Program Listing for File DdsKinematics2D.hpp

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#pragma once

#include "sinspekto/QtToDds.hpp"
#include "QDateTime"
#include "QVector2D"

class DdsKinematics2DSubscriber : public QObject
{
  Q_OBJECT
  Q_PROPERTY(QVector2D position READ position NOTIFY positionChanged)
  Q_PROPERTY(double speed READ speed NOTIFY speedChanged)
  Q_PROPERTY(double course READ course NOTIFY courseChanged)
  Q_PROPERTY(QDateTime timestamp READ timestamp NOTIFY timestampChanged)

public:
  explicit DdsKinematics2DSubscriber(QObject *parent = nullptr);
  virtual ~DdsKinematics2DSubscriber();
  QVector2D position() const;
  double speed() const;
  double course() const;
  QDateTime timestamp() const;
  Q_INVOKABLE void init(
      QtToDds* dds,
      const QString& topic,
      const QString& id,
      bool with_listener=true);

signals:
  void positionChanged(QVector2D position);
  void speedChanged(double speed);
  void courseChanged(double course);
  void timestampChanged(QDateTime timestamp);
  void eventHeard();

public slots:
  void updateValues();

private:
  std::unique_ptr<sinspekto::Reader<fkin::Kinematics2D>> m_reader;
  QString m_id;

};

class DdsKinematics2DPublisher : public QObject
{
  Q_OBJECT
  Q_PROPERTY(QVector2D position READ position WRITE setPosition NOTIFY positionChanged)
  Q_PROPERTY(double speed READ speed WRITE setSpeed NOTIFY speedChanged)
  Q_PROPERTY(double course READ course WRITE setCourse NOTIFY courseChanged)

public:
  explicit DdsKinematics2DPublisher(QObject *parent = nullptr);
  virtual ~DdsKinematics2DPublisher();
  QVector2D position() const;
  double speed() const;
  double course() const;
  Q_INVOKABLE void init(
      QtToDds* dds,
      const QString& topic,
      const QString& id);

signals:
  void positionChanged(QVector2D position);
  void speedChanged(double speed);
  void courseChanged(double course);

public slots:
  void setPosition(QVector2D position);
  void setSpeed(double speed);
  void setCourse(double course);
  void publish();

private:
  std::unique_ptr<sinspekto::Writer<fkin::Kinematics2D>> m_writer;
};