rosout_publisher.h

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#ifndef ROSOUT_PUBLISHER_ROS_H
#define ROSOUT_PUBLISHER_ROS_H
 
#include <QObject>
#include <QtPlugin>
#include <QMainWindow>
#include <map>
#include <ros/ros.h>
#include <PlotJuggler/statepublisher_base.h>
#include <rosgraph_msgs/Log.h>
#include "logwidget.hpp"
 
using namespace PJ;
 
class RosoutWindow : public QMainWindow
{
  Q_OBJECT
public:
  RosoutWindow() : QMainWindow()
  {
  }
  ~RosoutWindow() override = default;
 
  void closeEvent(QCloseEvent*) override
  {
    emit closed();
  }
signals:
  void closed();
};
 
class RosoutPublisher : public PJ::StatePublisher
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.StatePublisher")
  Q_INTERFACES(PJ::StatePublisher)
 
public:
  RosoutPublisher();
 
  virtual void updateState(double current_time) override;
  virtual const char* name() const override
  {
    return "ROS /rosout Visualization";
  }
  virtual ~RosoutPublisher();
 
  virtual bool enabled() const override
  {
    return _enabled;
  }
 
  virtual void play(double interval) override
  {
    // TODO
  }
 
public slots:
  virtual void setEnabled(bool enabled) override;
 
private slots:
 
  void onWindowClosed();
 
private:
  bool _enabled;
  int64_t _minimum_time_usec, _maximum_time_usec;
 
  LogsTableModel* _tablemodel;
  rqt_console_plus::LogWidget* _log_widget;
 
  std::vector<const PlotDataAny*> findRosoutTimeseries();
  void syncWithTableModel(const std::vector<const PlotDataAny*>& logs_timeseries);
 
  RosoutWindow* _log_window;
signals:
  void timeRangeChanged(TimePoint time_min, TimePoint time_max);
};
 
#endif  // ROSOUT_PUBLISHER_ROS_H