Program Listing for File DdsKinematics6D.hpp

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#pragma once

#include "sinspekto/QtToDds.hpp"
#include "QDateTime"
#include "QVector3D"

class DdsKinematics6DSubscriber : public QObject
{
  Q_OBJECT
  Q_PROPERTY(QVector3D position READ position NOTIFY positionChanged)
  Q_PROPERTY(QVector3D velocity READ velocity NOTIFY velocityChanged)
  Q_PROPERTY(QVector3D euler READ euler NOTIFY eulerChanged)
  Q_PROPERTY(QDateTime timestamp READ timestamp NOTIFY timestampChanged)

public:
  explicit DdsKinematics6DSubscriber(QObject *parent = nullptr);
  virtual ~DdsKinematics6DSubscriber();
  QVector3D position() const;
  QVector3D velocity() const;
  QVector3D euler() const;
  QDateTime timestamp() const;
  Q_INVOKABLE void init(
      QtToDds* dds,
      const QString& topic,
      const QString& id,
      bool with_listener=true);

signals:
  void positionChanged(QVector3D position);
  void velocityChanged(QVector3D velocity);
  void eulerChanged(QVector3D euler);
  void timestampChanged(QDateTime timestamp);
  void eventHeard();

public slots:
  void updateValues();

private:
  std::unique_ptr<sinspekto::Reader<fkin::Kinematics6D>> m_reader;
  QString m_id;

};

class DdsKinematics6DPublisher : public QObject
{
  Q_OBJECT
  Q_PROPERTY(QVector3D position READ position WRITE setPosition NOTIFY positionChanged)
  Q_PROPERTY(QVector3D velocity READ velocity WRITE setVelocity NOTIFY velocityChanged)
  Q_PROPERTY(QVector3D euler READ euler WRITE setEuler NOTIFY eulerChanged)

public:
  explicit DdsKinematics6DPublisher(QObject *parent = nullptr);
  virtual ~DdsKinematics6DPublisher();
  QVector3D position() const;
  QVector3D velocity() const;
  QVector3D euler() const;
  Q_INVOKABLE void init(
      QtToDds* dds,
      const QString& topic,
      const QString& id);

signals:
  void positionChanged(QVector3D position);
  void velocityChanged(QVector3D velocity);
  void eulerChanged(QVector3D euler);

public slots:
  void setPosition(QVector3D position);
  void setVelocity(QVector3D velocity);
  void setEuler(QVector3D euler);
  void publish();

private:
  std::unique_ptr<sinspekto::Writer<fkin::Kinematics6D>> m_writer;
};