qt-migration-legatus/qt5-before/dlbo/Lts/DDS/DdsUnitTests/data_topic_tests.cpp

/**
  * @RDE_HEADER@
  * DataTopic Unit test for DDS
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Hanna E. Rathje, SLSE, 2015-07-24
  */

#include "data_topic_tests.h"

#include <NGLLogger/NGLLoggerBootstrap.h>

#include <DDS/QosProfile/DDS_DefaultQos.h>
#include <DDS/DTS/generic_dts_impl.h>
#include <DDS/DTC/generic_dtc_impl.h>
#include <Common/ProjectConfig/project_defines.h>

#include <QtTest/QTest>
#include <QVariant>
#include <QThread>


DataTopicTests::DataTopicTests()
  : m_domainParticipantPub(nullptr)
  , m_domainParticipantSub(nullptr)
  , m_domainId(0)
  , m_partitionId(1)
  , m_ddsPublisher(nullptr)
  , m_testPart(nullptr)
  , m_ddsSubscriber(nullptr)
  , m_subscriberListener(nullptr)
  , m_dtcTestPart(nullptr)
  , m_mainThreadId(QThread::currentThreadId())
  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.DataTopicTests"))
{
  if (!DDS::QosProfile::setDefault())
    ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";

  DEBUG_LOG(m_logger) << "Main thread ID is " << m_mainThreadId;
}

DataTopicTests::~DataTopicTests()
{
  // Publisher
  delete m_testPart;

  // Subscriber
  delete m_dtcTestPart;

  // SubscriberListener is used by m_ddsSubscriber
  // => needs to be deleted AFTER delete_contained_entities (which destroys the ddsSubscriber)
  delete m_subscriberListener;
}

/**
  *
  * Publisher
  *
  **/

bool DataTopicTests::initPublisher()
{
  m_domainParticipantPub =
      dds::domain::DomainParticipant(m_domainId,
                                     DDS::QosProfile::domainParticipantShm());

  dds::pub::qos::PublisherQos publisherQos = m_domainParticipantPub.default_publisher_qos();

  // use only selected partition
  QString partition = QString::fromStdString(IDL::exercisePartition(m_partitionId));

  dds::core::policy::Partition partitionQos;
  partitionQos.name( { partition.toStdString() } );
  publisherQos << partitionQos;

  DEBUG_LOG(m_logger) << "Publish on partition " << partition;

  m_ddsPublisher = dds::pub::Publisher(m_domainParticipantPub, publisherQos);
  m_testPart = new DTS::TestParticipantImpl(m_domainParticipantPub, m_ddsPublisher);

  return true;
}

bool DataTopicTests::write(const DdsUnitTests::TestParticipant &data)
{
  INFO_LOG(m_logger) << "Publish topic TestParticipant ";
  DEBUG_LOG(m_logger) << "ParticipantId: " << data.location().participantId()
                      << ", equipNo = " << data.location().equipNo();

  return m_testPart->write(data);
}


/**
  *
  * Subscriber
  *
  **/

bool DataTopicTests::initSubscriber()
{
  DEBUG_LOG(m_logger) << "Initialisation DDS (Subscriber/Reader)";

  m_domainParticipantSub =
      dds::domain::DomainParticipant(m_domainId,
                                     DDS::QosProfile::domainParticipantShm());

  dds::sub::qos::SubscriberQos subscriberQos = m_domainParticipantSub.default_subscriber_qos();

  // Listening for Topics in partition 1
  dds::core::StringSeq partitions;
  partitions.reserve(1);
  for(int partitionId : { 1 } )
  {
    partitions.push_back(IDL::exercisePartition(partitionId));
  }

  dds::core::policy::Partition partitionQos;
  partitionQos.name( partitions );
  subscriberQos << partitionQos;

  DEBUG_LOG(m_logger) << "Initialise DTC::SubscriberListener";
  m_subscriberListener = new DDSGeneric::SubscriberListener();
  m_ddsSubscriber = dds::sub::Subscriber(m_domainParticipantSub,
                                         subscriberQos,
                                         m_subscriberListener,
                                         DDSGeneric::SubscriberListener::mask());

  // Initialise DTC for Topic TestParticipant
  m_dtcTestPart =  new DTC::SampleInfo::TestParticipantImpl(m_domainParticipantSub,
                                                            m_ddsSubscriber,
                                                            m_subscriberListener);

  m_dtcTestPart->setSubscriberCallback([this](const DdsUnitTests::TestParticipant &data, const dds::sub::SampleInfo &si) { processData(data, si); } );

  return true;
}

void DataTopicTests::deleteDTC()
{
  delete m_dtcTestPart;
  m_dtcTestPart = nullptr;
}

void DataTopicTests::deleteSubscriber()
{
  m_ddsSubscriber = nullptr;
  delete m_subscriberListener;
  m_subscriberListener = nullptr;
}



void DataTopicTests::processData(const DdsUnitTests::TestParticipant &instance, const dds::sub::SampleInfo &si)
{
  INFO_LOG(m_logger) << "process data in topic TestParticipant, Sampleinfo: " << si.source_timestamp().sec();

  DEBUG_LOG(m_logger) << "participantId: "  << instance.location().participantId();
  DEBUG_LOG(m_logger) << "equipNo: " << instance.location().equipNo();

  m_receivedParticipantData = instance;

  QCOMPARE(m_mainThreadId, QThread::currentThreadId());

  emit testParticipantDataArrived();
}