datatamer_parser.cpp

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#include "datatamer_parser.h"
#include "data_tamer_parser/data_tamer_parser.hpp"
#include "PlotJuggler/contrib/fmt/core.h"
 
using namespace PJ;
 
class MsgParserImpl : public MessageParser
{
public:
  MsgParserImpl(const std::string& topic_name, const std::string& type_name,
                const std::string& schema, PJ::PlotDataMapRef& data)
    : MessageParser(topic_name, data), topic_name_(topic_name)
  {
    schema_ = DataTamerParser::BuilSchemaFromText(schema);
  }
 
  bool parseMessage(const MessageRef serialized_msg, double& timestamp) override
  {
    auto callback = [this, timestamp](const std::string& series_name,
                                      const DataTamerParser::VarNumber& var) {
      auto name = fmt::format("{}/{}", topic_name_, series_name);
      auto& plot_data = _plot_data.getOrCreateNumeric(name);
 
      double value = std::visit([](auto&& v) { return static_cast<double>(v); }, var);
 
      plot_data.pushBack({ timestamp, value });
    };
 
    DataTamerParser::SnapshotView snapshot;
    snapshot.schema_hash = schema_.hash;
 
    DataTamerParser::BufferSpan msg_buffer = { serialized_msg.data(),
                                               serialized_msg.size() };
 
    const uint32_t mask_size = DataTamerParser::Deserialize<uint32_t>(msg_buffer);
    snapshot.active_mask.data = msg_buffer.data;
    snapshot.active_mask.size = mask_size;
    msg_buffer.trimFront(mask_size);
 
    const uint32_t payload_size = DataTamerParser::Deserialize<uint32_t>(msg_buffer);
    snapshot.payload.data = msg_buffer.data;
    snapshot.payload.size = payload_size;
 
    DataTamerParser::ParseSnapshot(schema_, snapshot, callback);
    return true;
  }
 
private:
  DataTamerParser::Schema schema_;
 
  struct TimeSeries
  {
    std::string name;
    DataTamerParser::BasicType type;
    PlotData* plot_data = nullptr;
  };
 
  std::string topic_name_;
  std::vector<TimeSeries> timeseries_;
};
 
MessageParserPtr ParserDataTamer::createParser(const std::string& topic_name,
                                               const std::string& type_name,
                                               const std::string& schema,
                                               PJ::PlotDataMapRef& data)
{
  return std::make_shared<MsgParserImpl>(topic_name, type_name, schema, data);
}