Methods to check whether queue received data

Author: phanikiran1169

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"));
 }

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.

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,

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;
 }