Class RatatoskGyroInfoSubscriber

Inheritance Relationships

Base Type

  • public QObject

Class Documentation

class RatatoskGyroInfoSubscriber : public QObject

Subscriber for DDS type ratatosk::types::GyroInfo 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 RatatoskGyroInfoSubscriber(QObject *parent = nullptr)


The initialization is deferred to an init() function.


parent[in] QObject pointer.

virtual ~RatatoskGyroInfoSubscriber()


double hdt() const

Property accessor for hdt in QML.


true heading

double rot() const

Property accessor for rot in QML.


rate of turn

QDateTime timestamp() const

Property accessor for timestamp in QML.


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.

  • 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 <…>Changed().


void hdtChanged(double hdt)

DDS value has changed.

This signal is connected to the QML RatatoskGyroInfoSubscriber::hdt property.


hdt[out] New value.

void rotChanged(double rot)

DDS value has changed.

This signal is connected to the QML RatatoskGyroInfoSubscriber::rot property.


rot[out] New value.

void timestampChanged(QDateTime timestamp)

Timestamp of DDS value has changed.

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


timestamp[out] New timestamp value.

void eventHeard()

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

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


double hdt

Heading True [rad].

double rot

Rate of turn [rad/s].

QDateTime timestamp

Timestamp of sample.

Private Members

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

The DDS reader wrapper class.