dataload_ros2.h

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#ifndef DATALOAD_ROS2_H
#define DATALOAD_ROS2_H
 
#include <QObject>
#include <QtPlugin>
#include <QSettings>
 
#include <rosbag2_cpp/reader.hpp>
#include <PlotJuggler/dataloader_base.h>
#include "dialog_select_ros_topics.h"
#include "parser_configuration.h"
 
class DataLoadROS2 : public PJ::DataLoader
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.ROS2DataLoader")
  Q_INTERFACES(PJ::DataLoader)
 
public:
  DataLoadROS2();
 
  virtual const std::vector<const char*>& compatibleFileExtensions() const override;
 
  virtual bool readDataFromFile(PJ::FileLoadInfo* fileload_info,
                                PJ::PlotDataMapRef& destination) override;
 
  virtual const char* name() const override
  {
    return "DataLoad ROS2 bags";
  }
 
  virtual ~DataLoadROS2() override = default;
 
  virtual bool xmlSaveState(QDomDocument& doc, QDomElement& parent_element) const override;
 
  virtual bool xmlLoadState(const QDomElement& parent_element) override;
 
private:
  std::shared_ptr<rosbag2_cpp::Reader> _bag_reader;
 
  std::vector<const char*> _extensions;
 
  PJ::RosParserConfig _config;
 
  std::vector<std::pair<QString, QString>> getAndRegisterAllTopics();
 
  void saveDefaultSettings();
 
  void loadDefaultSettings();
};
 
#endif  // DATALOAD_ROS2_H