Merge feature/qt6-migration-basis-modules-services into feature/qt6-migration-basis-modules
Resolves 17 conflicts against legacy Qt5 semantics; validates with BUILD_RTI=ON BUILD_GRANTLEE=ON.
This commit is contained in:
1200 files changed
+20421
-18259
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#pragma once
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// Include Qt headers FIRST to prevent namespace pollution when RTI DDS headers include Qt
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#include <QtCore/QString>
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#include <QtCore/QUrl>
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#include <QtCore/QFlag>
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#include <LtsUtils/LtsUtilsCore/data_modification_enum.h>
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#include <dds/sub/LoanedSamples.hpp>
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namespace NGLLogger
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{
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class INGLLogger;
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}
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namespace DTC
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{
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class SubscriberListener;
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template <typename DRO_OBJECT, typename SC> class GenericDtcSC
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{
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public:
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using DataReaderObject = DRO_OBJECT;
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using SubscriberCallback = SC;
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using TopicType = typename DRO_OBJECT::TopicType;
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GenericDtcSC() = default;
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virtual ~GenericDtcSC() = default;
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virtual bool setSubscriberCallback(const SubscriberCallback& subscriberCallback) = 0;
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virtual dds::sub::LoanedSamples<TopicType> readAlive() const = 0;
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virtual bool readAlive(TopicType& data) = 0;
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virtual dds::sub::LoanedSamples<TopicType> takeAlive() const = 0;
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virtual bool takeAlive(TopicType& data) = 0;
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virtual dds::sub::LoanedSamples<TopicType> takeDisposed() const = 0;
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virtual bool takeDisposed(TopicType& data) = 0;
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virtual bool hasSamples() const = 0;
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virtual DataReaderObject* dataReader() const = 0;
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virtual bool waitForHistoricalData(int timeoutMSec) = 0;
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};
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template <typename DRO_OBJECT>
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class GenericDtc
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: public GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, DataModification)>>
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{
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public:
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using BaseClass = GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, DataModification)>>;
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using TopicType = typename BaseClass::TopicType;
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// Explicitly expose base class methods for accessibility through smart pointers
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using BaseClass::readAlive;
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using BaseClass::takeAlive;
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using BaseClass::takeDisposed;
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using BaseClass::SubscriberCallback;
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bool setSubscriberCallback(const typename BaseClass::SubscriberCallback& callback) override { return BaseClass::setSubscriberCallback(callback); }
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bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
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bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
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bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
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bool hasSamples() const { return BaseClass::hasSamples(); }
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std::shared_ptr<DRO_OBJECT> dataReader() { return BaseClass::dataReader(); }
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bool waitForHistoricalData(int timeoutMSec) { return BaseClass::waitForHistoricalData(timeoutMSec); }
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};
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template <typename DRO_OBJECT>
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class GenericDtcSampleInfo
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: public GenericDtcSC<DRO_OBJECT,
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std::function<void(const typename DRO_OBJECT::TopicType&, const dds::sub::SampleInfo&)>>
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{
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public:
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using BaseClass = GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, const dds::sub::SampleInfo&)>>;
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using TopicType = typename BaseClass::TopicType;
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// Explicitly expose base class methods for accessibility through smart pointers
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using BaseClass::readAlive;
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using BaseClass::takeAlive;
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using BaseClass::takeDisposed;
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void setSubscriberCallback(std::function<void(const TopicType&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
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bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
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bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
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bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
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bool hasSamples() const { return BaseClass::hasSamples(); }
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std::shared_ptr<DRO_OBJECT> dataReader() { return BaseClass::dataReader(); }
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bool waitForHistoricalData(int timeoutMSec) { return BaseClass::waitForHistoricalData(timeoutMSec); }
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};
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template <typename DRO_OBJECT>
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class Ddtc
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: public GenericDtcSC<
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DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, const std::string&, DataModification)>>
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{
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public:
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using BaseClass = GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, const std::string&, DataModification)>>;
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using TopicType = typename BaseClass::TopicType;
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// Explicitly expose base class methods for accessibility through smart pointers
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using BaseClass::readAlive;
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using BaseClass::takeAlive;
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using BaseClass::takeDisposed;
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void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, DataModification)> callback) { BaseClass::setSubscriberCallback(callback); }
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bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
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bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
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bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
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bool hasSamples() const { return BaseClass::hasSamples(); }
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std::shared_ptr<DRO_OBJECT> dataReader() { return BaseClass::dataReader(); }
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bool waitForHistoricalData(int timeoutMSec) { return BaseClass::waitForHistoricalData(timeoutMSec); }
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};
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template <typename DRO_OBJECT>
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class DdtcSampleInfo
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: public GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, const std::string&,
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const dds::sub::SampleInfo&)>>
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{
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public:
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using BaseClass = GenericDtcSC<DRO_OBJECT, std::function<void(const typename DRO_OBJECT::TopicType&, const std::string&, const dds::sub::SampleInfo&)>>;
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using TopicType = typename BaseClass::TopicType;
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// Explicitly expose base class methods for accessibility through smart pointers
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using BaseClass::readAlive;
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using BaseClass::takeAlive;
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using BaseClass::takeDisposed;
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void setSubscriberCallback(std::function<void(const TopicType&, const std::string&, const dds::sub::SampleInfo&)> callback) { BaseClass::setSubscriberCallback(callback); }
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bool readAlive(TopicType& data) { return BaseClass::readAlive(data); }
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bool takeAlive(TopicType& data) { return BaseClass::takeAlive(data); }
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bool takeDisposed(TopicType& data) { return BaseClass::takeDisposed(data); }
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bool hasSamples() const { return BaseClass::hasSamples(); }
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std::shared_ptr<DRO_OBJECT> dataReader() { return BaseClass::dataReader(); }
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bool waitForHistoricalData(int timeoutMSec) { return BaseClass::waitForHistoricalData(timeoutMSec); }
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};
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} // namespace DTC
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+357
@@ -0,0 +1,357 @@
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/**
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* @RDE_HEADER@
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* DataTopicClient (DTC) - Generic
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#pragma once
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// Include Qt headers FIRST to prevent namespace pollution when RTI DDS headers include Qt
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#include <QtCore/QString>
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#include <QtCore/QUrl>
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#include <QtCore/QFlag>
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#include <QtCore/QTimer>
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#include <DDS/Generic/generic_data_reader.h>
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#include <DDS/Generic/subscriber_listener.h>
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#include <DDS/Generic/generic_logger.h>
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#include <dds/core/cond/StatusCondition.hpp>
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#include <dds/core/cond/WaitSet.hpp>
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#include "generic_dtc.h"
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namespace DDSGeneric
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{
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class DynamicDataReader;
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} // namespace DDSGeneric
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namespace DTC
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{
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template<typename SuperClass>
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class GenericDtcImplSubscriberTemplate : public DDSGeneric::SubscriberListenerCallback, public SuperClass
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{
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public:
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using DataReaderObject = typename SuperClass::DataReaderObject;
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using SubscriberCallback = typename SuperClass::SubscriberCallback;
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using TopicTypeRead = typename DataReaderObject::TopicType;
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using TopicTypeSubscribe = typename DataReaderObject::TopicType;
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using DataReader = typename DataReaderObject::DataReader;
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GenericDtcImplSubscriberTemplate(const dds::domain::DomainParticipant &domainParticipant,
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const dds::sub::Subscriber &ddsSubscriber,
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DDSGeneric::SubscriberListener *subscriberListener,
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const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<TopicTypeRead>::value()))
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: m_subscriberListener(subscriberListener)
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, m_dataReaderObject(new DataReaderObject)
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, m_subscriberCallback(nullptr)
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, m_writerState(0)
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, m_logger(DDS::getLogger(DDS::topic_type_name<TopicTypeRead>::value(), DDS::DataType::DATA_TOPIC_CLIENT))
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{
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createInternal(m_dataReaderObject->create(domainParticipant, ddsSubscriber, topicName));
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}
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GenericDtcImplSubscriberTemplate(const dds::domain::DomainParticipant &domainParticipant,
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const dds::sub::Subscriber &ddsSubscriber,
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DDSGeneric::SubscriberListener *subscriberListener,
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const dds::topic::Filter &filter,
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const std::string &topicName)
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: m_subscriberListener(subscriberListener)
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, m_dataReaderObject(new DataReaderObject)
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, m_subscriberCallback(nullptr)
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, m_writerState(0)
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, m_logger(DDS::getLogger(DDS::topic_type_name<TopicTypeRead>::value(), DDS::DataType::DATA_TOPIC_CLIENT))
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{
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createInternal(m_dataReaderObject->create(domainParticipant, ddsSubscriber, topicName, filter));
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}
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GenericDtcImplSubscriberTemplate(const dds::domain::DomainParticipant &domainParticipant,
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const dds::sub::Subscriber &ddsSubscriber,
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DDSGeneric::SubscriberListener *subscriberListener,
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const dds::core::xtypes::StructType &structType,
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const std::string &topicName)
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: m_subscriberListener(subscriberListener)
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, m_dataReaderObject(new DataReaderObject)
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, m_subscriberCallback(nullptr)
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, m_logger(DDS::getLogger(DDS::topic_type_name<TopicTypeRead>::value(), DDS::DataType::DATA_TOPIC_CLIENT))
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{
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createInternal(m_dataReaderObject->create(domainParticipant, ddsSubscriber, topicName, structType));
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}
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~GenericDtcImplSubscriberTemplate()
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{
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if (m_dataReaderObject && m_subscriberCallback)
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m_subscriberListener->removeCallback(m_dataReaderObject->getDataReader(), this);
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delete m_dataReaderObject;
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}
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bool setSubscriberCallback(const SubscriberCallback &subscriberCallback) override final
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{
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if (m_subscriberCallback)
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{
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WARNING_LOG(m_logger) << "Can not set subscriber callback - already set ...";
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return false;
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}
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if (!m_subscriberListener)
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{
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WARNING_LOG(m_logger) << "Can not set subscriber callback - no subscriber listener ...";
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return false;
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}
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m_subscriberCallback = subscriberCallback;
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if (!m_dataReaderObject)
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{
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WARNING_LOG(m_logger) << "Can not set subscriber callback - no data reader object ...";
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return false;
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}
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m_dataReaderObject->setHaveSubscriberCallback(m_subscriberCallback != nullptr);
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return true;
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}
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dds::sub::LoanedSamples<TopicTypeRead> readAlive() const override final
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{
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if (!m_dataReaderObject)
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return dds::sub::LoanedSamples<TopicTypeRead>();
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bool bSeenUnreadSamples = false;
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auto ret = m_dataReaderObject->readAlive(bSeenUnreadSamples);
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if (bSeenUnreadSamples)
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QTimer::singleShot(0, this, &GenericDtcImplSubscriberTemplate::unreadSamplesDuringRead);
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return ret;
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}
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bool readAlive(TopicTypeRead& data) override final
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{
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auto samples = readAlive();
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if (samples.length() > 0)
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{
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data = samples[0].data();
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return true;
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}
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return false;
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}
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dds::sub::LoanedSamples<TopicTypeRead> takeAlive() const override final
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{
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if (!m_dataReaderObject)
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return dds::sub::LoanedSamples<TopicTypeRead>();
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bool bSeenUnreadSamples = false;
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auto ret = m_dataReaderObject->takeAlive(bSeenUnreadSamples);
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if (bSeenUnreadSamples)
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QTimer::singleShot(0, this, &GenericDtcImplSubscriberTemplate::unreadSamplesDuringRead);
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return ret;
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}
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bool takeAlive(TopicTypeRead& data) override final
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{
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auto samples = takeAlive();
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if (samples.length() > 0)
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{
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data = samples[0].data();
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return true;
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}
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return false;
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}
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dds::sub::LoanedSamples<TopicTypeRead> takeDisposed() const override final
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{
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if (!m_dataReaderObject)
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return dds::sub::LoanedSamples<TopicTypeRead>();
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return m_dataReaderObject->takeDisposed();
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}
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bool takeDisposed(TopicTypeRead& data) override final
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{
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auto samples = takeDisposed();
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if (samples.length() > 0)
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{
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data = samples[0].data();
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return true;
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}
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return false;
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}
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bool hasSamples() const override final
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{
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if (!m_dataReaderObject)
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return false;
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return m_dataReaderObject->hasSamples();
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}
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DataReaderObject *dataReader() const override final
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{
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return m_dataReaderObject;
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}
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bool waitForHistoricalData(int timeoutMSec) override
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{
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if (m_dataReaderObject == nullptr ||
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m_dataReaderObject->getDataReader() == nullptr)
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return false;
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const bool bWaitForever = (timeoutMSec < 0);
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auto dr = m_dataReaderObject->getDataReader();
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try
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{
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if (dr.subscription_matched_status().current_count() == 0)
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{
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dds::core::cond::WaitSet ws;
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auto cond = dds::core::cond::StatusCondition(dr);
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cond.enabled_statuses(dds::core::status::StatusMask::subscription_matched());
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ws.attach_condition(cond);
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const dds::core::Duration waitTimeout(bWaitForever ? dds::core::Duration::infinite() : dds::core::Duration::from_millisecs(timeoutMSec));
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const dds::core::cond::WaitSet::ConditionSeq seq(ws.wait(waitTimeout));
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// empty sequence -> timeout
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if (seq.empty())
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return false;
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}
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dr.wait_for_historical_data(dds::core::Duration(1));
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}
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catch (const dds::core::Exception &)
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{
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// timeout
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return false;
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}
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return true;
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}
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protected:
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void unreadSamplesDuringRead()
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{
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droDataAvailable(DDS::topic_type_name<TopicTypeRead>::value(), m_dataReaderObject->topicName());
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}
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void droDataAvailable(const std::string &topicType, const std::string &topicName) override final
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{
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Q_UNUSED(topicType);
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if (m_writerState.testAndSetRelaxed(1, 0))
|
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{
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DEBUG_LOG(m_logger) << "Recreate Reader for topic " << topicName
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<< ", type name " << DDS::topic_type_name<TopicTypeRead>::value();
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if (m_subscriberListener)
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m_subscriberListener->removeCallback(m_dataReaderObject->getDataReader(), this);
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m_dataReaderObject->recreateReader();
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if (m_subscriberListener)
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m_subscriberListener->addCallback(m_dataReaderObject->getDataReader(), this);
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}
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DEBUG_LOG(m_logger) << "IN droDataAvailable(), topic name: " << topicName
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<< ", type name " << DDS::topic_type_name<TopicTypeRead>::value()
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<< ", this: " << this
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<< ", m_dataReaderObject: " << m_dataReaderObject
|
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<< ", hasSamples: " << (m_dataReaderObject ? m_dataReaderObject->hasSamples() : -1);
|
||||
|
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if (m_subscriberListener)
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m_subscriberListener->enableCallback(m_dataReaderObject->getDataReader(), this);
|
||||
|
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if (!m_dataReaderObject || !m_subscriberCallback)
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return;
|
||||
|
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m_dataReaderObject->read(m_subscriberCallback);
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}
|
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void noWriterAnymore(const std::string &topicType, const std::string &topicName) override
|
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{
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Q_UNUSED(topicType);
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Q_UNUSED(topicName);
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m_writerState = -1;
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}
|
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void writerAvailable(const std::string &topicType, const std::string &topicName) override
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||||
{
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Q_UNUSED(topicType);
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Q_UNUSED(topicName);
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m_writerState.testAndSetRelaxed(-1, 1);
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}
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||||
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bool createInternal(bool droInitOk)
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||||
{
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||||
if (!droInitOk)
|
||||
{
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||||
ERROR_LOG(m_logger) << "Error initializing DRO for type " << DDS::topic_type_name<TopicTypeRead>::value();
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delete m_dataReaderObject;
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m_dataReaderObject = nullptr;
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||||
return false;
|
||||
}
|
||||
|
||||
if (m_subscriberListener)
|
||||
{
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||||
DEBUG_LOG(m_logger) << "subscriberListener exists, adding type "
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||||
<< DDS::topic_type_name<TopicTypeRead>::value();
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m_subscriberListener->addCallback(m_dataReaderObject->getDataReader(), this);
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||||
}
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||||
else
|
||||
{
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||||
DEBUG_LOG(m_logger) << "Cannot add DTC to subscriberListener callback - type: "
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||||
<< DDS::topic_type_name<TopicTypeRead>::value();
|
||||
}
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||||
m_dataReaderObject->setHaveSubscriberCallback(m_subscriberListener != nullptr);
|
||||
return true;
|
||||
}
|
||||
|
||||
private:
|
||||
DDSGeneric::SubscriberListener *m_subscriberListener;
|
||||
|
||||
// DataReaderObjects (DROs)
|
||||
DataReaderObject *m_dataReaderObject;
|
||||
|
||||
// Callback for data processing
|
||||
SubscriberCallback m_subscriberCallback;
|
||||
|
||||
QAtomicInt m_writerState;
|
||||
|
||||
NGL::INGLLogger &m_logger;
|
||||
};
|
||||
|
||||
// Typed topic callback (DataReader)
|
||||
template<typename DRO_OBJECT>
|
||||
class GenericDtcImpl final
|
||||
: public GenericDtcImplSubscriberTemplate<GenericDtc<DRO_OBJECT>>
|
||||
{
|
||||
using BaseClass = GenericDtcImplSubscriberTemplate<GenericDtc<DRO_OBJECT>>;
|
||||
public:
|
||||
using BaseClass::BaseClass;
|
||||
};
|
||||
|
||||
// Typed topic callback (DataReader) with SampleInfo
|
||||
template<typename DRO_OBJECT>
|
||||
class GenericDtcImplSampleInfo final
|
||||
: public GenericDtcImplSubscriberTemplate<GenericDtcSampleInfo<DRO_OBJECT>>
|
||||
{
|
||||
using BaseClass = GenericDtcImplSubscriberTemplate<GenericDtcSampleInfo<DRO_OBJECT>>;
|
||||
public:
|
||||
using BaseClass::BaseClass;
|
||||
};
|
||||
|
||||
// Dynamic topic callback (DynamicDataReader)
|
||||
template<typename DRO_OBJECT>
|
||||
class DdtcImpl final
|
||||
: public GenericDtcImplSubscriberTemplate<Ddtc<DRO_OBJECT>>
|
||||
{
|
||||
using BaseClass = GenericDtcImplSubscriberTemplate<Ddtc<DRO_OBJECT>>;
|
||||
public:
|
||||
using BaseClass::BaseClass;
|
||||
};
|
||||
|
||||
// Dynamic topic callback (DynamicDataReader) with SampleInfo
|
||||
template<typename DRO_OBJECT>
|
||||
class DdtcImplSampleInfo final
|
||||
: public GenericDtcImplSubscriberTemplate<DdtcSampleInfo<DRO_OBJECT>>
|
||||
{
|
||||
using BaseClass = GenericDtcImplSubscriberTemplate<DdtcSampleInfo<DRO_OBJECT>>;
|
||||
public:
|
||||
using BaseClass::BaseClass;
|
||||
};
|
||||
|
||||
} // namespace DTC
|
||||
Reference in new issue
Block a user