torstenandCopilot
7173785915
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>
102 lines
3.3 KiB
C++
102 lines
3.3 KiB
C++
/**
|
|
* DdsHandler for DDS
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
* Created by Christian Ehrlicher, SLSE, 2016-04-14
|
|
*/
|
|
|
|
#include "dds_handler.h"
|
|
|
|
#include <DDS/DDSConnector/publisher.h>
|
|
#include <DDS/DDSConnector/dds_connector.h>
|
|
#include <DDS/Core/pacemaker.h>
|
|
#include <DDS/DTC/generic_dtc_impl.h>
|
|
#include <DDS/DTS/generic_dts_impl.h>
|
|
|
|
namespace TrainingAreaBase
|
|
{
|
|
|
|
DdsHandler::DdsHandler(int domainId, int exerciseId)
|
|
: m_ddsConnector(new DDSConnector::DdsConnector(domainId, IDL::PartitionType::Exercise, exerciseId))
|
|
, m_curMSecSinceEpoch(0)
|
|
, m_exerciseId(exerciseId)
|
|
, m_logger(getLogger("DdsHandler"))
|
|
{
|
|
DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
|
|
}
|
|
|
|
DdsHandler::~DdsHandler()
|
|
{
|
|
m_pacemaker->setNewState(Core::RunningState::StoppedNormally);
|
|
m_pacemaker = nullptr;
|
|
m_dtcPartitionTime = nullptr;
|
|
m_dtsEmergencyCall = nullptr;
|
|
m_dtsEmergencyCallPublisher = nullptr;
|
|
m_dtsTab = nullptr;
|
|
m_ftsTab = nullptr;
|
|
m_ftcPpm = nullptr;
|
|
m_ftcNom = nullptr;
|
|
m_dtcOpm = nullptr;
|
|
m_ddsConnector = nullptr;
|
|
}
|
|
|
|
bool DdsHandler::init(const QStringList &qosFileList)
|
|
{
|
|
if (!m_ddsConnector->init(qosFileList))
|
|
{
|
|
ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
|
|
return false;
|
|
}
|
|
|
|
// default initialize Publisher and Subscriber
|
|
m_ddsConnector->initPublisherSubscriber();
|
|
|
|
// Pacemaker
|
|
m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
|
|
|
|
// Current exercise time
|
|
m_dtcPartitionTime.reset(m_ddsConnector->createDTC<DTC::PartitionTimeImpl>());
|
|
assert(m_dtcPartitionTime.get());
|
|
m_dtcPartitionTime->setSubscriberCallback([this](const Core::PartitionTime & data, DataModification)
|
|
{
|
|
m_curMSecSinceEpoch = data.timeStamp();
|
|
});
|
|
|
|
// default dts:...
|
|
m_dtsTab = TrainingAreaBase::Interface::Dts::create(m_ddsConnector);
|
|
|
|
// enable all ...
|
|
bool bRet = m_dtsTab->enableAll();
|
|
// ... but not EmergencyCall:
|
|
m_dtsTab->enableEmergencyCall(false);
|
|
|
|
// instead, prepare publishing of EmergencyCall to 'AllExercises':
|
|
m_dtsEmergencyCallPublisher = std::make_shared<DDSConnector::Publisher>(m_ddsConnector->getDomainParticipant(),
|
|
DDSConnector::DdsConnector::getPartitionString(IDL::PartitionType::AllExercises));
|
|
m_dtsEmergencyCall = std::make_shared<DTS::EmergencyCallImpl>(m_ddsConnector->getDomainParticipant(),
|
|
m_dtsEmergencyCallPublisher->getDdsPublisher(),
|
|
DDS::Helper::getShortTopicName(DDS::topic_type_name<TrainingAreaBase::EmergencyCall>::value()));
|
|
|
|
|
|
INFO_LOG(m_logger) << "Dts TrainingAreaBase initialised";
|
|
|
|
m_ftsTab = TrainingAreaBase::Interface::Fts::create(m_ddsConnector);
|
|
bRet &= m_ftsTab->enableAll();
|
|
INFO_LOG(m_logger) << "Fts TrainingAreaBase initialised";
|
|
|
|
m_ftcPpm = ParticipantManagement::Interface::Ftc::create(m_ddsConnector);
|
|
bRet &= m_ftcPpm->enableSetMissionActionFulfilled();
|
|
|
|
m_ftcNom = NotificationManagement::Interface::Ftc::create(m_ddsConnector);
|
|
bRet &= m_ftcNom->enableCreateNotification();
|
|
|
|
m_dtcOpm = OperatorManagement::Interface::Dtc::create(m_ddsConnector);
|
|
bRet &= m_dtcOpm->enableUser();
|
|
|
|
|
|
return bRet;
|
|
}
|
|
|
|
} // Namespace PDM
|