From 39fb4a5b6d3dd662a47544e1c96874083edbfb27 Mon Sep 17 00:00:00 2001
From: phanikiran1169 <phanikiran1169@gmail.com>
Date: Fri, 26 May 2023 20:49:40 +0530
Subject: [PATCH] Methods to check whether queue received data
---
src/ros_queued_subscribe-python-module-py.cc | 8 +++++++-
src/ros_queued_subscribe.cpp | 19 +++++++++++++++++-
src/ros_queued_subscribe.hh | 21 +++++++++++++++++++-
src/ros_queued_subscribe.hxx | 6 ++++++
4 files changed, 51 insertions(+), 3 deletions(-)
diff --git a/src/ros_queued_subscribe-python-module-py.cc b/src/ros_queued_subscribe-python-module-py.cc
index f5c9632..fa2936a 100644
--- a/src/ros_queued_subscribe-python-module-py.cc
+++ b/src/ros_queued_subscribe-python-module-py.cc
@@ -24,5 +24,11 @@ BOOST_PYTHON_MODULE(wrap) {
"Return the queue size of a given signal", bp::args("signal_name"))
.def("readQueue", &dg::RosQueuedSubscribe::readQueue,
"Whether signals should read values from the queues, and when.",
- bp::args("start_time"));
+ bp::args("start_time"))
+ .def("queueReceivedData", &dg::RosQueuedSubscribe::queueReceivedData,
+ "Check whether the queue of a given signal has received atleast one data point",
+ bp::args("signal_name"))
+ .def("setQueueReceivedData", &dg::RosQueuedSubscribe::setQueueReceivedData,
+ "Set the data reception status of the queue corresponding to a given signal",
+ bp::args("signal_name","signal_data_acq_status"));
}
diff --git a/src/ros_queued_subscribe.cpp b/src/ros_queued_subscribe.cpp
index d67f69d..35b82a6 100644
--- a/src/ros_queued_subscribe.cpp
+++ b/src/ros_queued_subscribe.cpp
@@ -147,4 +147,21 @@ void RosQueuedSubscribe::readQueue(int beginReadingAt) {
}
std::string RosQueuedSubscribe::getDocString() const { return docstring_; }
-} // end of namespace dynamicgraph.
+
+bool RosQueuedSubscribe::queueReceivedData(const std::string& signal) const{
+ std::map<std::string, bindedSignal_t>::const_iterator _bs = bindedSignal_.find(signal);
+ if (_bs != bindedSignal_.end()) {
+ return _bs->second->receivedData();
+ }
+
+ return false;
+}
+
+void RosQueuedSubscribe::setQueueReceivedData(const std::string& signal, bool status) {
+ std::map<std::string, bindedSignal_t>::const_iterator _bs = bindedSignal_.find(signal);
+ if (_bs != bindedSignal_.end()) {
+ _bs->second->receivedData(status);
+ }
+}
+
+} // end of namespace dynamicgraph.
\ No newline at end of file
diff --git a/src/ros_queued_subscribe.hh b/src/ros_queued_subscribe.hh
index a97e9a2..46a0990 100644
--- a/src/ros_queued_subscribe.hh
+++ b/src/ros_queued_subscribe.hh
@@ -57,6 +57,9 @@ struct BindedSignalBase {
virtual void clear() = 0;
virtual std::size_t size() const = 0;
+ virtual bool receivedData() const = 0;
+ virtual void receivedData(bool) = 0;
+
Subscriber_t subscriber;
RosQueuedSubscribe* entity;
};
@@ -73,7 +76,8 @@ struct BindedSignal : BindedSignalBase {
frontIdx(0),
backIdx(0),
buffer(BufferSize),
- init(false) {}
+ init(false),
+ receivedData_(false) {}
~BindedSignal() {
signal.reset();
clear();
@@ -107,6 +111,15 @@ struct BindedSignal : BindedSignalBase {
return backIdx + BufferSize - frontIdx;
}
+ /// @brief Returns the value stored in receivedData_ i.e.
+ /// whether the signal has received atleast one data point
+ /// or not
+ bool receivedData() const {return receivedData_;}
+
+ /// @brief Set the value of data acquisition status of the signal
+ /// @param status
+ void receivedData(bool status) {receivedData_ = status;}
+
SignalPtr_t signal;
/// Index of the next value to be read.
size_type frontIdx;
@@ -120,6 +133,10 @@ struct BindedSignal : BindedSignalBase {
template <typename R>
void writer(const R& data);
T& reader(T& val, int time);
+
+ private:
+ /// Indicates whether the signal has received atleast one data point
+ bool receivedData_;
};
} // namespace internal
@@ -144,6 +161,8 @@ class RosQueuedSubscribe : public dynamicgraph::Entity {
void clearQueue(const std::string& signal);
void readQueue(int beginReadingAt);
std::size_t queueSize(const std::string& signal) const;
+ bool queueReceivedData(const std::string& signal) const;
+ void setQueueReceivedData(const std::string& signal, bool status);
template <typename T>
void add(const std::string& type, const std::string& signal,
diff --git a/src/ros_queued_subscribe.hxx b/src/ros_queued_subscribe.hxx
index 7a628fc..c1ebc46 100644
--- a/src/ros_queued_subscribe.hxx
+++ b/src/ros_queued_subscribe.hxx
@@ -82,6 +82,12 @@ void BindedSignal<T, N>::writer(const R& data) {
last = buffer[backIdx];
init = true;
}
+ // Updating the status flag to indicate that the signal
+ // has received atleast one data point.
+ if (!receivedData_) {
+ receivedData_ = true;
+ }
+
backIdx = (backIdx + 1) % N;
}
--
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