plotjuggler_sink.h

#pragma once
#include <g3log/logmessage.hpp>
#include <string>
 
#include "proto/visualization.pb.h"
#include "software/logger/custom_logging_levels.h"
#include "software/networking/udp/threaded_udp_sender.h"
 
 
class PlotJugglerSink
{
   public:
    PlotJugglerSink(const std::string& interface = "lo");
 
    ~PlotJugglerSink() = default;
 
    void sendToPlotJuggler(g3::LogMessageMover log_entry);
 
   private:
    // Any error that occurs during the creation of the UDP sender will be stored here
    std::optional<std::string> error;
 
    ThreadedUdpSender udp_sender;
};
 
/*
 * Convert the protobuf map to a JSON string
 * This is done to allow minimal required setup to start plotting with Plot Juggler
 *
 * @param os The output stream
 * @param message The PlotJugglerValue message to serialize
 * @return The output stream containing the serialized message
 */
std::ostream& operator<<(std::ostream& os,
                         const TbotsProto::PlotJugglerValue& plotjuggler_value);