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.
2026-09-24 10:10:25 +02:00
commit 5381c65fee
@@ -0,0 +1,32 @@
+#pragma once
+
+// Stub header for BUILD_RTI=OFF
+// Original ddsconnector_export.h is generated by CMake when BUILD_RTI=ON
+
+// For BUILD_RTI=OFF, we don't need DLL export/import macros
+// Define DDSCONNECTOR_EXPORT as empty
+#ifndef DDSCONNECTOR_EXPORT
+#define DDSCONNECTOR_EXPORT
+#endif
+
+#ifndef DDSCONNECTOR_NO_EXPORT
+#define DDSCONNECTOR_NO_EXPORT
+#endif
+
+// Static library marker (not used for BUILD_RTI=OFF)
+#ifndef DDSCONNECTOR_STATIC_DEFINE
+#define DDSCONNECTOR_STATIC_DEFINE
+#endif
+
+// Deprecated marker (optional, can be empty)
+#ifndef DDSCONNECTOR_DEPRECATED
+#define DDSCONNECTOR_DEPRECATED
+#endif
+
+#ifndef DDSCONNECTOR_DEPRECATED_EXPORT
+#define DDSCONNECTOR_DEPRECATED_EXPORT DDSCONNECTOR_DEPRECATED DDSCONNECTOR_EXPORT
+#endif
+
+#ifndef DDSCONNECTOR_DEPRECATED_NO_EXPORT
+#define DDSCONNECTOR_DEPRECATED_NO_EXPORT DDSCONNECTOR_DEPRECATED DDSCONNECTOR_NO_EXPORT
+#endif
@@ -0,0 +1,32 @@
+#pragma once
+
+// Stub header for BUILD_RTI=OFF
+// Original ddsgen_export.h comes from RTI Connext DDS code generation
+
+// For BUILD_RTI=OFF, we don't need DLL export/import macros
+// Define DDSGEN_EXPORT as empty
+#ifndef DDSGEN_EXPORT
+#define DDSGEN_EXPORT
+#endif
+
+#ifndef DDSGEN_NO_EXPORT
+#define DDSGEN_NO_EXPORT
+#endif
+
+// Static library marker (not used for BUILD_RTI=OFF)
+#ifndef DDSGEN_STATIC_DEFINE
+#define DDSGEN_STATIC_DEFINE
+#endif
+
+// Deprecated marker (optional, can be empty)
+#ifndef DDSGEN_DEPRECATED
+#define DDSGEN_DEPRECATED
+#endif
+
+#ifndef DDSGEN_DEPRECATED_EXPORT
+#define DDSGEN_DEPRECATED_EXPORT DDSGEN_DEPRECATED DDSGEN_EXPORT
+#endif
+
+#ifndef DDSGEN_DEPRECATED_NO_EXPORT
+#define DDSGEN_DEPRECATED_NO_EXPORT DDSGEN_DEPRECATED DDSGEN_NO_EXPORT
+#endif
@@ -0,0 +1,51 @@
+#pragma once
+
+// Stub header for BUILD_RTI=OFF
+// Original generic_base.h uses RTI Connext DDS types
+
+#include <string>
+#include <ddsgen_export.h>
+#include <QMetaMethod>
+
+// Forward declarations for Qt types used in getMethod
+class QObject;
+
+// Forward declaration for NGL logger
+namespace NGL {
+class INGLLogger;
+}
+
+namespace DDS
+{
+
+// Template for topic type name - returns empty string for BUILD_RTI=OFF
+template<typename T>
+struct topic_type_name {
+    static std::string value() {
+        return "";
+    }
+};
+
+namespace Helper
+{
+// Stub implementations for BUILD_RTI=OFF
+DDSGEN_EXPORT inline std::string getFunctionTopicName(const std::string &fqName) {
+    return fqName;
+}
+
+DDSGEN_EXPORT inline std::string getShortTopicName(const std::string &fqName) {
+    return fqName;
+}
+
+// Stub for getMethod - returns default-constructed QMetaMethod
+DDSGEN_EXPORT inline QMetaMethod getMethod(NGL::INGLLogger & /*logger*/,
+                                           QObject * /*objectToInform*/,
+                                           const char * /*slotToExecute*/,
+                                           const char * /*signalSignature*/,
+                                           bool /*bWarnOnEmptySlot*/ = true) {
+    // Stub implementation - returns default QMetaMethod
+    return QMetaMethod();
+}
+}
+
+} // namespace DDS
@@ -0,0 +1,173 @@
+#pragma once
+
+/**
+ * @file generic_data_reader.h
+ * @brief Generic Data Reader wrapper for DDS
+ * 
+ * Provides GenericDataReader template class that wraps RTI DataReader
+ * when BUILD_RTI=ON, or provides stub implementation when BUILD_RTI=OFF.
+ */
+
+#include <functional>
+#include <string>
+
+#ifdef BUILD_RTI
+// RTI DDS is available - include full implementation from Lts
+// MUST be included BEFORE namespace DDSGeneric to avoid namespace pollution
+#include <Lts/DDS/Generic/dynamic_data_reader.h>
+#include <Lts/DDS/Generic/generic_data_reader.h>
+
+namespace DDSGeneric
+{
+// Full implementation is in Lts/DDS/Generic/generic_data_reader.h
+// This file just provides the include path redirection
+} // namespace DDSGeneric
+
+#else
+// BUILD_RTI=OFF: Provide minimal stub definitions for RTI types
+
+namespace dds {
+namespace sub {
+namespace detail {
+
+// Dummy delegate class to serve as default template parameter
+template<typename Q>
+class DataReaderImpl {
+    // Empty stub implementation
+};
+
+} // namespace detail
+
+// Forward declaration stub for DataReader
+// Must match RTI 7.7 signature for compatibility
+template<typename T, template <typename Q> class DELEGATE = detail::DataReaderImpl>
+class DataReader {
+public:
+    // Minimal stub interface - add methods as needed by the codebase
+    T read() { return T{}; }
+    void take() {}
+};
+
+} // namespace sub
+} // namespace dds
+
+namespace DDSGeneric
+{
+
+// GenericDataReader stub template (only when BUILD_RTI=OFF)
+template<typename T>
+class GenericDataReader {
+public:
+    using TopicType = T;
+    using TopicTypeRead = T;
+    using DataReader = void*;
+    using DataTopic = void*;
+    using DataReaderQos = void*;
+    using SubscriberCallback = std::function<void(const TopicTypeRead&, int)>;
+    using SubscriberCallbackWithSampleInfo = std::function<void(const TopicTypeRead&, const void*)>;
+    
+    GenericDataReader()
+        : m_dataReader(nullptr), m_ddsTopic(nullptr), m_bHaveSubscriberCallback(false)
+    {
+    }
+    
+    virtual ~GenericDataReader()
+    {
+        m_ddsTopic = nullptr;
+        m_dataReader = nullptr;
+    }
+    
+    DataReader getDataReader() const
+    {
+        return m_dataReader;
+    }
+    
+    bool create(const void* domainParticipant, const void* ddsSubscriber,
+                const std::string& topicName = std::string(),
+                bool bCreateDataReader = true)
+    {
+        return false;
+    }
+    
+    bool hasSamples() const
+    {
+        return false;
+    }
+    
+    void* readAlive(bool& bSeenNewSamples)
+    {
+        bSeenNewSamples = false;
+        return nullptr;
+    }
+    
+    void* takeAlive(bool& bSeenNewSamples)
+    {
+        bSeenNewSamples = false;
+        return nullptr;
+    }
+    
+    void* takeDisposed()
+    {
+        return nullptr;
+    }
+    
+    template <typename C> bool read(C callbackFunc)
+    {
+        return false;
+    }
+    
+    void setHaveSubscriberCallback(bool bHave)
+    {
+        m_bHaveSubscriberCallback = bHave;
+    }
+    
+    std::string topicName() const
+    {
+        return std::string();
+    }
+    
+    DataReader dataReader() const
+    {
+        return m_dataReader;
+    }
+    
+    virtual void recreateReader()
+    {
+    }
+    
+protected:
+    DataReader m_dataReader;
+    DataReaderQos m_dataReaderQos;
+    DataTopic m_ddsTopic;
+    bool m_bHaveSubscriberCallback;
+};
+
+template<typename T>
+class GenericDataReaderContentFilter {
+public:
+    using DataType = T;
+    // Minimal stub - extend as needed
+};
+
+// DynamicDataReader stub for BUILD_RTI=OFF
+class DynamicDataReader {
+public:
+    using TopicType = void*;
+    using DataReader = void*;
+    using DataTopic = void*;
+    
+    DynamicDataReader() {}
+    ~DynamicDataReader() {}
+    
+    bool create(const void* domainParticipant, const void* ddsSubscriber,
+                const std::string& specialTopicName, const void* structType)
+    {
+        return false;
+    }
+    
+    bool hasSamples() const { return false; }
+};
+
+} // namespace DDSGeneric
+
+#endif // BUILD_RTI
@@ -0,0 +1,84 @@
+#pragma once
+
+#ifdef BUILD_RTI
+// Real implementation with RTI NGL logger
+#include <NGLLogger/INGLLogger.h>
+#include <ddsgen_export.h>
+#include <string>
+
+namespace DDS
+{
+
+enum class DataType
+{
+  DATA_TYPE_UNKNOWN   = 0,
+
+  DATA_WRITER         = 1,
+  DATA_READER         = 2,
+
+  DYNAMIC_DATA_WRITER = 3,
+  DYNAMIC_DATA_READER = 4,
+
+  DATA_TOPIC_SERVER   = 8,
+  DATA_TOPIC_CLIENT   = 9,
+
+  FUNCTION_TOPIC_SERVER = 12,
+  FUNCTION_TOPIC_CLIENT = 13
+};
+
+using LOGGER_T = NGL::INGLLogger&;
+
+DDSGEN_EXPORT LOGGER_T getLogger(const char *name, DataType dt);
+inline LOGGER_T getLogger(const std::string &loggerName, DataType dt)
+{
+  return getLogger(loggerName.data(), dt);
+}
+
+} // namespace DDS
+#else
+// Stub header for BUILD_RTI=OFF
+#include <NGLLogger/INGLLogger.h>
+#include <ddsgen_export.h>
+#include <string>
+
+namespace DDS
+{
+
+// DataType enum - same as original, no RTI dependency
+enum class DataType
+{
+  DATA_TYPE_UNKNOWN   = 0,
+
+  DATA_WRITER         = 1,
+  DATA_READER         = 2,
+
+  DYNAMIC_DATA_WRITER = 3,
+  DYNAMIC_DATA_READER = 4,
+
+  DATA_TOPIC_SERVER   = 8,
+  DATA_TOPIC_CLIENT   = 9,
+
+  FUNCTION_TOPIC_SERVER = 12,
+  FUNCTION_TOPIC_CLIENT = 13
+};
+
+// Logger type alias
+using LOGGER_T = NGL::INGLLogger&;
+
+// Stub implementation for getLogger
+// Returns a dummy logger reference - in real usage, this would need proper initialization
+DDSGEN_EXPORT inline LOGGER_T getLogger(const char *name, DataType dt) {
+    // Stub: return a static dummy logger
+    // In production code with BUILD_RTI=OFF, this should be replaced with actual logger
+    static NGL::INGLLogger* dummy_logger = nullptr;
+    return *dummy_logger;
+}
+
+// Inline overload for std::string
+inline LOGGER_T getLogger(const std::string &loggerName, DataType dt)
+{
+  return getLogger(loggerName.data(), dt);
+}
+
+} // namespace DDS
+#endif