Skip to content

Added the url to the header in spy lite #519

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jbendes merged 1 commit into from
Jul 30, 2025
Merged

Added the url to the header in spy lite #519

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
188 changes: 105 additions & 83 deletions tools/cpp/spy-lite/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
#include <getopt.h>
#include <cstring>

#include "util/TypeDb.hpp"

Expand Down Expand Up @@ -397,6 +398,78 @@ struct SpyInfo
bool is_setting_decode_prefix = false;
};

struct Args
{
const char *zcmurl = nullptr;
const char *zcmtypes_path = nullptr;
vector<string> channels;
bool debug = false;
bool showBandwidth = false;

bool parse(int argc, char *argv[])
{
// set some defaults
const char *optstring = "hu:p:c:bd";
struct option long_opts[] = {
{ "help", no_argument, 0, 'h' },
{ "zcm-url", required_argument, 0, 'u' },
{ "type-path", required_argument, 0, 'p' },
{ "channel", required_argument, 0, 'c' },
{ "bandwidth", no_argument, 0, 'b' },
{ "debug", no_argument, 0, 'd' },
{ 0, 0, 0, 0 }
};

int c;
while ((c = getopt_long (argc, argv, optstring, long_opts, 0)) >= 0) {
switch (c) {
case 'u': zcmurl = optarg; break;
case 'p': zcmtypes_path = optarg; break;
case 'c': channels.push_back(optarg); break;
case 'b': showBandwidth = true; break;
case 'd': debug = true; break;
case 'h': default: usage(); return false;
};
}

if (channels.empty()) channels.push_back(".*");

return true;
}

void usage()
{
fprintf(stderr, "usage: zcm-spy-lite [options]\n"
"\n"
" Terminal based spy utility. Subscribes to all channels on a ZCM\n"
" transport and displays them in an interactive terminal.\n"
#ifndef USING_ELF
"\n"
" Note that since you compiled without libelf, zcm-spy-lite is\n"
" unable to decode and show the internals of messages\n"
#endif
"\n"
"Example:\n"
" zcm-spy-lite -u udpm://239.255.76.67:7667"
#ifdef USING_ELF
" -p path/to/zcmtypes.so"
#endif
"\n"
"\n"
"Options:\n"
"\n"
" -h, --help Shows this help text and exits\n"
" -u, --zcm-url=URL Log messages on the specified ZCM URL\n"
#ifdef USING_ELF
" -p, --type-path=PATH Path to a shared library containing the zcmtypes\n"
#endif
" -c, --channel=CHANNEL Channel to subscribe to. Can be specified more than once\n"
" -b, --bandwidth Calculate and show bandwidth of each channel\n"
" -d, --debug Run a dry run to ensure proper spy setup\n"
"\n");
}
};

void *keyboard_thread_func(void *arg)
{
SpyInfo *spy = (SpyInfo *)arg;
Expand Down Expand Up @@ -457,7 +530,35 @@ void clearscreen()
printf("\033[0;0H");
}

void printThreadFunc(SpyInfo *spy)
static void printHeader(const char* title, bool showBandwidth)
{
static const char* TITLE_PFX = "ZCM-SPY-LITE: ";
static int TITLE_PFX_LEN = strlen(TITLE_PFX);

int title_len = strlen(title);
int total_width = showBandwidth ? 79 : 76;
int padding = (total_width - title_len - 2 - TITLE_PFX_LEN) / 2;
int remaining = total_width - title_len - 2 - padding - TITLE_PFX_LEN;

// Print top border
printf(" ");
for (int i = 0; i < total_width; i++) printf("*");
printf(" \n");

// Print middle line with title
printf(" ");
for (int i = 0; i < padding; i++) printf("*");
printf(" %s%s ", TITLE_PFX, title);
for (int i = 0; i < remaining; i++) printf("*");
printf(" \n");

// Print bottom border
printf(" ");
for (int i = 0; i < total_width; i++) printf("*");
printf(" \n");
}

void printThreadFunc(SpyInfo *spy, Args *args)
{
static constexpr float hz = 20.0;
static constexpr u64 period = 1000000 / hz;
Expand All @@ -467,15 +568,7 @@ void printThreadFunc(SpyInfo *spy)
usleep(period);

clearscreen();
if (spy->showBandwidth) {
printf(" ******************************************************************************* \n");
printf(" ******************************** ZCM-SPY-LITE ********************************* \n");
printf(" ******************************************************************************* \n");
} else {
printf(" **************************************************************************** \n");
printf(" ******************************* ZCM-SPY-LITE ******************************* \n");
printf(" **************************************************************************** \n");
}
printHeader(args->zcmurl, spy->showBandwidth);

spy->display();

Expand Down Expand Up @@ -508,78 +601,6 @@ static void sighandler(int s)
}
}

struct Args
{
const char *zcmurl = nullptr;
const char *zcmtypes_path = nullptr;
vector<string> channels;
bool debug = false;
bool showBandwidth = false;

bool parse(int argc, char *argv[])
{
// set some defaults
const char *optstring = "hu:p:c:bd";
struct option long_opts[] = {
{ "help", no_argument, 0, 'h' },
{ "zcm-url", required_argument, 0, 'u' },
{ "type-path", required_argument, 0, 'p' },
{ "channel", required_argument, 0, 'c' },
{ "bandwidth", no_argument, 0, 'b' },
{ "debug", no_argument, 0, 'd' },
{ 0, 0, 0, 0 }
};

int c;
while ((c = getopt_long (argc, argv, optstring, long_opts, 0)) >= 0) {
switch (c) {
case 'u': zcmurl = optarg; break;
case 'p': zcmtypes_path = optarg; break;
case 'c': channels.push_back(optarg); break;
case 'b': showBandwidth = true; break;
case 'd': debug = true; break;
case 'h': default: usage(); return false;
};
}

if (channels.empty()) channels.push_back(".*");

return true;
}

void usage()
{
fprintf(stderr, "usage: zcm-spy-lite [options]\n"
"\n"
" Terminal based spy utility. Subscribes to all channels on a ZCM\n"
" transport and displays them in an interactive terminal.\n"
#ifndef USING_ELF
"\n"
" Note that since you compiled without libelf, zcm-spy-lite is\n"
" unable to decode and show the internals of messages\n"
#endif
"\n"
"Example:\n"
" zcm-spy-lite -u udpm://239.255.76.67:7667"
#ifdef USING_ELF
" -p path/to/zcmtypes.so"
#endif
"\n"
"\n"
"Options:\n"
"\n"
" -h, --help Shows this help text and exits\n"
" -u, --zcm-url=URL Log messages on the specified ZCM URL\n"
#ifdef USING_ELF
" -p, --type-path=PATH Path to a shared library containing the zcmtypes\n"
#endif
" -c, --channel=CHANNEL Channel to subscribe to. Can be specified more than once\n"
" -b, --bandwidth Calculate and show bandwidth of each channel\n"
" -d, --debug Run a dry run to ensure proper spy setup\n"
"\n");
}
};

int main(int argc, char *argv[])
{
DEBUG_INIT();
Expand Down Expand Up @@ -617,6 +638,7 @@ int main(int argc, char *argv[])
setvbuf(stdout, NULL, _IOFBF, 2048);

// start zcm
if (!args.zcmurl) args.zcmurl = getenv("ZCM_DEFAULT_URL");
zcm_t *zcm = zcm_create(args.zcmurl);
if (!zcm) {
fprintf(stderr, "Couldn't initialize ZCM! Try providing a URL with the "
Expand All @@ -628,7 +650,7 @@ int main(int argc, char *argv[])
}
zcm_start(zcm);

thread printThread {printThreadFunc, &spy};
thread printThread {printThreadFunc, &spy, &args};

// use this thread as the keyboard thread
keyboard_thread_func(&spy);
Expand Down
Loading