Simplify code

Author: rhaschke

src/rviz/image/image_display_base.cpp

@@ -41,7 +41,7 @@
 
 namespace rviz
 {
-ImageDisplayBase::ImageDisplayBase() : Display(), sub_(), tf_filter_(), messages_received_(0), timeout_tm_(0), is_img_up_(false)
+ImageDisplayBase::ImageDisplayBase() : Display(), sub_(), tf_filter_(), messages_received_(0)
 {
   topic_property_ = new RosTopicProperty(
       "Image Topic", "", QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
@@ -66,17 +66,15 @@ ImageDisplayBase::ImageDisplayBase() : Display(), sub_(), tf_filter_(), messages
   unreliable_property_ = new BoolProperty("Unreliable", false, "Prefer UDP topic transport", this,
                                           &ImageDisplayBase::updateTopic);
 
-  reset_to_property_ = new BoolProperty("Reset When Timed Out", false,
-                                        "Reset when new image has not been received for Timeout [sec].",
-                                        this, &ImageDisplayBase::updateResetTO);
-
   timeout_property_ =
       new FloatProperty("Timeout", 1.0,
-                        "Seconds to wait before resetting when new image has not been received.",
-                        this, &ImageDisplayBase::updateResetTO);
+                        "Seconds to wait before resetting when no new image has been received.\n"
+                        "Zero disables the feature.",
+                        this, &ImageDisplayBase::updateResetTimeout);
 
-  reset_to_timer_ = new QTimer(this);
-  connect(reset_to_timer_, &QTimer::timeout, this, &ImageDisplayBase::onResetTOTimer);
+  reset_timer_ = new QTimer(this);
+  connect(reset_timer_, &QTimer::timeout, this, &ImageDisplayBase::onResetTimer);
+  updateResetTimeout();
 }
 
 ImageDisplayBase::~ImageDisplayBase()
@@ -125,10 +123,9 @@ void ImageDisplayBase::incomingMessage(const sensor_msgs::Image::ConstPtr& msg)
   setStatus(StatusProperty::Ok, "Image", QString::number(messages_received_) + " images received");
 
   emitTimeSignal(msg->header.stamp);
+  last_received_ = ros::Time::now();
 
   processMessage(msg);
-
-  is_img_up_ = true;
 }
 
 
@@ -152,8 +149,7 @@ void ImageDisplayBase::reset()
   messages_received_ = 0;
   setStatus(StatusProperty::Warn, "Image", "No Image received");
 
-  timeout_tm_ = ros::Time(0);
-  is_img_up_ = false;
+  last_received_ = ros::Time();
 }
 
 void ImageDisplayBase::updateQueueSize()
@@ -278,16 +274,12 @@ void ImageDisplayBase::updateTopic()
   context_->queueRender();
 }
 
-void ImageDisplayBase::updateResetTO()
+void ImageDisplayBase::updateResetTimeout()
 {
-  if (reset_to_property_->getBool())
-  {
-    reset_to_timer_->start(33);
-  }
+  if (timeout_property_->getFloat() > 0)
+    reset_timer_->start(33); // frequently check for receive timeout
   else
-  {
-    reset_to_timer_->stop();
-  }
+    reset_timer_->stop();
 }
 
 void ImageDisplayBase::fillTransportOptionList(EnumProperty* property)
@@ -334,20 +326,11 @@ void ImageDisplayBase::fillTransportOptionList(EnumProperty* property)
   }
 }
 
-void ImageDisplayBase::onResetTOTimer()
+void ImageDisplayBase::onResetTimer()
 {
-  if (is_img_up_)
-  {
-    is_img_up_ = false;
-    timeout_tm_ = ros::Time::now() + ros::Duration(timeout_property_->getFloat());
-  }
-  else
-  {
-    if ((timeout_tm_ != ros::Time(0)) && (ros::Time::now() > timeout_tm_))
-    {
-      reset();
-    }
-  }
+  ros::Time last = last_received_;
+  if (!last.isZero() && ros::Time::now() > last + ros::Duration(timeout_property_->getFloat()))
+    reset();
 }
 
 } // end namespace rviz

src/rviz/image/image_display_base.h

@@ -29,6 +29,7 @@
 #ifndef IMAGE_DISPLAY_BASE_H
 #define IMAGE_DISPLAY_BASE_H
 
+#include <atomic>
 #include <QObject>
 #include <QTimer>
 
@@ -79,14 +80,14 @@ protected Q_SLOTS:
   /** @brief Update queue size of tf filter  */
   virtual void updateQueueSize();
 
-  /** @brief Prepare for or stop resetting when timed out */
-  virtual void updateResetTO();
+  /** @brief Start or stop reset_timer_ */
+  void updateResetTimeout();
 
   /** @brief Fill list of available and working transport options */
   void fillTransportOptionList(EnumProperty* property);
 
-  /** @brief Timer function to reset when timed out */
-  void onResetTOTimer();
+  /** @brief Check for timeout and reset() if necessary */
+  void onResetTimer();
 
 protected:
   void onInitialize() override;
@@ -140,14 +141,9 @@ protected Q_SLOTS:
 
   BoolProperty* unreliable_property_;
 
-  BoolProperty* reset_to_property_;
-
   FloatProperty* timeout_property_;
-
-  ros::Time timeout_tm_;
-  bool is_img_up_;
-
-  QTimer* reset_to_timer_;
+  std::atomic<ros::Time> last_received_;
+  QTimer* reset_timer_;
 };
 
 } // end namespace rviz