ros2_parser.h

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#pragma once
 
#include "PlotJuggler/messageparser_base.h"
 
#include <QCheckBox>
#include <QSettings>
#include <QDebug>
#include <string>
 
#include "ros_parser.h"
 
using namespace PJ;
 
class ParserFactoryROS2 : public ParserFactoryPlugin
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.ParserFactoryPlugin")
  Q_INTERFACES(PJ::ParserFactoryPlugin)
 
public:
  ParserFactoryROS2() = default;
 
  const char* name() const override
  {
    return "ParserFactoryROS2";
  }
  const char* encoding() const override
  {
    return "ros2msg";
  }
 
  MessageParserPtr createParser(const std::string& topic_name,
                                const std::string& type_name, const std::string& schema,
                                PlotDataMapRef& data) override
  {
    std::string msg_type =
        QString::fromStdString(type_name).replace("/msg/", "/").toStdString();
 
    auto parser = std::make_shared<ParserROS>(
        topic_name, msg_type, schema, new RosMsgParser::ROS2_Deserializer(), data);
    QSettings settings;
    parser->enableTruncationCheck(
        settings.value("Preferences::truncation_check", true).toBool());
    return parser;
  }
};