From 341630f5478c2b2c236e377c8570f6427b3a3b13 Mon Sep 17 00:00:00 2001
From: zhaojingkui <1553836110@qq.com>
Date: Tue, 4 Mar 2025 11:17:16 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86moos=E5=8F=98?=
=?UTF-8?q?=E9=87=8F=E6=98=BE=E7=A4=BA=E7=9A=84webui=E5=8A=9F=E8=83=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
bin/static/script.js | 84 ++++++++-
bin/static/style.css | 151 ++++++++++++++++
bin/templates/index.html | 17 +-
src/appPowerMangerWebUI/CMakeLists.txt | 1 +
src/appPowerMangerWebUI/DBImage.cpp | 230 +++++++++++++++++++++++++
src/appPowerMangerWebUI/DBImage.h | 170 ++++++++++++++++++
src/appPowerMangerWebUI/main.cpp | 115 ++++++++++++-
7 files changed, 761 insertions(+), 7 deletions(-)
create mode 100644 src/appPowerMangerWebUI/DBImage.cpp
create mode 100644 src/appPowerMangerWebUI/DBImage.h
diff --git a/bin/static/script.js b/bin/static/script.js
index 55aecaf..4eae34e 100644
--- a/bin/static/script.js
+++ b/bin/static/script.js
@@ -130,11 +130,20 @@ function updateUI(data) {
document.getElementById('state-note').textContent = data.state.note;
// 更新DIS系统状态
- document.getElementById('dis-sys-state').textContent = JSON.stringify(data.status.disSys, null, 2);
+ // document.getElementById('dis-sys-state').textContent = JSON.stringify(data.status.disSys, null, 2);
// 更新CCU状态
- document.getElementById('ccu-state').textContent = JSON.stringify(data.status.ccuState, null, 2);
+ // document.getElementById('ccu-state').textContent = JSON.stringify(data.status.ccuState, null, 2);
+ // 更新进程消息面板
+ console.log('Received WebSocket message:', data);
+ if (data && data.processes && data.processes.list) {
+ console.log('Updating processes:', data.processes);
+ updateProcesses(data.processes);
+ } else {
+ console.warn('Invalid processes data received:', data);
+ }
+
// 更新运行日志
document.getElementById('log-data').textContent = data.status.logs.join('\n');
}
@@ -179,3 +188,74 @@ document.getElementById('moos-send-btn').addEventListener('click', sendMoosNotif
// 初始化WebSocket连接
initWebSocket();
+
+// 更新进程列表
+function updateProcesses(processes) {
+ const processList = document.getElementById('process-list');
+ processList.innerHTML = ''; // 清空现有内容
+
+ const totalCount = document.getElementById('process-count');
+ totalCount.textContent = processes.count;
+
+ processes.list.forEach(process => {
+ const processElement = document.createElement('div');
+ processElement.className = 'process-card';
+
+ const header = document.createElement('div');
+ header.className = 'process-header';
+ header.innerHTML = `
+ ${process.name}
+ 订阅:${process.subscribed.length} 发布:${process.published.length}
+ `;
+
+ const body = document.createElement('div');
+ body.className = 'process-body';
+ body.innerHTML = `
+
+
订阅主题
+
${process.subscribed.map(t => `- ${t}
`).join('')}
+
+
发布主题
+
${process.published.map(t => `- ${t}
`).join('')}
+
-
运行日志
-
正在加载...
+
进程消息 0
+
+
+
+
+
+
diff --git a/src/appPowerMangerWebUI/CMakeLists.txt b/src/appPowerMangerWebUI/CMakeLists.txt
index 2e25378..0f56c4b 100644
--- a/src/appPowerMangerWebUI/CMakeLists.txt
+++ b/src/appPowerMangerWebUI/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(SQLite3 REQUIRED)
SET(SRC
main.cpp
+ DBImage.cpp
)
ADD_EXECUTABLE(appPowerMangerWebUI ${SRC})
diff --git a/src/appPowerMangerWebUI/DBImage.cpp b/src/appPowerMangerWebUI/DBImage.cpp
new file mode 100644
index 0000000..ac66d68
--- /dev/null
+++ b/src/appPowerMangerWebUI/DBImage.cpp
@@ -0,0 +1,230 @@
+///////////////////////////////////////////////////////////////////////////
+//
+// MOOS - Mission Oriented Operating Suite
+//
+// A suit of Applications and Libraries for Mobile Robotics Research
+// Copyright (C) 2001-2005 Massachusetts Institute of Technology and
+// Oxford University.
+//
+// This software was written by Paul Newman at MIT 2001-2002 and Oxford
+// University 2003-2005. email: pnewman@robots.ox.ac.uk.
+//
+// This file is part of a MOOS Utility Component.
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+// 02111-1307, USA.
+//
+////////////////////////// END_GPL //////////////////////////////////
+// DBImage.cpp: implementation of the CDBImage class.
+
+
+
+//
+
+
+//////////////////////////////////////////////////////////////////////
+
+#include "DBImage.h"
+
+//////////////////////////////////////////////////////////////////////
+// Construction/Destruction
+//////////////////////////////////////////////////////////////////////
+
+bool CDBImage::Set(MOOSMSG_LIST & InMail)
+{
+ MOOSMSG_LIST::iterator p;
+
+
+ m_Lock.Lock();
+ //MOOSTrace("Rx'd %d \n",InMail.size());
+
+ for(p = InMail.begin();p!=InMail.end();p++)
+ {
+ CMOOSMsg & rMsg= *p;
+ //MOOSTrace("Rx'd %s \n",rMsg.m_sKey.c_str());
+
+ if(!m_Mask.empty() && m_Mask.find(rMsg.GetSource())!=m_Mask.end())
+ {
+ continue;
+ }
+
+ if(rMsg.IsDataType(MOOS_NOT_SET) && !m_bShowPending)
+ {
+ continue;
+ }
+
+ int nNdx = GetIndex(rMsg.m_sKey);
+ if(nNdx<0)
+ {
+ m_IndexMap[rMsg.m_sKey] = m_DBData.size();
+ m_DBData.push_back(CVar(rMsg));
+ }
+ else
+ {
+ bool bChanging = !( rMsg.GetTime()==m_DBData[nNdx].GetTimeVal());
+ m_DBData[nNdx]= CVar(rMsg);
+ m_DBData[nNdx].Changed(bChanging);
+ }
+ }
+ m_Lock.UnLock();
+
+ return true;
+
+}
+
+
+
+
+
+
+
+
+int CDBImage::GetIndex(const std::string & sName)
+{
+ std::map::iterator q = m_IndexMap.find(sName);
+
+ if(q!=m_IndexMap.end())
+ {
+ int n = q->second;
+ return n;
+ }
+ else
+ {
+ return -1;
+ }
+
+}
+
+bool CDBImage:: HasChanged(int n)
+{
+ if(n >= static_cast (m_DBData.size()) || n<0)
+ return false;
+ return m_DBData[n].IsChanged();
+}
+
+
+bool CDBImage::Get(CVar & rVar, int n)
+{
+ m_Lock.Lock();
+
+ if(n>=static_cast (m_DBData.size()) || n<0)
+ {
+ m_Lock.UnLock();
+ return false;
+ }
+
+ rVar = m_DBData[n];
+
+ m_Lock.UnLock();
+
+ return true;
+}
+
+
+bool CDBImage::SetProcInfo(MOOSMSG_LIST & InMail)
+{
+ m_Lock.Lock();
+ // TODO: Add your control notification handler code here
+ m_nClients = InMail.size();
+ m_Processes.clear();
+ MOOSMSG_LIST::iterator p;
+ for(p=InMail.begin();p!=InMail.end();p++)
+ {
+
+ CMOOSMsg & rMsg = *p;
+ std::string sTmp = rMsg.m_sVal;
+ std::string sWho = MOOSChomp(sTmp,":");
+
+ if(m_Processes.find(sWho)==m_Processes.end())
+ {
+ ProcInfo Info;
+ m_Processes[sWho] = Info;
+ }
+
+ std::string sSubscribed,sPublished;
+ sSubscribed = MOOSChomp(sTmp,"PUBLISHED=");
+ sPublished = sTmp;
+ MOOSChomp(sSubscribed,"SUBSCRIBED=");
+
+ while(!sSubscribed.empty())
+ {
+ sTmp = MOOSChomp(sSubscribed,",");
+ if(!sTmp.empty())
+ {
+ m_Processes[sWho].m_Subscribed.push_front(sTmp);
+ }
+ }
+
+ while(!sPublished.empty())
+ {
+ sTmp = MOOSChomp(sPublished,",");
+ if(!sTmp.empty())
+ {
+ m_Processes[sWho].m_Published.push_front(sTmp);
+ }
+ }
+ }
+ m_Lock.UnLock();
+ return true;
+}
+
+bool CDBImage::GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs)
+{
+ bool bRes = false;
+ m_Lock.Lock();
+ PROC_INFO_MAP::iterator q = m_Processes.find(sWhat);
+ if(q!=m_Processes.end())
+ {
+ sSubs = q->second.m_Subscribed;
+ sPubs = q->second.m_Published;
+ bRes = true;
+ }
+ m_Lock.UnLock();
+ return bRes;
+
+}
+
+bool CDBImage::GetProcesses(STRING_LIST & sProcs)
+{
+ m_Lock.Lock();
+
+ sProcs.clear();
+
+ PROC_INFO_MAP::iterator q;
+ for(q=m_Processes.begin();q!=m_Processes.end();q++)
+ {
+ sProcs.push_back(q->first.c_str());
+ }
+ m_Lock.UnLock();
+
+ return true;
+}
+
+
+bool CDBImage::SetMask(std::set Mask)
+{
+ m_Mask = Mask;
+ return true;
+}
+
+bool CDBImage::Clear()
+{
+ m_Lock.Lock();
+ m_DBData.clear();
+ m_IndexMap.clear();
+ m_Lock.UnLock();
+
+ return true;
+}
diff --git a/src/appPowerMangerWebUI/DBImage.h b/src/appPowerMangerWebUI/DBImage.h
new file mode 100644
index 0000000..10ab42e
--- /dev/null
+++ b/src/appPowerMangerWebUI/DBImage.h
@@ -0,0 +1,170 @@
+///////////////////////////////////////////////////////////////////////////
+//
+// MOOS - Mission Oriented Operating Suite
+//
+// A suit of Applications and Libraries for Mobile Robotics Research
+// Copyright (C) 2001-2005 Massachusetts Institute of Technology and
+// Oxford University.
+//
+// This software was written by Paul Newman at MIT 2001-2002 and Oxford
+// University 2003-2005. email: pnewman@robots.ox.ac.uk.
+//
+// This file is part of a MOOS Utility Component.
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+// 02111-1307, USA.
+//
+////////////////////////// END_GPL //////////////////////////////////
+// DBImage.h: interface for the CDBImage class.
+
+//
+
+//////////////////////////////////////////////////////////////////////
+
+#ifdef _WIN32
+ #pragma warning(disable : 4786)
+#endif
+
+
+#if !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
+
+#define AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_
+
+#if _MSC_VER > 1000
+#pragma once
+#endif // _MSC_VER > 1000
+
+#include "MOOS/libMOOS/MOOSLib.h"
+#include
+#include