dataload_ros.h

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#ifndef DATALOAD_ROS_H
#define DATALOAD_ROS_H
 
#include <QObject>
#include <QtPlugin>
 
#include <ros/ros.h>
#include <rosbag/bag.h>
 
#include <PlotJuggler/dataloader_base.h>
#include "dialog_select_ros_topics.h"
#include "ros_parsers/ros1_parser.h"
#include "parser_configuration.h"
 
class DataLoadROS : public PJ::DataLoader
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.ROSDataLoader")
  Q_INTERFACES(PJ::DataLoader)
 
public:
  DataLoadROS();
 
  virtual ~DataLoadROS() override;
 
  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 ROS bags";
  }
 
  virtual bool xmlSaveState(QDomDocument& doc, QDomElement& parent_element) const override;
 
  virtual bool xmlLoadState(const QDomElement& parent_element) override;
 
protected:
 
  std::shared_ptr<rosbag::Bag> _bag;
 
private:
  std::vector<const char*> _extensions;
 
  PJ::RosParserConfig _config;
 
  std::vector<std::pair<QString, QString>> getAllTopics(const rosbag::Bag* bag, PJ::CompositeParser &parser);
 
  PJ::PlotDataMapRef* _plot_map = nullptr;
};
 
#endif  // DATALOAD_CSV_H