datastream_zcm.h

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#pragma once
 
#include <QtPlugin>
#include <thread>
#include "PlotJuggler/datastreamer_base.h"
 
#include <zcm/zcm-cpp.hpp>
 
#include <zcm/tools/TypeDb.hpp>
#include <zcm/tools/Introspection.hpp>
 
#include "config_zcm.h"
#include "ui_datastream_zcm.h"
 
class DataStreamZcm : public PJ::DataStreamer
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.DataStreamer")
  Q_INTERFACES(PJ::DataStreamer)
 
public:
  DataStreamZcm();
 
  virtual ~DataStreamZcm();
 
  virtual const char* name() const override;
 
  virtual bool start(QStringList*) override;
 
  virtual void shutdown() override;
 
  virtual bool isRunning() const override;
 
  virtual bool xmlSaveState(QDomDocument& doc,
                            QDomElement& parent_element) const override;
 
  virtual bool xmlLoadState(const QDomElement& parent_element) override;
 
private slots:
  void on_pushButtonUrl_clicked();
 
private:
  std::unique_ptr<zcm::TypeDb> _types;
 
  std::unique_ptr<zcm::ZCM> _zcm;
 
  zcm::Subscription* _subs = nullptr;
 
  static void processData(const std::string& name, zcm_field_type_t type,
                          const void* data, void* usr);
 
  std::vector<std::pair<std::string, double>> _numerics;
  std::vector<std::pair<std::string, std::string>> _strings;
 
  void handler(const zcm::ReceiveBuffer* rbuf, const std::string& channel);
 
  bool _running;
  QString _types_library;
  QString _subscribe_string;
  QString _transport;
 
  QDialog* _dialog;
  Ui::DialogZcm* _ui;
  ConfigZCM* _config_widget;
};