create a wrapper here to prevent duplicate inputs
return (input.id == NCKEY_ENTER && input.evtype != NCTYPE_RELEASE);
return (input.id == NCKEY_ENTER);
}

inline bool isPress(const ncinput& input)
{
// Kitty terminal will send both a press, and release input,
// Add a lil' diddy here to prevent keys from being sent twice
return (input.evtype != NCTYPE_RELEASE);
}

} // namespace ui_helpers
Expand Down
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