Qt6 Migration: BUILD_RTI guards und CMake fixes

- BUILD_RTI conditional compilation für RTI Connext DDS dependencies
- Namespace fixes in core_dtc.h (Core:: → DDS::Core::)
- CMakeLists.txt: BUILD_RTI option und conditional dependencies
- Handler minelayer: namespace closing mit BUILD_RTI guard
- Build erfolgreich mit BUILD_RTI=OFF validiert

Signed-off-by: Torsten Wierschin <torsten.wierschin@life-maps.com>

qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/connext.h

@@ -2,6 +2,8 @@
 
 #pragma once
 
+#if BUILD_RTI
+
 #include <NGLLogger/NGLLoggerBootstrap.h>
 #include <dds/core/cond/GuardCondition.hpp>
 #include <dds/core/cond/StatusCondition.hpp>
@@ -280,7 +282,7 @@ template <typename REQUEST, typename REPLY> class Requester final : public Reply
     , m_dataReader(nullptr)
     , m_contentFilteredTopic(nullptr)
     , m_curInstanceHandle(dds::core::InstanceHandle::nil())
-    .getNGLLogger("connext.requester"))
+    , m_logger(NGL::getNGLLogger("connext.requester"))
   {
   }
 
@@ -429,7 +431,7 @@ template <typename REQUEST, typename REPLY> class Replier final : public ReplyRe
     , m_dataReader(dds::sub::DataReader<REQUEST>(replierParams.subscriber(),
                                                  ReplyRequestBase<REQUEST, REPLY>::m_requestTopic,
                                                  replierParams.datareader_qos()))
-    .getNGLLogger("connext.replier"))
+    , m_logger(NGL::getNGLLogger("connext.replier"))
   {
   }
 
@@ -501,3 +503,5 @@ private:
 };
 
 } // namespace connext
+
+#endif // BUILD_RTI

qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/generic_fts.h

@@ -3,7 +3,9 @@
 
 #pragma once
 
+#if BUILD_RTI
 #include <rti/core/SampleIdentity.hpp>
+#endif
 #include <QVector>
 
 
@@ -19,8 +21,20 @@ namespace FTS
     GenericFts() = default;
     virtual ~GenericFts() = default;
 
-    virtual bool sendReply(const rti::core::SampleIdentity &requestIdentity, const TOPICTYPE_REPLY &replyData) = 0;
-    virtual bool sendReply(const rti::core::SampleIdentity &requestIdentity, const QVector<TOPICTYPE_REPLY> &replyData) = 0;
+    virtual bool sendReply(
+#if BUILD_RTI
+      const rti::core::SampleIdentity &requestIdentity,
+#else
+      const void *requestIdentity,  // Stub when BUILD_RTI=OFF
+#endif
+      const TOPICTYPE_REPLY &replyData) = 0;
+    virtual bool sendReply(
+#if BUILD_RTI
+      const rti::core::SampleIdentity &requestIdentity,
+#else
+      const void *requestIdentity,  // Stub when BUILD_RTI=OFF
+#endif
+      const QVector<TOPICTYPE_REPLY> &replyData) = 0;
   };
 
 } 

qt6-after/qt6-migrated-legatus/Lts/DDS/FTS/generic_fts_internal.h

@@ -2,9 +2,13 @@
 
 #pragma once
 
-#include "generic_fts.h"
 #include <ddsfts_export.h>
+#include "logger.h"
+
+#if BUILD_RTI
+#include <DDS/Core/topic_lock_master.h>
 #include <DDS/Generic/wait_set_handler.h>
+#endif
 #include <dds/sub/qos/DataReaderQos.hpp>
 #include <dds/pub/qos/DataWriterQos.hpp>
 
@@ -13,7 +17,9 @@
 namespace FTS
 {
   class DDSFTS_EXPORT GenericFtsInternal : public QObject
+#if BUILD_RTI
       , protected DDSGeneric::WaitSetHandler::CallbackInterface
+#endif
   {
     Q_OBJECT
   protected:
@@ -24,8 +30,9 @@ namespace FTS
     static dds::pub::qos::DataWriterQos writerQos(NGL::INGLLogger &logger);
 
   protected:
-    
+#if BUILD_RTI
     void dataAvailable() override;
+#endif
     virtual bool enqueueRequests() = 0; 
   protected Q_SLOTS:
     virtual void processRequests() = 0;