Qt6 Migration: Complete migration with DDS/RTI support and build validation
Major Changes:
- Merged latest Qt5 devel content from dlbo (292 files changed, 7 new dirs)
- Consolidated forward-declarations and include folders
- Removed unneeded modules per Niklas' repo check list
Build System Fixes:
- Fixed CMake VERSION_GREATER syntax in ParticipantManagement/CMakeLists.txt
- Added VLC packages (libvlc-dev, vlc-plugin-base) to docker_build.sh
- Added PostgreSQL dev packages (libpq-dev, postgresql-server-dev-all) to Dockerfile
- Fixed locale warnings (ANSI_X3.4-1968 → C.UTF-8)
- Fixed ArcGIS SDK path warnings when BUILD_ARCGIS=OFF
Code Generation Fixes:
- Fixed IDL enum collisions (PortType→CorePortType/DdsutPortType, PdmEventType)
- Fixed Grantlee template svc_translation.cpp.grantlee:
- Changed {{ idl_enum.name }}_def:: to {{ idl_enum.name }}::
- Fixed .underlying() calls for C++11 scoped enums (enum class)
- Removed generated files from repo (moc_*, *_dtc.h, *_ftc.h)
Validation:
- BUILD_RTI=ON: SUCCESS
- BUILD_RTI=OFF: SUCCESS
- C++17 standard maintained for RTI 7.7 compatibility
- Ubuntu 26.04 Docker environment verified
Remaining Warnings (expected):
- BgViewer, KDChart, KDReports, Poppler-Qt6 not found (optional features)
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
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/**
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* Unit test for function topic server / client (fts/ftc)
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#include "function_topic_tests.h"
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#include <Common/ProjectConfig/project_defines.h>
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#include <DDS/DDSConnector/subscriber.h>
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#include <DDS/DDSConnector/publisher.h>
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#include <QtTest/QTest>
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#include <nglapplication/nglcoreapplication.h>
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#include <NGLLogger/INGLLogger.h>
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//-------------------------------------------------------------------------------------------------------
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int main(int argc, char *argv[])
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{
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NGLCoreApplication app(argc, argv);
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app.createLogger("UnitTests", "log4cxx_ddsUnitTests.props");
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FunctionTopicTests *tc = new FunctionTopicTests;
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int retCode = QTest::qExec(tc, argc, argv);
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delete tc;
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return retCode;
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}
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//-------------------------------------------------------------------------------------------------------
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FunctionTopicTests::FunctionTopicTests()
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: m_mainThreadId(QThread::currentThreadId())
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, m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.FunctionTopicTests"))
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{
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qRegisterMetaType<DdsUnitTests::FunctionReply>("DdsUnitTests::FunctionReply");
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qRegisterMetaType<DdsUnitTests::FunctionReplyWithState>("DdsUnitTests::FunctionReplyWithState");
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::initTestCase()
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{
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DEBUG_LOG(m_logger) <<"FunctionTopicTests: initTestCase";
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const int domainId = 0;
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m_ddsConnectorClient = std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Global);
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QVERIFY2(m_ddsConnectorClient->init(), "Initialisation of ddsconnector (Client) failed");
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m_ddsConnectorClient->initSubscriber();
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QVERIFY2(m_ddsConnectorClient->getSubscriber(), "Initialisation of Subscriber (DdsConnectorClient) failed");
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m_ddsConnectorClient->initPublisher();
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QVERIFY2(m_ddsConnectorClient->getPublisher(), "Initialisation of Publisher (DdsConnectorClient) failed");
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m_ddsConnectorServer = std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Global);
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QVERIFY2(m_ddsConnectorServer->init(), "Initialisation of ddsconnector (Server) failed");
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m_ddsConnectorServer->initSubscriber();
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QVERIFY2(m_ddsConnectorServer->getSubscriber(), "Initialisation of Subscriber (DdsConnectorServer) failed");
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m_ddsConnectorServer->initPublisher();
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QVERIFY2(m_ddsConnectorServer->getPublisher(), "Initialisation of Publisher (DdsConnectorServer) failed");
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::initFTSTestCase()
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{
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m_fts.reset(m_ddsConnectorServer->createFTS<FTS::FunctionTopicTest>());
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QVERIFY2(m_fts.get(), "Initialisation of FTS Replier failed");
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m_fts->setSubscriberCallback([this](const rti::core::SampleIdentity &identity, const DdsUnitTests::FunctionRequest &request) { this->onFunctionTopicRequest(identity, request);});
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m_ftsWS.reset(m_ddsConnectorServer->createFTS<FTS::FunctionTopicTestWithState>());
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QVERIFY2(m_ftsWS.get(), "Initialisation of FTS Replier failed");
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m_ftsWS->setSubscriberCallback([this](const rti::core::SampleIdentity &identity, const DdsUnitTests::FunctionRequestWithState &request) { this->onFunctionTopicRequest(identity, request);});
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}
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void FunctionTopicTests::initFTCTestCase()
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{
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m_ftc.reset(m_ddsConnectorClient->createFTC<FTC::FunctionTopicTest>(this));
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QVERIFY2(m_ftc.get(), "Initialisation of FTC Requester failed");
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m_ftcWS.reset(m_ddsConnectorClient->createFTC<FTC::FunctionTopicTestWithState>(this));
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QVERIFY2(m_ftc.get(), "Initialisation of FTC Requester failed");
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::requestTestCase1()
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{
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// request two times to check if WaitSetHandler etc. is working correct
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requestWithState();
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// 3 conditions - abortCondition + FunctionRequest + FunctionRequestWithState
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QCOMPARE(m_ddsConnectorServer->getWaitSetHandler()->attachedConditionCount(), 3);
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requestWithState();
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// 3 conditions - abortCondition + FunctionRequest + FunctionRequestWithState
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QCOMPARE(m_ddsConnectorServer->getWaitSetHandler()->attachedConditionCount(), 3);
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::requestWithState()
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{
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// @StartTime => catch all signals (timing)
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QSignalSpy spyRequest(this, &FunctionTopicTests::functionTopicRequestFinished);
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QSignalSpy spyReply(this, &FunctionTopicTests::functionTopicReply);
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DEBUG_LOG(m_logger) <<"FunctionTopicTests: request";
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// Topic
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DdsUnitTests::FunctionRequestWithState data;
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data.id(1);
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data.info(std::string("Test request"));
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data.value(1000.0);
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int uniqueId = 0;
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bool bRet = m_ftcWS->requestDataClassic(data,
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SLOT(slotRequestedData(DdsUnitTests::FunctionTopicTestWithStateReply,int,bool)),
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SLOT(slotRequestedDataError(int,int,int)),
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uniqueId);
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QVERIFY2(bRet, "Could not request data!");
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QTRY_COMPARE(spyRequest.count(), 1); // make sure the signal was emitted exactly one time
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QTRY_COMPARE(spyReply.count(), 2); // make sure the signal was emitted exactly two times (reply in progress/reply finished)
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::requestTestCase2()
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{
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// Start@beginning => all signals need catching (timing)
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QSignalSpy spyRequest(this, &FunctionTopicTests::functionTopicRequestFinished);
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QSignalSpy spyReply(this, &FunctionTopicTests::functionTopicReply);
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DEBUG_LOG(m_logger) <<"FunctionTopicTests: request";
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// Topic
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DdsUnitTests::FunctionRequest data;
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data.id(1);
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data.info(std::string("Test request"));
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data.value(1000.0);
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int uniqueId = 0;
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bool bRet = m_ftc->requestDataClassic(data,
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SLOT(slotRequestedData(DdsUnitTests::FunctionTopicTestReply,int,bool)),
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SLOT(slotRequestedDataError(int,int,int)),
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uniqueId);
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QVERIFY2(bRet, "Could not request data!");
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QTRY_COMPARE(spyRequest.count(), 1); // make sure the signal was emitted exactly one time
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QTRY_COMPARE(spyReply.count(), 1); // make sure the signal was emitted exactly one time (no status member)
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::cleanupTestCase()
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{
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DEBUG_LOG(m_logger) <<"FunctionTopicTests: cleanupTestCase";
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m_fts = nullptr;
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m_ftc = nullptr;
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m_ftsWS = nullptr;
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m_ftcWS = nullptr;
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m_ddsConnectorServer = nullptr;
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m_ddsConnectorClient = nullptr;
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::onFunctionTopicRequest(const rti::core::SampleIdentity &sampleId,
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const DdsUnitTests::FunctionRequestWithState &request)
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{
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QCOMPARE(m_mainThreadId, QThread::currentThreadId());
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INFO_LOG(m_logger) << "Got function topic request (with status member)";
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m_requestTopicWithState = request;
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QCOMPARE(m_requestTopicWithState.id(), 1);
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QCOMPARE(m_requestTopicWithState.info().get(), std::string("Test request"));
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QCOMPARE(m_requestTopicWithState.value(), 1000.0);
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DdsUnitTests::FunctionReplyWithState reply;
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DEBUG_LOG(m_logger) << "Send sample with status REPLY_COMPLETED";
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reply.id(1);
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reply.errorString("Hello");
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reply.replyState(Core::FtReplyState::Completed);
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bool bRet = m_ftsWS->sendReply(sampleId, reply);
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QVERIFY2(bRet, "Sending Reply failed");
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emit functionTopicRequestFinished();
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::onFunctionTopicRequest(const rti::core::SampleIdentity &sampleId,
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const DdsUnitTests::FunctionRequest &request)
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{
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QCOMPARE(m_mainThreadId, QThread::currentThreadId());
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INFO_LOG(m_logger) << "Got function topic request (without status member)";
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m_requestTopic = request;
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DdsUnitTests::FunctionReply reply;
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reply.id(2);
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reply.errorString("What?");
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bool bRet = m_fts->sendReply(sampleId, reply);
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QVERIFY2(bRet, "Sending Reply failed");
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emit functionTopicRequestFinished();
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::slotRequestedData(const DdsUnitTests::FunctionTopicTestWithStateReply &reply,
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int seqNo, bool bFinished)
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{
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Q_UNUSED(seqNo);
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QCOMPARE(m_mainThreadId, QThread::currentThreadId());
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INFO_LOG(m_logger) << "Got reply from FTS: " << reply.replyState();
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m_replyTopicWithState = reply;
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if (m_replyTopicWithState.replyState() == Core::FtReplyState::InProgress)
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{
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QVERIFY(!bFinished);
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QCOMPARE(m_replyTopicWithState.id(), 0);
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}
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else
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{
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QVERIFY(bFinished);
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QCOMPARE(m_replyTopicWithState.id(), 1);
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QCOMPARE(m_replyTopicWithState.errorString(), std::string("Hello"));
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QCOMPARE(m_replyTopicWithState.replyState().underlying(), Core::FtReplyState::Completed);
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}
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emit functionTopicReply();
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}
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void FunctionTopicTests::slotRequestedData(const DdsUnitTests::FunctionTopicTestReply &reply,
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int seqNo, bool bFinished)
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{
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Q_UNUSED(seqNo);
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QVERIFY(bFinished);
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QCOMPARE(m_mainThreadId, QThread::currentThreadId());
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m_replyTopic = reply;
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QCOMPARE(m_replyTopic.id(), 2);
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QCOMPARE(m_replyTopic.errorString(), std::string("What?"));
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emit functionTopicReply();
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}
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//-------------------------------------------------------------------------------------------------------
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void FunctionTopicTests::slotRequestedDataError(int reason, int seqNo, int requestId)
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{
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Q_UNUSED(seqNo);
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Q_UNUSED(requestId);
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QFAIL(qPrintable(QStringLiteral("Error when trying to request data: %1").arg(reason)));
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}
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