datastream_zmq.h

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#pragma once
#include <QDialog>
 
#include "PlotJuggler/datastreamer_base.h"
#include "PlotJuggler/messageparser_base.h"
#include "ui_datastream_zmq.h"
#include "zmq.hpp"
#include <QtPlugin>
#include <map>
#include <string>
#include <thread>
 
class StreamZMQDialog : public QDialog
{
  Q_OBJECT
 
public:
  explicit StreamZMQDialog(QWidget* parent = nullptr);
  ~StreamZMQDialog();
 
  Ui::DataStreamZMQ* ui;
};
 
class DataStreamZMQ : public PJ::DataStreamer
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.DataStreamer")
  Q_INTERFACES(PJ::DataStreamer)
 
public:
  DataStreamZMQ();
 
  virtual ~DataStreamZMQ() override;
 
  virtual bool start(QStringList*) override;
 
  virtual void shutdown() override;
 
  virtual bool isRunning() const override
  {
    return _running;
  }
 
  virtual const char* name() const override
  {
    return "ZMQ Subscriber";
  }
 
  virtual bool isDebugPlugin() override
  {
    return false;
  }
 
private:
  bool _running;
  zmq::context_t _zmq_context;
  zmq::socket_t _zmq_socket;
  PJ::MessageParserPtr _parser;
  std::string _socket_address;
  std::thread _receive_thread;
  std::vector<std::string> _topic_filters;
  std::map<std::string, PJ::MessageParserPtr> _parsers;
  PJ::ParserFactoryPlugin::Ptr _parser_creator;
  bool _is_connect = false;
  void receiveLoop();
  bool parseMessage(const PJ::MessageRef& msg, double& timestamp);
  bool parseMessage(const std::string& topic, const PJ::MessageRef& msg,
                    double& timestamp);
  void parseTopicFilters(const QString& filters);
  void subscribeTopics();
  void unsubscribeTopics();
};