Add PeriodicUpdateWidget

Add the PeriodicUpdateWidget previously found in armem gui (RobotAPI). This widget is already duplicated in both armem gui and skills gui. Adding the widget to ArmarXGui, we can remove the duplication from RobotAPI.

source/ArmarXGui/libraries/ArmarXGuiBase/widgets/PeriodicUpdateWidget.cpp

+#include "PeriodicUpdateWidget.h"
+
+#include <cmath>
+
+#include <QCheckBox>
+#include <QDoubleSpinBox>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QTimer>
+
+namespace armarx::skills::gui
+{
+    PeriodicUpdateWidget::PeriodicUpdateWidget(double frequency, double maxFrequency)
+    {
+        setSizePolicy(QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Minimum);
+
+        QLayout* vlayout = new QVBoxLayout();
+        QLayout* hlayout = new QHBoxLayout();
+        this->setLayout(vlayout);
+
+        const int margin = 0;
+        hlayout->setContentsMargins(margin, margin, margin, margin);
+
+        _updateButton = new QPushButton("Update", this);
+        _autoCheckBox = new QCheckBox("Auto Update", this);
+        _frequencySpinBox = new QDoubleSpinBox(this);
+        _frequencySpinBox->setValue(frequency);
+        _frequencySpinBox->setMinimum(0);
+        _frequencySpinBox->setMaximum(maxFrequency);
+        _frequencySpinBox->setSingleStep(0.5);
+        _frequencySpinBox->setSuffix(" Hz");
+
+        hlayout->addWidget(_updateButton);
+        hlayout->addWidget(_autoCheckBox);
+        hlayout->addWidget(_frequencySpinBox);
+
+        vlayout->addItem(hlayout);
+
+
+        _timer = new QTimer(this);
+        _updateTimerFrequency();
+        _frequencySpinBox->setEnabled(_autoCheckBox->isChecked());
+
+
+        // Private connections.
+        connect(_autoCheckBox, &QCheckBox::toggled, this, &This::_toggleAutoUpdates);
+        connect(_frequencySpinBox,
+                &QDoubleSpinBox::editingFinished,
+                this,
+                &This::_updateTimerFrequency);
+
+        // Public connections.
+        connect(_updateButton, &QPushButton::pressed, this, &This::updateSingle);
+        connect(_timer, &QTimer::timeout, this, &This::updatePeriodic);
+
+        connect(this, &This::updateSingle, this, &This::update);
+        connect(this, &This::updatePeriodic, this, &This::update);
+
+        // See `startTimerIfEnabled` for the signal reasoning.
+        // qOverload is required because `QTimer::start()` is overloaded.
+        connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
+        connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
+    }
+
+    QPushButton*
+    PeriodicUpdateWidget::updateButton()
+    {
+        return _updateButton;
+    }
+
+    int
+    PeriodicUpdateWidget::getUpdateIntervalMs() const
+    {
+        return static_cast<int>(std::round(1000 / _frequencySpinBox->value()));
+    }
+
+    void
+    PeriodicUpdateWidget::startTimerIfEnabled()
+    {
+        /* A QTimer can only be started and stopped within its own thread (the thread for which
+         * it has the greatest affinity). Since this method can be called from any thread, we
+         * need to take a detour through these signals, which can be emitted from any thread and
+         * will always be caught in this object's (and thus the timer's) native thread.
+         */
+        if (_autoCheckBox->isChecked())
+        {
+            emit startTimerSignal();
+        }
+        else
+        {
+            emit stopTimerSignal();
+        }
+    }
+
+    void
+    PeriodicUpdateWidget::stopTimer()
+    {
+        // See `startTimerIfEnabled` for the signal reasoning.
+        emit stopTimerSignal();
+    }
+
+    void
+    PeriodicUpdateWidget::_updateTimerFrequency()
+    {
+        _timer->setInterval(getUpdateIntervalMs());
+    }
+
+    void
+    PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
+    {
+        // This method is already a slot, so it doesn't need to use the timer signals.
+        _frequencySpinBox->setEnabled(enabled);
+        if (enabled)
+        {
+            _timer->start();
+        }
+        else
+        {
+            _timer->stop();
+        }
+    }
+
+    QCheckBox*
+    PeriodicUpdateWidget::autoCheckBox()
+    {
+        return _autoCheckBox;
+    }
+
+    QDoubleSpinBox*
+    PeriodicUpdateWidget::frequencySpinBox()
+    {
+        return _frequencySpinBox;
+    }
+
+    QTimer*
+    PeriodicUpdateWidget::timer()
+    {
+        return _timer;
+    }
+
+} // namespace armarx