Class DdsCommandPublisher¶

Defined in File DdsCommand.hpp

Inheritance Relationships¶

Base Type¶

public QObject

Class Documentation¶

class DdsCommandPublisher : public QObject¶

Publisher for DDS type Command as a QML element.

This class is a QML element and enables QML applications to gain access to a DDS signal type as a read-only QML properties.

Note

Unlike most other adapters in sinspekto, the DDS QoS of this are implemented with writers with dds::core::policy::Durability::TransientLocal() and for readers also dds::core::policy::Reliability::Reliable();, see DDS QoS for details.

Public Functions

explicit DdsCommandPublisher(QObject *parent = nullptr)¶

Constructor.

The initialization is deferred to an init() function.

Parameters: parent – [in] QObject pointer.

virtual ~DdsCommandPublisher()¶: Destructor.

fkin::CommandType command() const

Property accessor for command.

Returns: command as a CommandType enum.

QString commandName() const

Property accessor for command name.

Returns: Command as a human readable string.

QString responseMessage() const

Property accessor for response message.

Returns: Response message string.

bool responseStatus() const

Property accessor for response status.

Returns: Response status. True is OK.

void init(QtToDds *dds, const QString &topic, const QString &recipient, const QString &responseTopic = QString(), int responseTimeout_ms = 1000)¶

Initializes DDS writer and connects Qt signals and slots.

Parameters

dds – [in] Pointer to QtToDds instance.
topic – [in] Name of DDS topic for which to publish.
recipient – [in] Key identifier for the command.
responseTopic – [in] Name of DDS topic to subscribe to command responses, acknowledgments. (optional)
responseTimeout_ms – [in] Time in milliseconds to wait for an acknowledgment. (default: 1000)

Public Slots

void setCommand(fkin::CommandType command)¶

Sets command and sends over DDS.

Sends requested command over DDS. Emits commandChanged() and commandNameChanged(). If a responseTopic is defined in init(), starts the response timer.

Parameters: command – [in] Command to send.

void updateResponse()¶

Reads the command response from DDS.

If there is a response, emits confirmedResponseSeqNr()

void setResponseMessage(const QString &responseMessage)¶

Sets the new response message and emits responseMessageChanged().

Parameters: responseMessage – [in] The response message to set.

void setResponseStatus(bool status)¶

Sets the new response status and emits responseStatusChanged().

Parameters: status – [in] The response status to set.

void handleNoResponse()¶: Sets timout message and sets response status false. Emits noResponse().

Signals

void commandChanged(fkin::CommandType command)¶

DDS command has changed.

This signal is connected to the QML DdsCommandPublisher::command property.

Parameters: command – [out] New command.

void commandNameChanged(const QString &commandName)¶

DDS command name has changed.

This signal is connected to the QML DdsCommandPublisher::commandName property.

Parameters: commandName – [out] Human readable command name.

void responseMessageChanged(const QString &responseMessage)¶

DDS response message name has changed.

This signal is connected to the QML DdsCommandPublisher::responseMessage property.

Parameters: responseMessage – [out] Human readable response message.

void responseStatusChanged(bool responseStatus)¶

DDS response status has changed.

This signal is connected to the QML DdsCommandPublisher::responseStatus property.

Parameters: responseStatus – [out] Is the response OK?

void gotResponse()¶: Triggered when a response is received.

void noResponse()¶: Triggered when no response is received.

void confirmedResponseSeqNr(int sequenceNr)¶

Triggered when a response is received.

Parameters: sequenceNr – [out] Sequence number of confirmed command.

Properties

fkin::CommandType command¶: Command enum.

QString commandName¶: Human readable command name.

QString responseMessage¶: Response message on a command.

bool responseStatus¶: Response status of a sent command.

Private Members

std::unique_ptr<sinspekto::Writer<fkin::Command>> m_writer¶: The DDS writer wrapper class.

std::unique_ptr<sinspekto::Reader<fkin::CommandResponse>> m_reader¶: The DDS writer wrapper class.

QString m_recipient¶: Recipient identifier string.

QString m_responseMessage¶: Response message variable.

bool m_responseStatus¶: Response status.

std::int32_t m_awaitingSeqNr¶: Sequence number of message.

QTimer m_timer¶: Response timer.