Class RatatoskDouble3Subscriber

Inheritance Relationships

Base Type

  • public QObject

Class Documentation

class RatatoskDouble3Subscriber : public QObject

Subscriber for DDS type ratatosk::types::Double3 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 property.

Public Functions

explicit RatatoskDouble3Subscriber(QObject *parent = nullptr)

Constructor.

The initialization is deferred to an init() function.

Parameters

parent – [in] QObject pointer.

virtual ~RatatoskDouble3Subscriber()

Destructor.

QVector3D value() const

Property accessor for vector in QML.

Returns

Value as QML compatible vector.

QDateTime timestamp() const

Property accessor for timestamp in QML.

Returns

Timestamp as QML compatible type.

void init(QtToDds *dds, const QString &topic, bool with_listener = true)

Initializes DDS reader and connects Qt signals and slots.

Parameters

  • dds – [in] Pointer to QtToDds instance.

  • topic – [in] Name of DDS topic for which to subscribe.

  • with_listener – [in] Use DdsReaderListener callback to trigger eventHeard() signal.

Public Slots

void updateValue()

Takes all new samples from the subscribed topic and uses the last sample.

This slot calls take() from the DDS reader and stores the last new sample as the current value. If there were a new sample it emits valueChanged().

Signals

void valueChanged(QVector3D value)

DDS value has changed.

This signal is connected to the QML RatatoskDouble3Subscriber::value property.

Parameters

value – [out] New vector value.

void timestampChanged(QDateTime timestamp)

Timestamp of DDS value has changed.

This signal is connected to the QML RatatoskDouble3Subscriber::timestamp property.

Parameters

timestamp – [out] New timestamp value.

void eventHeard()

DdsReaderListener calls this signal when there is data available on the subscribed topic.

If RatatoskDouble3Subscriber is initialized with_listener=true, eventHeard() will be connected to the slot updateValue().

Properties

QVector3D value

DDS 3d-vector as QVector3D QML property.

QDateTime timestamp

Timestamp of sample.

Private Members

std::unique_ptr<sinspekto::Reader<ratatosk::types::Double3>> m_reader

The DDS reader wrapper class.