增加了moos变量显示的webui功能

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;
+}