增加了moos变量显示的webui功能

src/appPowerMangerWebUI/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(SQLite3 REQUIRED)
 
 SET(SRC
   main.cpp
+  DBImage.cpp
 )
 
 ADD_EXECUTABLE(appPowerMangerWebUI ${SRC})

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<std::string,int>::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<int> (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<int> (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<std::string> Mask)
+{
+    m_Mask = Mask;
+    return true;
+}
+
+bool CDBImage::Clear()
+{
+    m_Lock.Lock();
+    m_DBData.clear();
+    m_IndexMap.clear();
+    m_Lock.UnLock();
+
+    return true;
+}

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 <string>
+#include <map>
+#include <vector>
+
+
+class CDBImage
+{
+public:
+    bool Clear();
+
+    CDBImage()
+    {
+        m_bShowPending = false;
+    }
+
+    struct ProcInfo
+    {
+        std::string m_sName;
+        STRING_LIST m_Published;
+        STRING_LIST m_Subscribed;
+    };
+
+    typedef std::map<std::string,ProcInfo> PROC_INFO_MAP;
+
+    class CVar
+
+    {
+    public:
+        CVar()
+        {
+            m_dfTime = -1;
+        }
+
+        CVar(CMOOSMsg & rMsg)
+        {
+            m_dfTime = rMsg.m_dfTime;
+            switch(rMsg.m_cDataType)
+            {
+            case MOOS_STRING:
+                m_eType = STR;
+                break;
+            case MOOS_DOUBLE:
+                m_eType = DBL;
+                break;
+            case MOOS_BINARY_STRING:
+                m_eType = BIN;
+                break;
+            default:
+                m_eType = UNKNOWN;
+            }
+            m_sStr = rMsg.GetAsString();
+            m_sCommunity = rMsg.m_sOriginatingCommunity;
+            m_sName = rMsg.m_sKey;
+            m_sFreq = MOOSFormat("%.1f",rMsg.m_dfVal2);
+            m_sSource = rMsg.m_sSrc;
+            m_bChanged = false;
+        }
+
+        std::string GetTime(){return MOOSFormat("%.3f",m_dfTime);};
+        double GetTimeVal(){return m_dfTime;};
+        std::string GetValue(){return m_eType==UNKNOWN?"":m_sStr;};
+        std::string GetCommunity(){return m_sCommunity;};
+        std::string GetName(){return m_sName;};
+        std::string GetFrequency(){return m_sFreq;};
+        std::string GetSource(){return m_sSource;};
+        bool IsChanged(){return m_bChanged;};
+        void Changed(bool b){m_bChanged = b;};
+        std::string GetType()
+        {
+            switch(m_eType)
+            {
+            case STR:
+                return "$";
+            case DBL:
+                return "D";
+            case BIN:
+                return "B";
+            default:
+                return "?";
+            }
+        }
+
+
+    protected:
+        double m_dfTime;
+        std::string m_sStr;
+        enum Type{ STR,DBL,BIN,UNKNOWN};
+        Type m_eType;
+        std::string m_sCommunity;
+        std::string m_sSrc;
+        std::string m_sName;
+        std::string m_sFreq;
+        std::string m_sSource;
+        bool m_bChanged;
+    };
+
+    bool Set(MOOSMSG_LIST & InMail);
+    bool Get(CVar & rVar, int n);
+    bool HasChanged(int n);
+    bool SetProcInfo(MOOSMSG_LIST & InMail) ;
+    bool GetProcesses(STRING_LIST & sProcs);
+    int GetNumVariables(){return m_DBData.size();}
+    bool GetProcInfo(const std::string & sWhat,STRING_LIST & sSubs,STRING_LIST & sPubs);
+    bool SetMask(std::set<std::string> Mask);
+    bool ShowPending(bool b){m_bShowPending = b;return true;};
+protected:
+    int GetIndex(const std::string & sName);
+    std::vector<CVar> m_DBData;
+    std::map<std::string,int> m_IndexMap;
+    std::set<std::string> m_Mask;
+
+    bool m_bShowPending ;
+    int m_nClients;
+    int m_nVariables;
+    PROC_INFO_MAP m_Processes;
+    CMOOSLock m_Lock;
+};
+
+
+#endif // !defined(AFX_DBIMAGE_H__E4F9EC4D_7049_4EC8_86BA_0AF21BBCA23C__INCLUDED_)
+

src/appPowerMangerWebUI/main.cpp

@@ -13,6 +13,7 @@
 #include "../pPowerManger/SQLiteDB.h"
 #include "../pPowerManger/pmSysvariable.h"
 #include <MOOS/libMOOS/Comms/MOOSAsyncCommClient.h>
+#include "DBImage.h"
 
 using namespace std;
 
@@ -23,6 +24,9 @@ mutex wsMutex;
 vector<crow::websocket::connection*> wsConnections;
 shared_ptr<SQLiteDB> db;
 shared_ptr<MOOS::MOOSAsyncCommClient>  moosClient;
+shared_ptr<CDBImage> dbImage;
+
+bool bContinue = true;
 
 // WebSocket消息处理
 void sendStateUpdate() {
@@ -33,6 +37,7 @@ void sendStateUpdate() {
         db->getStateData(stateData, time);
     }
     
+    // 基本状态信息
     msg["state"] = {
         {"time", time},
         {"state_id", stateData.state_id},
@@ -43,20 +48,65 @@ void sendStateUpdate() {
         {"note", stateData.note}
     };
     
-    // 添加数据库状态信息
+    // 数据库状态信息
     msg["db_status"] = {
         {"connected", db->isDatabaseConnected("/home/zjk/project/H100/H100PowerManger/data", "power_data.db")},
         {"database", db->getDBPatch()},
         {"size", db->getDatabaseSize()}
     };
     
-    // 添加MOOS数据库状态信息
+    // MOOS数据库状态信息
     msg["moos_db_status"] = {
         {"connected", moosClient->IsConnected()},
         {"host", "localhost"},
         {"port", 9000}
     };
-    
+
+    // 进程详细信息
+    {
+        lock_guard<mutex> lock(wsMutex);
+        STRING_LIST processes;
+        dbImage->GetProcesses(processes);
+        
+        crow::json::wvalue::list processList;
+        for(const auto& proc : processes) {
+            STRING_LIST subs, pubs;
+            if(dbImage->GetProcInfo(proc, subs, pubs)) {
+                crow::json::wvalue processInfo;
+                processInfo["name"] = proc;
+                // 将STRING_LIST转换为std::vector<std::string>
+                std::vector<std::string> subs_vec(subs.begin(), subs.end());
+                std::vector<std::string> pubs_vec(pubs.begin(), pubs.end());
+                processInfo["subscribed"] = subs_vec;
+                processInfo["published"] = pubs_vec;
+                processList.push_back(std::move(processInfo));
+            }
+        }
+        
+        msg["processes"] = {
+            {"count", processes.size()},
+            {"list", std::move(processList)}
+        };
+    }
+
+    // 数据库变量信息
+    {
+        lock_guard<mutex> lock(wsMutex);
+        int varCount = dbImage->GetNumVariables();
+        CDBImage::CVar lastVar;
+        bool hasLastVar = (varCount > 0) && dbImage->Get(lastVar, varCount-1);
+        
+        msg["variables"] = {
+            {"count", varCount},
+            {"last_updated", {
+                {"name", hasLastVar ? lastVar.GetName() : ""},
+                {"value", hasLastVar ? lastVar.GetValue() : ""},
+                {"time", hasLastVar ? lastVar.GetTime() : "0.0"}  
+            }}
+        };
+    }
+
+    // 发送WebSocket消息
     {
         lock_guard<mutex> lock(wsMutex);
         for(auto conn : wsConnections) {
@@ -65,10 +115,62 @@ void sendStateUpdate() {
     }
 }
 
+// 订阅MOOS变量
+bool FetchLoop(MOOS::MOOSAsyncCommClient* comms, CDBImage* m_DBImage)
+{
+    int nCounts = 0;
+    while(true) // 外部需要控制循环退出条件
+    {
+        if(comms->IsConnected())
+        {
+            // 每5次循环获取一次进程摘要
+            if(nCounts++ % 5 == 0)
+            {
+                MOOSMSG_LIST procMail;
+                if(comms->ServerRequest("PROC_SUMMARY", procMail))
+                {
+                    m_DBImage->SetProcInfo(procMail);
+                    
+                    // 打印进程信息
+                    STRING_LIST processes;
+                    m_DBImage->GetProcesses(processes);
+                    std::cout << "Active processes: " << processes.size() << std::endl;
+                }
+            }
+            
+            // 每次循环都获取数据库摘要
+            MOOSMSG_LIST dbMail;
+            if(comms->ServerRequest("ALL", dbMail))
+            {
+                m_DBImage->Set(dbMail);
+                
+                // 打印数据库变量信息
+                int varCount = m_DBImage->GetNumVariables();
+                std::cout << "Database variables: " << varCount << std::endl;
+                
+                // 打印最近更新的变量
+                if(varCount > 0) {
+                    CDBImage::CVar lastVar;
+                    if(m_DBImage->Get(lastVar, varCount-1)) {
+                        std::cout << "Last updated variable: " 
+                                << lastVar.GetName() << " = " 
+                                << lastVar.GetValue() << std::endl;
+                    }
+                }
+            }
+        }
+        
+        // 保持大约4Hz的频率
+        MOOSPause(250);
+    }
+    return true;
+}
+
 int main() {
     crow::SimpleApp app;
     db = make_shared<SQLiteDB>("/home/zjk/project/H100/H100PowerManger/data/power_data.db");
     moosClient = make_shared<MOOS::MOOSAsyncCommClient>();
+    dbImage = make_shared<CDBImage>();
     moosClient->Run("localhost", 9000, "appPowerMangerWebUI");
 
     // WebSocket路由
@@ -97,6 +199,13 @@ int main() {
         }
     }).detach();
 
+    //MOOS数据库更新定时器
+    std::thread fetchThread([&](){
+        while(bContinue) {
+            FetchLoop(moosClient.get(), dbImage.get());
+        }
+    });
+
     // 绑定主页路由
     CROW_ROUTE(app, "/")([]() {
         auto page = crow::mustache::load_text("index.html");