Class RatatoskPosInfoSubscriber

Inheritance Relationships

Base Type

  • public QObject

Class Documentation

class RatatoskPosInfoSubscriber : public QObject

Subscriber for DDS type ratatosk::types::PosInfo 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 RatatoskPosInfoSubscriber(QObject *parent = nullptr)


The initialization is deferred to an init() function.


parent[in] QObject pointer.

virtual ~RatatoskPosInfoSubscriber()


double lat() const

Property accessor for lat in QML.



double lon() const

Property accessor for lon in QML.



double sog() const

Property accessor for sog in QML.


Speed over ground [m/s]

double cog() const

Property accessor for cog in QML.


Course over ground [rad]

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 latChanged(double lat)

DDS value has changed.

This signal is connected to the QML RatatoskPosInfoSubscriber::lat property.


lat[out] New value.

void lonChanged(double lon)

DDS value has changed.

This signal is connected to the QML RatatoskPosInfoSubscriber::lon property.


lon[out] New value.

void sogChanged(double sog)

DDS value has changed.

This signal is connected to the QML RatatoskPosInfoSubscriber::sog property.


sog[out] New value.

void cogChanged(double cog)

DDS value has changed.

This signal is connected to the QML RatatoskPosInfoSubscriber::cog property.


cog[out] New value.

void timestampChanged(QDateTime timestamp)

Timestamp of DDS value has changed.

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


timestamp[out] New timestamp value.

void eventHeard()

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

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


double lat

latitude [deg]

double lon

longitude [deg]

double sog

speed over ground [m/s]

double cog

course over ground [rad]

QDateTime timestamp

Timestamp of sample.

Private Members

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

The DDS reader wrapper class.