PeriodicUpdateWorker.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2025, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotStateComponent::
 * @author     Samet Soenmez (uewtt at student dot kit dot edu)
 * @date       2025t
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <QObject>
 
#include <RobotAPI/libraries/armem_gui/model/MemoryViewerModel.h>
 
class QTimer;
 
namespace armarx::armem::gui::controller
{
    /**
     * @brief handles updating and periodically checks for new readers/writers and query results
     * 
     * this worker handles two main tasks: 1. periodically check for new readers/writers and
     * query results. 2. starting new queries either through incomming signals or periodically
     * after starting Auto Update
     */
    class PeriodicUpdateWorker : public QObject, public armarx::Logging
    {
        Q_OBJECT
        using This = PeriodicUpdateWorker;
 
    public:
        PeriodicUpdateWorker(
            std::shared_ptr<armem::gui::model::MemoryViewerModel> model);
 
    public slots:
        void init();
        void cleanup();
 
        void startPeriodicTimer();
        void stopPeriodicTimer();
        void startAutoUpdateTimer();
        void stopAutoUpdateTimer();
        void setAutoUpdateTimerInterval(int freq);
 
        void onUpdate();
 
    private slots:
        void onPeriodicTimerTimeout();
 
    signals:
        void updateQueryWidget(QStringList activeMemoryNames);
        void updateLabelAndTree(int errorCount);
        void showLoadingLabel();
 
    private:
        void startDueQueries();
        void updateMemoryReadersWriters();
        void processQueryResults();
        void updateStatusLabel(int errorCount);
        std::map<std::string, client::QueryResult> collectQueryResults();
        void applyQueryResults(const std::map<std::string, client::QueryResult>& results,
                               int* outErrorCount = nullptr);
 
    private:
        std::shared_ptr<armem::gui::model::MemoryViewerModel> _model;
 
        // Periodically triggers query result collection and updates the available memories
        QTimer* _periodicTimer;
        QTimer* _autoUpdateTimer;
 
        std::map<std::string, std::future<armem::query::data::Result>> _runningQueries;
        std::vector<std::string> _activeMemoryNames;
        bool _updateLabelAndTree = false;
    };
}