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Add support for Protobuf message timestamp #835

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54 changes: 42 additions & 12 deletions plotjuggler_plugins/ParserProtobuf/protobuf_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,17 +4,29 @@
#include "PlotJuggler/fmt/format.h"
#include "PlotJuggler/svg_util.h"


namespace gp = google::protobuf;

ProtobufParser::ProtobufParser(const std::string &topic_name,
const std::string type_name,
const gp::FileDescriptorSet &descriptor_set,
PlotDataMapRef &data)
: MessageParser(topic_name, data)
, _proto_pool(&_proto_database)
{
ProtobufParser::ProtobufParser(const std::string& topic_name,
const google::protobuf::Descriptor* descriptor, PlotDataMapRef& data)
: MessageParser(topic_name, data)
, _proto_pool(&_proto_database)
, _msg_descriptor(descriptor)
{
for (auto i = 0; i < _msg_descriptor->field_count(); ++i)
{
if ("timestamp" == _msg_descriptor->field(i)->name())
{
_timestamp_field_id = i;
break;
}
}
}

ProtobufParser::ProtobufParser(const std::string& topic_name, const std::string type_name,
const gp::FileDescriptorSet& descriptor_set,
PlotDataMapRef& data)
: MessageParser(topic_name, data), _proto_pool(&_proto_database)
{
gp::FileDescriptorProto unused;

for (int i = 0; i < descriptor_set.file_size(); ++i)
Expand All @@ -37,6 +49,15 @@ ProtobufParser::ProtobufParser(const std::string &topic_name,
{
throw std::runtime_error("Cannot get message descriptor");
}

for (auto i = 0; i < _msg_descriptor->field_count(); ++i)
{
if ("timestamp" == _msg_descriptor->field(i)->name())
{
_timestamp_field_id = i;
break;
}
}
}

bool ProtobufParser::parseMessage(const MessageRef serialized_msg,
Expand All @@ -53,9 +74,18 @@ bool ProtobufParser::parseMessage(const MessageRef serialized_msg,
}

std::function<void(const google::protobuf::Message&, const std::string&, const bool)> ParseImpl;

double timestamp_updated = timestamp;

ParseImpl = [&](const google::protobuf::Message& msg, const std::string& prefix, const bool is_map)
if (_timestamp_field_id)
{
const gp::Reflection* ref_tmp = mutable_msg->GetReflection();
const gp::Descriptor* desc_tmp = mutable_msg->GetDescriptor();
timestamp_updated = ref_tmp->GetDouble(*mutable_msg, desc_tmp->field(*_timestamp_field_id));
}

ParseImpl = [&](const google::protobuf::Message& msg, const std::string& prefix,
const bool is_map) {
const gp::Reflection* reflection = msg.GetReflection();
const gp::Descriptor* descriptor = msg.GetDescriptor();
// std::vector<const FieldDescriptor*> reflection_fields;
Expand Down Expand Up @@ -155,7 +185,7 @@ bool ProtobufParser::parseMessage(const MessageRef serialized_msg,
reflection->GetRepeatedEnum(msg, field, index);

auto& series = this->getStringSeries(key + suffix);
series.pushBack({timestamp, tmp->name()});
series.pushBack({ timestamp_updated, tmp->name() });
is_double = false;
}break;
case gp::FieldDescriptor::CPPTYPE_STRING:{
Expand All @@ -168,7 +198,7 @@ bool ProtobufParser::parseMessage(const MessageRef serialized_msg,
continue;
}
auto& series = this->getStringSeries(key + suffix);
series.pushBack({timestamp, tmp});
series.pushBack({ timestamp_updated, tmp });
is_double = false;
}break;
case gp::FieldDescriptor::CPPTYPE_MESSAGE:
Expand Down Expand Up @@ -220,7 +250,7 @@ bool ProtobufParser::parseMessage(const MessageRef serialized_msg,
if( is_double )
{
auto& series = this->getSeries(key + suffix);
series.pushBack({timestamp, value});
series.pushBack({ timestamp_updated, value });
}
}
}
Expand Down
14 changes: 3 additions & 11 deletions plotjuggler_plugins/ParserProtobuf/protobuf_parser.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,20 +12,15 @@

#include "error_collectors.h"
#include "PlotJuggler/messageparser_base.h"
#include <optional>

using namespace PJ;

class ProtobufParser : public MessageParser
{
public:
ProtobufParser(const std::string& topic_name,
const google::protobuf::Descriptor* descriptor,
PlotDataMapRef& data)
: MessageParser(topic_name, data)
, _proto_pool(&_proto_database)
, _msg_descriptor(descriptor)
{
}
const google::protobuf::Descriptor* descriptor, PlotDataMapRef& data);

ProtobufParser(const std::string& topic_name,
const std::string type_name,
Expand All @@ -35,14 +30,11 @@ class ProtobufParser : public MessageParser
bool parseMessage(const MessageRef serialized_msg, double& timestamp) override;

protected:
std::optional<unsigned int> _timestamp_field_id;

google::protobuf::SimpleDescriptorDatabase _proto_database;
google::protobuf::DescriptorPool _proto_pool;

google::protobuf::DynamicMessageFactory _msg_factory;
const google::protobuf::Descriptor* _msg_descriptor = nullptr;

};