torstenandCopilot
4c9861a469
- cmake/FindRTI.cmake: Add INTERFACE placeholder targets when RTI not found - cmake/FindRTI.cmake: Force BUILD_RTI=OFF when RTI not installed - Lts/Common/LtsSession/CMakeLists.txt: Make LtsSessionDataDds conditional on BUILD_RTI - Lts/Viewer/CMakeLists.txt: Make LtsDataView conditional on BUILD_RTI - Lts/Plugins/*/CMakeLists.txt: 97 plugin files wrapped in BUILD_RTI conditionals - cmake/NGLMacros.cmake: Fix NGL_ADD_BIG_RESOURCES macro (removed premature return()) - Multiple Qt6 API fixes: QLinkedList→std::list, QStringRef→QStringView, etc. - BUILD_RTI_FIXES_SUMMARY.md: Comprehensive documentation of all fixes Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
112 lines
3.2 KiB
C++
Executable File
112 lines
3.2 KiB
C++
Executable File
/**
|
|
* @RDE_HEADER@
|
|
* DataTopic Unit test for DDS
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
* Created by Hanna E. Rathje, SLSE, 2015-07-24
|
|
*/
|
|
#include "Initialisation.h"
|
|
|
|
#include <NGLLogger/NGLLoggerBootstrap.h>
|
|
|
|
#include <DDS/QosProfile/DDS_DefaultQos.h>
|
|
#include <Lts/Common/ProjectConfig/project_defines.h>
|
|
|
|
|
|
Initialisation::Initialisation()
|
|
: m_domainParticipant(nullptr)
|
|
, m_domainParticipantSub(nullptr)
|
|
, m_domainId(0)
|
|
, m_partitionId(-1)
|
|
, m_ddsPublisher(nullptr)
|
|
, m_ddsSubscriber(nullptr)
|
|
, m_subListener(new DTC::SubscriberListener)
|
|
.getNGLLogger("UnitTests.Initialisation"))
|
|
|
|
{
|
|
DDS::DefaultQos defaultQos;
|
|
|
|
//if (!defaultQos.setDefaultQos(QStringList("/shd/CTC/SV/.default_dds_profile.xml")))
|
|
if (!defaultQos.setDefaultQos())
|
|
ERROR_LOG() << "Error setting default QoS from xml-file ";
|
|
|
|
}
|
|
|
|
Initialisation::~Initialisation()
|
|
{
|
|
cleanupSubscriberListener();
|
|
m_ddsSubscriber = nullptr;
|
|
m_ddsPublisher = nullptr;
|
|
}
|
|
|
|
void Initialisation::cleanupSubscriberListener()
|
|
{
|
|
if (m_ddsSubscriber != nullptr && m_subListener != nullptr)
|
|
{
|
|
m_ddsSubscriber.listener(nullptr, dds::core::status::StatusMask::none());
|
|
delete m_subListener;
|
|
m_subListener = nullptr;
|
|
}
|
|
}
|
|
|
|
|
|
bool Initialisation::initDDS(int domainId, int partitionId, PubSub pubsub)
|
|
{
|
|
if (m_domainParticipant == nullptr)
|
|
m_domainParticipant = dds::domain::DomainParticipant(domainId);
|
|
|
|
// SpatialData will be published to Partition $partitionId
|
|
|
|
if (pubsub == USE_PUBLISHER || pubsub == USE_PUB_SUB)
|
|
{
|
|
dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
|
|
|
|
DEBUG_LOG() << "Publish on partition " << IDL::getPartitionString(partitionId);
|
|
|
|
// use only selected partition
|
|
dds::core::policy::Partition partitionQos;
|
|
partitionQos.name( { IDL::getPartitionString(partitionId) } );
|
|
publisherQos << partitionQos;
|
|
|
|
m_ddsPublisher = dds::pub::Publisher(m_domainParticipant,
|
|
publisherQos);
|
|
}
|
|
|
|
if (pubsub == USE_SUBSCRIBER || pubsub == USE_PUB_SUB)
|
|
{
|
|
dds::domain::DomainParticipant domainPart = m_domainParticipant;
|
|
if ( domainPart == nullptr || m_domainParticipantSub == nullptr)
|
|
{
|
|
m_domainParticipantSub = dds::domain::DomainParticipant(domainId);
|
|
domainPart = m_domainParticipantSub;
|
|
}
|
|
|
|
dds::sub::qos::SubscriberQos subscriberQos = domainPart.default_subscriber_qos();
|
|
|
|
DEBUG_LOG() << "Subsribing on partition " << IDL::getPartitionString(partitionId);
|
|
|
|
// use only selected partition
|
|
dds::core::policy::Partition partitionQos;
|
|
partitionQos.name( { IDL::getPartitionString(partitionId) } );
|
|
subscriberQos << partitionQos;
|
|
|
|
dds::core::status::StatusMask mask(DDS_REQUESTED_DEADLINE_MISSED_STATUS |
|
|
DDS_DATA_AVAILABLE_STATUS |
|
|
DDS_DATA_ON_READERS_STATUS);
|
|
|
|
m_ddsSubscriber = dds::sub::Subscriber(domainPart,
|
|
subscriberQos,
|
|
m_subListener,
|
|
mask);
|
|
}
|
|
|
|
if (m_domainId == 0)
|
|
m_domainId = domainId;
|
|
|
|
if (m_partitionId < 0)
|
|
m_partitionId = partitionId;
|
|
|
|
return true;
|
|
}
|