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C++

Connect directly to Foxglove or play back local data recorded with the C++ SDK.

Install the SDK​

The C++ SDK is a wrapper around a C library. To build it, you will need to link that library and compile the SDK source as part of your build process. The SDK assumes C++17 or newer.

Download the library, source, and header files for your platform from the SDK release assets.

If you're using CMake, you can use the following as a starting point. For more detail, see the quickstart example.

cmake_minimum_required(VERSION 3.20)

# TODO: replace "my_program" throughout with the name of your project
project(my_program LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 17)

# Fetch Foxglove SDK
include(FetchContent)
FetchContent_Declare(
    foxglove
    DOWNLOAD_EXTRACT_TIMESTAMP TRUE
    # TODO: Copy the URL and SHA for the appropriate .zip file from here:
    # https://github.com/foxglove/foxglove-sdk/releases?q=sdk%2F&expanded=true
    URL <download URL from the GitHub release>
    URL_HASH SHA256=<sha from the GitHub release>
)
FetchContent_MakeAvailable(foxglove)

# Assuming the project consists of a single source file, main.cpp
add_executable(my_program main.cpp)

# Add include directory for Foxglove SDK
target_include_directories(my_program PRIVATE ${foxglove_SOURCE_DIR}/include)
target_include_directories(my_program PRIVATE ${foxglove_SOURCE_DIR}/include/foxglove)

# Find all Foxglove SDK source files
file(GLOB FOXGLOVE_SOURCES CONFIGURE_DEPENDS
    "${foxglove_SOURCE_DIR}/src/*.cpp"
    "${foxglove_SOURCE_DIR}/src/server/*.cpp"
)

# Add Foxglove SDK source files
target_sources(my_program PRIVATE ${FOXGLOVE_SOURCES})

# Link against libfoxglove.a
target_link_libraries(my_program PRIVATE ${foxglove_SOURCE_DIR}/lib/libfoxglove.a)

Live data​

Log messages from C++​

#include <foxglove/foxglove.hpp>
#include <foxglove/server.hpp>

#include <chrono>
#include <csignal>
#include <iostream>
#include <thread>

using namespace std::chrono_literals;

int main(int argc, const char *argv[]) {
  foxglove::WebSocketServerOptions options;
  auto serverResult = foxglove::WebSocketServer::create(std::move(options));
  if (!serverResult.has_value()) {
    std::cerr << foxglove::strerror(serverResult.error()) << '\n';
    return 1;
  }

  auto server = std::move(serverResult.value());
  auto channel = foxglove::RawChannel::create("/hello", "json").value();
  auto start = std::chrono::steady_clock::now();

  // Log until interrupted
  static std::function<void()> sigint_handler;
  std::atomic_bool done = false;
  sigint_handler = [&] { done = true; };
  std::signal(SIGINT, [](int) {
    if (sigint_handler) {
      sigint_handler();
    }
  });

  while (!done) {
    auto dur = std::chrono::steady_clock::now() - start;
    float elapsed_seconds = std::chrono::duration<float>(dur).count();
    std::string msg = "{\"elapsed\": " + std::to_string(elapsed_seconds) + "}";
    channel.log(reinterpret_cast<const std::byte *>(msg.data()), msg.size());

    std::this_thread::sleep_for(33ms);
  }

  return 0;
}

Run the example​

If you're using something like the CMake configuration above, you can create a build directory and run the following.

cd build
cmake ..
cmake --build .
./my_program

Connect​

In Foxglove, select "Open connection" from the dashboard or left-hand menu.

Select open connection

Select "Foxglove WebSocket" in the "Open a new connection" dialog, then click "Open" to accept the default connection string:

Foxglove WebSocket dialog

Local data​

Recording data to a file​

The SDK can also log data to disk. Let's augment the example above to also produce an MCAP file which can later be opened in Foxglove:

#include <foxglove/foxglove.hpp>
#include <foxglove/mcap.hpp>
#include <foxglove/server.hpp>

#include <chrono>
#include <csignal>
#include <iostream>
#include <thread>

using namespace std::chrono_literals;

int main(int argc, const char *argv[]) {
  foxglove::WebSocketServerOptions options;
  auto serverResult = foxglove::WebSocketServer::create(std::move(options));
  if (!serverResult.has_value()) {
    std::cerr << foxglove::strerror(serverResult.error()) << '\n';
    return 1;
  }

  auto server = std::move(serverResult.value());
  auto channel = foxglove::RawChannel::create("/hello", "json").value();
  auto start = std::chrono::steady_clock::now();

  foxglove::McapWriterOptions mcap_options;
  mcap_options.path = "example.mcap";
  auto writerResult = foxglove::McapWriter::create(mcap_options);
  if (!writerResult.has_value()) {
    std::cerr << foxglove::strerror(writerResult.error()) << '\n';
    return 1;
  }
  // Keep a reference to the writer. It will be closed when the writer is
  // destroyed, or we could call `.close()` to close it manually.
  auto writer = std::move(writerResult.value());

  // Log until interrupted
  static std::function<void()> sigint_handler;
  std::atomic_bool done = false;
  sigint_handler = [&] { done = true; };
  std::signal(SIGINT, [](int) {
    if (sigint_handler) {
      sigint_handler();
    }
  });

  while (!done) {
    auto dur = std::chrono::steady_clock::now() - start;
    float elapsed_seconds = std::chrono::duration<float>(dur).count();
    std::string msg = "{\"elapsed\": " + std::to_string(elapsed_seconds) + "}";
    channel.log(reinterpret_cast<const std::byte *>(msg.data()), msg.size());

    std::this_thread::sleep_for(33ms);
  }

  return 0;
}

Viewing data from a file​

Open your recording(s) directly from your computer by:

  • Dragging and dropping them into Foxglove
  • Using Cmd/Ctrl + o
  • Clicking Open local file(s) in the app

Local file dialog

note

When opening multiple files, Foxglove will display the data as a single merged timeline. The files must be of the same format.

Explore your data​

Your data is now available for exploring in Foxglove. Add some panels to begin visualizing what your robot is seeing and producing. Not sure where to start? Try adding a Raw Messages panel, Plot panel, or 3D panel.