Apply clang-format to Lts/Common and DTC/enum headers
- Formatted all CodeGen module files (9 files) - Formatted LtsAppDescriptor module files - Formatted LtsAppManager/AppChooser files - Applied clang-format to all DTC and enum headers across modules - Removed coordTransTests from CommonUnitTestsPlaceholder (moved to tests/) Cosmetic changes only, no functional modifications. Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
This commit is contained in:
848 files changed
+89305
-100020
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Executable → Regular
+144
-175
@@ -1,13 +1,13 @@
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#include "dds_connector.h"
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#include "publisher.h"
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#include "subscriber.h"
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#include <NGLLogger/NGLLoggerBootstrap.h>
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <DDS/Generic/wait_set_handler.h>
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <NGLLogger/NGLLoggerBootstrap.h>
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#include <QCoreApplication>
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namespace DDSConnector
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@@ -32,252 +32,221 @@ DdsConnector::DdsConnector(int domainId,
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, m_wsHandler(nullptr)
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.getNGLLogger("Common.DDSConnector"))
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{
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initInternal();
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DEBUG_LOG(m_logger) << "DdsConnector ctor: " << m_domainId << "," << m_partitionId << ","<< m_exerciseId << "," << static_cast<int>(m_defaultPartitionType);
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initInternal();
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DEBUG_LOG(m_logger) << "DdsConnector ctor: " << m_domainId << "," << m_partitionId << "," << m_exerciseId << ","
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<< static_cast<int>(m_defaultPartitionType);
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}
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DdsConnector::DdsConnector(int domainId,
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IDL::PartitionType defaultPartitionType,
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int partitionId, int exerciseId,
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const QUrl &tcpConnectionUrl)
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: DdsConnector(domainId,
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nullptr,
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defaultPartitionType,
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partitionId,
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exerciseId,
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DDS::QosProfile::ConnectionType::Server,
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tcpConnectionUrl)
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{}
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DdsConnector::DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
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IDL::PartitionType defaultPartitionType,
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int partitionId, int exerciseId,
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const QUrl &tcpConnectionUrl)
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: DdsConnector(domainParticipant.domain_id(),
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domainParticipant,
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defaultPartitionType,
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partitionId,
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exerciseId,
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DDS::QosProfile::ConnectionType::Server,
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tcpConnectionUrl)
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{}
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DdsConnector::DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
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IDL::PartitionType defaultPartitionType,
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DDS::QosProfile::ConnectionType connectionType,
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int partitionId,
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int exerciseId
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)
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: DdsConnector(domainParticipant.domain_id(),
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domainParticipant,
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defaultPartitionType,
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partitionId,
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exerciseId,
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connectionType,
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QUrl())
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{}
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DdsConnector::DdsConnector(int domainId,
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IDL::PartitionType defaultPartitionType,
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int partitionId, int exerciseId,
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DDS::QosProfile::ConnectionType connectionType)
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: DdsConnector(domainId,
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nullptr,
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defaultPartitionType,
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partitionId,
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exerciseId,
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connectionType,
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QUrl())
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DdsConnector::DdsConnector(int domainId, IDL::PartitionType defaultPartitionType, int partitionId, int exerciseId,
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const QUrl& tcpConnectionUrl)
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: DdsConnector(domainId, nullptr, defaultPartitionType, partitionId, exerciseId,
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DDS::QosProfile::ConnectionType::Server, tcpConnectionUrl)
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{
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Q_ASSERT(connectionType != DDS::QosProfile::ConnectionType::Tcp);
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}
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DdsConnector::DdsConnector(const dds::domain::DomainParticipant& domainParticipant,
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IDL::PartitionType defaultPartitionType, int partitionId, int exerciseId,
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const QUrl& tcpConnectionUrl)
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: DdsConnector(domainParticipant.domain_id(), domainParticipant, defaultPartitionType, partitionId, exerciseId,
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DDS::QosProfile::ConnectionType::Server, tcpConnectionUrl)
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{
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}
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DdsConnector::DdsConnector(const dds::domain::DomainParticipant& domainParticipant,
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IDL::PartitionType defaultPartitionType, DDS::QosProfile::ConnectionType connectionType,
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int partitionId, int exerciseId)
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: DdsConnector(domainParticipant.domain_id(), domainParticipant, defaultPartitionType, partitionId, exerciseId,
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connectionType, QUrl())
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{
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}
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DdsConnector::DdsConnector(int domainId, IDL::PartitionType defaultPartitionType, int partitionId, int exerciseId,
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DDS::QosProfile::ConnectionType connectionType)
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: DdsConnector(domainId, nullptr, defaultPartitionType, partitionId, exerciseId, connectionType, QUrl())
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{
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Q_ASSERT(connectionType != DDS::QosProfile::ConnectionType::Tcp);
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}
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DdsConnector::~DdsConnector()
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{
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delete m_subscriber;
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delete m_publisher;
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delete m_wsHandler;
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delete m_subscriber;
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delete m_publisher;
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delete m_wsHandler;
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}
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bool DdsConnector::init(const QStringList &qosFileList)
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bool DdsConnector::init(const QStringList& qosFileList)
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{
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return DDS::QosProfile::setDefault(qosFileList);
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return DDS::QosProfile::setDefault(qosFileList);
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}
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QUrl DdsConnector::getTcpConnectionUrl() const
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{
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DEBUG_LOG(m_logger) << this << " gettcpConnectionUrl: " << m_tcpConnectionUrl.toString();
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return m_tcpConnectionUrl;
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DEBUG_LOG(m_logger) << this << " gettcpConnectionUrl: " << m_tcpConnectionUrl.toString();
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return m_tcpConnectionUrl;
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}
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dds::pub::Publisher DdsConnector::getDdsPublisher() const
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{
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return m_publisher ? m_publisher->getDdsPublisher() : nullptr;
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return m_publisher ? m_publisher->getDdsPublisher() : nullptr;
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}
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dds::sub::Subscriber DdsConnector::getDdsSubscriber() const
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{
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return m_subscriber ? m_subscriber->getDdsSubscriber() : nullptr;
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return m_subscriber ? m_subscriber->getDdsSubscriber() : nullptr;
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}
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DDSGeneric::SubscriberListener *DdsConnector::getSubscriberListener()
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DDSGeneric::SubscriberListener* DdsConnector::getSubscriberListener()
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{
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return m_subscriber ? m_subscriber->getSubscriberListener() : nullptr;
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return m_subscriber ? m_subscriber->getSubscriberListener() : nullptr;
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}
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void DdsConnector::initPublisherSubscriber()
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{
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initSubscriber();
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initPublisher();
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initSubscriber();
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initPublisher();
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}
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void DdsConnector::initPublisher()
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{
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if (m_publisher)
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return;
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initDomainParticipant();
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setPublisher(new DDSConnector::Publisher(m_domainParticipant, getDefaultPartition()));
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if (m_publisher)
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return;
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initDomainParticipant();
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setPublisher(new DDSConnector::Publisher(m_domainParticipant, getDefaultPartition()));
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}
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void DdsConnector::initSubscriber()
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{
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if (m_subscriber)
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return;
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initDomainParticipant();
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setSubscriber(new DDSConnector::Subscriber(m_domainParticipant, getDefaultPartition()));
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if (m_subscriber)
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return;
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initDomainParticipant();
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setSubscriber(new DDSConnector::Subscriber(m_domainParticipant, getDefaultPartition()));
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}
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void DdsConnector::initDomainParticipant()
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{
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if (m_domainParticipant == nullptr)
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setDomainParticipant(dds::domain::DomainParticipant(m_domainId,
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DDS::QosProfile::domainParticipantDefault(m_connectionType, m_tcpConnectionUrl)));
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if (m_domainParticipant == nullptr)
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setDomainParticipant(dds::domain::DomainParticipant(
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m_domainId, DDS::QosProfile::domainParticipantDefault(m_connectionType, m_tcpConnectionUrl)));
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}
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std::string DdsConnector::getDefaultPartition() const
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{
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return getPartitionString(m_defaultPartitionType, m_partitionId);
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return getPartitionString(m_defaultPartitionType, m_partitionId);
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}
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std::string DdsConnector::getPartitionString(IDL::PartitionType pt, int partitionId)
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{
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switch (pt)
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{
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case IDL::PartitionType::Any:
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return "*";
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case IDL::PartitionType::Global:
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return IDL::exercisePartition(0);
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case IDL::PartitionType::Exercise:
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case IDL::PartitionType::AllExercises:
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return IDL::exercisePartition(partitionId);
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case IDL::PartitionType::Replay:
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return IDL::replayPartition(partitionId);
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}
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switch (pt)
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{
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case IDL::PartitionType::Any:
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return "*";
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case IDL::PartitionType::Global:
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return IDL::exercisePartition(0);
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case IDL::PartitionType::Exercise:
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case IDL::PartitionType::AllExercises:
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return IDL::exercisePartition(partitionId);
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case IDL::PartitionType::Replay:
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return IDL::replayPartition(partitionId);
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}
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NGL::INGLLogger &m_logger = NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Common.DDSConnector");
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ERROR_LOG(m_logger) << "Invalid partition type: " << static_cast<int>(pt);
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return std::string();
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NGL::INGLLogger& m_logger = NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Common.DDSConnector");
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ERROR_LOG(m_logger) << "Invalid partition type: " << static_cast<int>(pt);
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return std::string();
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}
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void DdsConnector::setDomainParticipant(const dds::domain::DomainParticipant &participant)
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void DdsConnector::setDomainParticipant(const dds::domain::DomainParticipant& participant)
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{
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m_domainParticipant = participant;
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if (m_domainParticipant == nullptr)
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return;
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m_domainParticipant = participant;
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if (m_domainParticipant == nullptr)
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return;
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try
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{
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dds::domain::qos::DomainParticipantQos dpQos(m_domainParticipant.qos());
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DDS::QosProfile::print(dpQos, m_logger);
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rti::core::policy::EntityName entityName;
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entityName.name(qAppName().toStdString() + (" - DP ") + std::to_string(m_domainId));
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dpQos << entityName;
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m_domainParticipant.qos(dpQos);
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m_domainParticipant->default_datareader_qos(DDS::QosProfile::dataReaderDefault(m_connectionType));
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m_domainParticipant.enable();
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}
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catch (const dds::core::Exception &ex)
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{
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WARNING_LOG(m_logger) << "Could not enable DomainParticipant: " << ex.what();
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exit(1);
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}
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try
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{
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dds::domain::qos::DomainParticipantQos dpQos(m_domainParticipant.qos());
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DDS::QosProfile::print(dpQos, m_logger);
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rti::core::policy::EntityName entityName;
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entityName.name(qAppName().toStdString() + (" - DP ") + std::to_string(m_domainId));
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dpQos << entityName;
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m_domainParticipant.qos(dpQos);
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m_domainParticipant->default_datareader_qos(DDS::QosProfile::dataReaderDefault(m_connectionType));
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m_domainParticipant.enable();
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}
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catch (const dds::core::Exception& ex)
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{
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WARNING_LOG(m_logger) << "Could not enable DomainParticipant: " << ex.what();
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exit(1);
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}
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}
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void DdsConnector::setPublisher(Publisher *publisher)
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void DdsConnector::setPublisher(Publisher* publisher)
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{
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if (m_publisher && publisher != m_publisher)
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{
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WARNING_LOG(m_logger) << "Trying to set publisher but there is already a publisher set - overwriting!";
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delete m_publisher;
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}
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m_publisher = publisher;
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if (m_publisher)
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DDS::QosProfile::print(m_publisher->getDdsPublisher().default_datawriter_qos(), m_logger);
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if (m_publisher && publisher != m_publisher)
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{
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WARNING_LOG(m_logger) << "Trying to set publisher but there is already a publisher set - overwriting!";
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delete m_publisher;
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}
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m_publisher = publisher;
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if (m_publisher)
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DDS::QosProfile::print(m_publisher->getDdsPublisher().default_datawriter_qos(), m_logger);
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}
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void DdsConnector::enableBatchedWriter(bool bEnable)
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{
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if (m_publisher)
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m_publisher->enableBatchedWriter(bEnable);
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if (m_publisher)
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m_publisher->enableBatchedWriter(bEnable);
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}
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void DdsConnector::setSubscriber(Subscriber *subscriber)
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void DdsConnector::setSubscriber(Subscriber* subscriber)
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{
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if (m_subscriber && subscriber != m_subscriber)
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{
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WARNING_LOG(m_logger) << "Trying to set subscriber but there is already a subscriber set - overwriting!";
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delete m_subscriber;
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}
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m_subscriber = subscriber;
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if (m_subscriber)
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DDS::QosProfile::print(m_subscriber->getDdsSubscriber().default_datareader_qos(), m_logger);
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if (m_subscriber && subscriber != m_subscriber)
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{
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WARNING_LOG(m_logger) << "Trying to set subscriber but there is already a subscriber set - overwriting!";
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delete m_subscriber;
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}
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m_subscriber = subscriber;
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if (m_subscriber)
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DDS::QosProfile::print(m_subscriber->getDdsSubscriber().default_datareader_qos(), m_logger);
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}
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void DdsConnector::initInternal()
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{
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if (m_tcpConnectionUrl.isValid())
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{
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m_connectionType = DDS::QosProfile::ConnectionType::Tcp;
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}
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else
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{
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m_tcpConnectionUrl.clear();
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if (m_connectionType == DDS::QosProfile::ConnectionType::Tcp)
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m_connectionType = DDS::QosProfile::ConnectionType::ShmUdp;
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}
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if (m_tcpConnectionUrl.isValid())
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{
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m_connectionType = DDS::QosProfile::ConnectionType::Tcp;
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}
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else
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{
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m_tcpConnectionUrl.clear();
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if (m_connectionType == DDS::QosProfile::ConnectionType::Tcp)
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m_connectionType = DDS::QosProfile::ConnectionType::ShmUdp;
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}
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if (m_defaultPartitionType == IDL::PartitionType::Any ||
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m_defaultPartitionType == IDL::PartitionType::AllExercises)
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m_partitionId = -1;
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if (m_defaultPartitionType == IDL::PartitionType::Exercise && m_partitionId < 0)
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WARNING_LOG(m_logger) << "Want to subscribe to an exercise, but no exercise Id is given!";
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if (m_defaultPartitionType == IDL::PartitionType::Global)
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{
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m_partitionId = 0;
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m_exerciseId = 0;
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}
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INFO_LOG(m_logger) << "DDSConnector(" << m_domainId << ") for partition: " << m_partitionId
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<< " with partition type " << static_cast<int>(m_defaultPartitionType);
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if (m_defaultPartitionType == IDL::PartitionType::Any || m_defaultPartitionType == IDL::PartitionType::AllExercises)
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m_partitionId = -1;
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if (m_defaultPartitionType == IDL::PartitionType::Exercise && m_partitionId < 0)
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WARNING_LOG(m_logger) << "Want to subscribe to an exercise, but no exercise Id is given!";
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if (m_defaultPartitionType == IDL::PartitionType::Global)
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{
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m_partitionId = 0;
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m_exerciseId = 0;
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}
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INFO_LOG(m_logger) << "DDSConnector(" << m_domainId << ") for partition: " << m_partitionId
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<< " with partition type " << static_cast<int>(m_defaultPartitionType);
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dds::domain::qos::DomainParticipantFactoryQos domainParticipantFactoryQos = dds::domain::DomainParticipant::participant_factory_qos();
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domainParticipantFactoryQos << dds::core::policy::EntityFactory::ManuallyEnable();
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dds::domain::DomainParticipant::participant_factory_qos(domainParticipantFactoryQos);
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dds::domain::qos::DomainParticipantFactoryQos domainParticipantFactoryQos =
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dds::domain::DomainParticipant::participant_factory_qos();
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domainParticipantFactoryQos << dds::core::policy::EntityFactory::ManuallyEnable();
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dds::domain::DomainParticipant::participant_factory_qos(domainParticipantFactoryQos);
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}
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void DdsConnector::createWaitSetHandler()
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{
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if (!m_wsHandler)
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m_wsHandler = new DDSGeneric::WaitSetHandler;
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if (!m_wsHandler)
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m_wsHandler = new DDSGeneric::WaitSetHandler;
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}
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}
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} // namespace DDSConnector
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