Add plotjuggler group creation and data reading

With recent version of fastDDS we can now read wml file with key, so
read this value and create group.
Plotjuggler groups are now created in FastDdsDataStreamer so that it can
latter handle them.

Issue: [eProsima#56]
Signed-off-by: Manuel Valch <manuelValch@proton.me>

plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.cpp

@@ -96,7 +96,7 @@ bool FastDdsDataStreamer::start(
             configuration_.data_type_configuration);
     }
 
-    running_ = timeSeriesCreation();
+    running_ = pjGroupCreation();
 
     return running_;
 }
@@ -139,6 +139,55 @@ bool FastDdsDataStreamer::xmlLoadState(
     return configuration_.xmlLoadState(parent_element);
 }
 
+
+void FastDdsDataStreamer::onNewInstance(const std::string& topic_name, const std::string& instance_name)
+{
+
+
+    // First we need to now which series belong to the instance and then register them
+    // this will all be name based, i.e on topic name
+    std::vector<types::DatumLabel> numeric_series = fastdds_handler_.numeric_data_series_names();
+    std::vector<types::DatumLabel> string_series = fastdds_handler_.string_data_series_names();
+
+    // get Pj group serie belong to
+
+    // NUMERIC
+    for (const auto& series : numeric_series)
+    {
+        std::size_t char_id = series.find_first_of("/");
+        std::string topic_name = series.substr(0U, char_id);
+        std::string series_name = series.substr(char_id);
+
+        if (plot_groups_.end() == plot_groups_.find(topic_name))
+        {
+            // Create plotjuggler group
+            DEBUG("Creating plotjuggler group: " << topic_name);
+            plot_groups_.insert({topic_name, std::make_shared<PJ::PlotGroup>(topic_name)});
+        }
+        // Create a series
+        DEBUG("Creating numeric series: " << series_name);
+        dataMap().addNumeric(series_name, plot_groups_.at(topic_name));
+    }
+
+    // STRING
+    for (const auto& series : string_series)
+    {
+        std::size_t char_id = series.find_first_of("/");
+        std::string topic_name = series.substr(0U, char_id);
+        std::string series_name = series.substr(char_id);
+
+        if (plot_groups_.end() == plot_groups_.find(topic_name))
+        {
+            // Create plotjuggler group
+            DEBUG("Creating plotjuggler group: " << topic_name);
+            plot_groups_.insert({topic_name, std::make_shared<PJ::PlotGroup>(topic_name)});
+        }
+        // Create a series
+        DEBUG("Creating string series: " << series_name);
+        dataMap().addStringSeries(series_name, plot_groups_.at(topic_name));
+    }
+}
+
 ////////////////////////////////////////////////////
 // FASTDDS LISTENER METHODS
 ////////////////////////////////////////////////////
@@ -156,10 +205,25 @@ void FastDdsDataStreamer::on_double_data_read(
     {
         DEBUG("Adding to numeric series " << data.first << " value " << data.second << " with timestamp " << timestamp);
 
-        // Get data map
-        auto& series = dataMap().numeric.find(data.first)->second;
-        // Add data to series
-        series.pushBack( { timestamp, data.second});
+        //Find to which group it belong
+        std::string group = data_per_topic_value[0U].first;
+        std::size_t char_id = group.find_first_of("/");
+        std::string topic_name = group.substr(0U, char_id);
+        std::string series_name = group.substr(char_id);
+
+        if (plot_groups_.end() == plot_groups_.find(topic_name))
+        {
+            // Create plotjuggler group
+            WARNING("Received not registered topic: " << topic_name);
+        }
+        else
+        {
+            // Get data map
+            auto& series = dataMap().numeric.find(series_name)->second;
+            // Add data to series
+            series.pushBack( { timestamp, data.second});
+        }
+
     }
 
     emit dataReceived();
@@ -178,10 +242,24 @@ void FastDdsDataStreamer::on_string_data_read(
     {
         DEBUG("Adding to string series " << data.first << " value " << data.second << " with timestamp " << timestamp);
 
-        // Get data map
-        auto& series = dataMap().strings.find(data.first)->second;
-        // Add data to series
-        series.pushBack( { timestamp, data.second});
+        //Find to which group it belong
+        std::string group = data_per_topic_value[0U].first;
+        std::size_t char_id = group.find_first_of("/");
+        std::string topic_name = group.substr(0U, char_id);
+        std::string series_name = group.substr(char_id);
+
+        if (plot_groups_.end() == plot_groups_.find(topic_name))
+        {
+            // Create plotjuggler group
+            WARNING("Received not registered topic: " << topic_name);
+        }
+        else
+        {
+            // Get data map
+            auto& series = dataMap().strings.find(series_name)->second;
+            // Add data to series
+            series.pushBack( { timestamp, data.second});
+        }
     }
 
     emit dataReceived();
@@ -237,7 +315,7 @@ void FastDdsDataStreamer::connect_to_domain_(
     select_topics_dialog_.connect_to_domain(domain_id);
 }
 
-bool FastDdsDataStreamer::timeSeriesCreation()
+bool FastDdsDataStreamer::pjGroupCreation()
 {
 
     // Get all series from topics and create them

plugins/datastreamer_plugin/datastreamer/FastDdsDataStreamer.hpp

@@ -88,6 +88,8 @@ class FastDdsDataStreamer :
     bool xmlLoadState(
             const QDomElement& parent_element) override;
 
+    void onNewInstance(const std::string& topic_name, const std::string& instance_name);
+
     ////////////////////////////////////////////////////
     // FASTDDS LISTENER METHODS
     ////////////////////////////////////////////////////
@@ -133,7 +135,7 @@ class FastDdsDataStreamer :
             unsigned int domain_id);
 
 
-    bool timeSeriesCreation();
+    bool pjGroupCreation();
 
     ////////////////////////////////////////////////////
     // INTERNAL VALUES