datastream_ros2.h

Go to the documentation of this file.

#ifndef DATASTREAM_ROS2_TOPIC_H
#define DATASTREAM_ROS2_TOPIC_H
 
#include <QtPlugin>
#include <QTimer>
 
#include <PlotJuggler/datastreamer_base.h>
 
#include "dialog_select_ros_topics.h"
#include "ros_parsers/ros2_parser.h"
#include "rclcpp/generic_subscription.hpp"
 
class DataStreamROS2 : public PJ::DataStreamer
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.ROS2DataStreamer")
  Q_INTERFACES(PJ::DataStreamer)
 
public:
  DataStreamROS2();
 
  bool start(QStringList* selected_datasources) override;
 
  void shutdown() override;
 
  bool isRunning() const override;
 
  ~DataStreamROS2() override;
 
  const char* name() const override
  {
    return "ROS2 Topic Subscriber";
  }
 
  bool xmlSaveState(QDomDocument& doc, QDomElement& parent_element) const override;
 
  bool xmlLoadState(const QDomElement& parent_element) override;
 
  const std::vector<QAction*>& availableActions() override;
 
private:
  void messageCallback(const std::string& topic_name, std::shared_ptr<rclcpp::SerializedMessage> msg);
 
private:
  std::shared_ptr<rclcpp::Context> _context;
  std::unique_ptr<rclcpp::executors::MultiThreadedExecutor> _executor;
  std::shared_ptr<rclcpp::Node> _node;
 
  PJ::CompositeParser _parser;
 
  bool _running;
  bool _first_warning;
 
  std::thread _spinner;
 
  PJ::RosParserConfig _config;
 
  rclcpp::Clock _clock;
 
  rcl_time_point_value_t _start_time;
 
  void saveDefaultSettings();
 
  void loadDefaultSettings();
 
  std::unordered_map<std::string, rclcpp::GenericSubscription::SharedPtr> _subscriptions;
 
  void subscribeToTopic(const std::string& topic_name, const std::string& topic_type);
  void waitOneSecond();
};
 
#endif