CurveDataSequencer.h
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00001 /******************************************************************************
00002  * Copyright (C) 2015 by Ralf Kaestner                                        *
00003  * ralf.kaestner@gmail.com                                                    *
00004  *                                                                            *
00005  * This program is free software; you can redistribute it and/or modify       *
00006  * it under the terms of the Lesser GNU General Public License as published by*
00007  * the Free Software Foundation; either version 3 of the License, or          *
00008  * (at your option) any later version.                                        *
00009  *                                                                            *
00010  * This program is distributed in the hope that it will be useful,            *
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
00013  * Lesser GNU General Public License for more details.                        *
00014  *                                                                            *
00015  * You should have received a copy of the Lesser GNU General Public License   *
00016  * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
00017  ******************************************************************************/
00018 
00019 #ifndef RQT_MULTIPLOT_CURVE_DATA_SEQUENCER_H
00020 #define RQT_MULTIPLOT_CURVE_DATA_SEQUENCER_H
00021 
00022 #include <QLinkedList>
00023 #include <QMap>
00024 #include <QObject>
00025 #include <QPointF>
00026 #include <QVector>
00027 
00028 #include <ros/time.h>
00029 
00030 #include <rqt_multiplot/CurveConfig.h>
00031 #include <rqt_multiplot/MessageBroker.h>
00032 
00033 namespace rqt_multiplot {
00034   class CurveDataSequencer :
00035     public QObject {
00036   Q_OBJECT
00037   public:
00038     CurveDataSequencer(QObject* parent = 0);
00039     virtual ~CurveDataSequencer();
00040     
00041     void setConfig(CurveConfig* config);
00042     CurveConfig* getConfig() const;
00043     void setBroker(MessageBroker* broker);
00044     MessageBroker* getBroker() const;
00045     bool isSubscribed() const;
00046     
00047     void subscribe();
00048     void unsubscribe();
00049     
00050   signals:
00051     void subscribed();
00052     void pointReceived(const QPointF& point);
00053     void unsubscribed();
00054     
00055   private:
00056     class TimeValue {
00057     public:
00058       inline TimeValue(const ros::Time& time = ros::Time(),
00059           double value = 0.0) :
00060         time_(time),
00061         value_(value) {
00062       };
00063 
00064       inline TimeValue(const TimeValue& src) :
00065         time_(src.time_),
00066         value_(src.value_) {
00067       };
00068       
00069       inline bool operator==(const TimeValue& timeValue) const {
00070         return (time_ == timeValue.time_);
00071       };
00072       
00073       inline bool operator>(const TimeValue& timeValue) const {
00074         return (time_ > timeValue.time_);
00075       };
00076       
00077       inline bool operator<(const TimeValue& timeValue) const {
00078         return (time_ < timeValue.time_);
00079       };
00080       
00081       ros::Time time_;
00082       double value_;
00083     };
00084     
00085     typedef QLinkedList<TimeValue> TimeValueList;
00086     
00087     CurveConfig* config_;
00088     
00089     MessageBroker* broker_;
00090 
00091     QMap<CurveConfig::Axis, QString> subscribedTopics_;    
00092     QMap<CurveConfig::Axis, QString> timeFields_;
00093     QMap<CurveConfig::Axis, TimeValueList> timeValues_;
00094     
00095     void processMessage(const Message& message);
00096     void processMessage(CurveConfig::Axis axis, const Message& message);
00097     void interpolate();
00098     
00099   private slots:
00100     void configAxisConfigChanged();
00101     void configSubscriberQueueSizeChanged(size_t queueSize);
00102     
00103     void subscriberMessageReceived(const QString& topic, const
00104       Message& message);
00105     void subscriberXAxisMessageReceived(const QString& topic, const
00106       Message& message);
00107     void subscriberYAxisMessageReceived(const QString& topic, const
00108       Message& message);
00109   };
00110 };
00111 
00112 #endif


rqt_multiplot
Author(s): Ralf Kaestner
autogenerated on Thu Jun 6 2019 21:49:10