datastream_ROS.h

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#ifndef DATASTREAM_ROS_TOPIC_H
#define DATASTREAM_ROS_TOPIC_H
 
#include <QtPlugin>
#include <QAction>
#include <QTimer>
#include <thread>
#include <ros_type_introspection/utils/shape_shifter.hpp>
#include <PlotJuggler/datastreamer_base.h>
#include <ros_type_introspection/ros_introspection.hpp>
#include <rosgraph_msgs/Clock.h>
#include "qnodedialog.h"
#include "dialog_select_ros_topics.h"
#include "ros_parsers/ros1_parser.h"
 
class DataStreamROS : public PJ::DataStreamer
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.DataStreamer")
  Q_INTERFACES(PJ::DataStreamer)
 
public:
  DataStreamROS();
 
  virtual bool start(QStringList* selected_datasources) override;
 
  virtual void shutdown() override;
 
  virtual bool isRunning() const override;
 
  virtual ~DataStreamROS() override;
 
  virtual const char* name() const override
  {
    return "ROS Topic Subscriber";
  }
 
  virtual bool xmlSaveState(QDomDocument& doc, QDomElement& parent_element) const override;
 
  virtual bool xmlLoadState(const QDomElement& parent_element) override;
 
  virtual const std::vector<QAction*>& availableActions() override;
 
private:
  void topicCallback(const RosIntrospection::ShapeShifter::ConstPtr& msg, const std::string& topic_name);
 
  void extractInitialSamples();
 
  void timerCallback();
 
  void subscribe();
 
  bool _running;
  bool _first_warning;
 
  std::shared_ptr<ros::AsyncSpinner> _spinner;
 
  double _initial_time;
 
  std::string _prefix;
 
  ros::NodeHandlePtr _node;
 
  std::map<std::string, ros::Subscriber> _subscribers;
 
  int _received_msg_count;
 
  QAction* _action_saveIntoRosbag;
 
  QAction* _action_saveAny;
 
  std::vector<QAction*> _available_actions;
 
  std::map<std::string, int> _msg_index;
 
  PJ::RosParserConfig _config;
 
  PJ::CompositeParser _parser;
 
  QTimer* _periodic_timer;
 
  double _prev_clock_time;
 
  std::unordered_map<std::string, PJ::PlotDataAny> _user_defined_buffers;
 
private:
  void saveIntoRosbag();
};
 
#endif  // DATALOAD_CSV_H