86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
|
|
|
|
#include "initialisation.h"
|
|
|
|
#include <DDS/QosProfile/DDS_DefaultQos.h>
|
|
#include <Lts/Common/ProjectConfig/project_defines.h>
|
|
#include <NGLLogger/NGLLoggerBootstrap.h>
|
|
|
|
Initialisation::Initialisation()
|
|
: m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.Initialisation"))
|
|
, m_domainParticipant(nullptr)
|
|
, m_domainParticipantSub(nullptr)
|
|
, m_domainId(0)
|
|
, m_exerciseId(-1)
|
|
, m_ddsPublisher(nullptr)
|
|
, m_ddsSubscriber(nullptr)
|
|
, m_subListener(new DDSGeneric::SubscriberListener)
|
|
{
|
|
if (!DDS::QosProfile::setDefault())
|
|
ERROR_LOG(m_logger) << "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 exerciseId, PubSub pubsub)
|
|
{
|
|
if (m_domainParticipant == nullptr)
|
|
m_domainParticipant = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
|
|
|
|
if (pubsub == USE_PUBLISHER || pubsub == USE_PUB_SUB)
|
|
{
|
|
dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
|
|
|
|
DEBUG_LOG(m_logger) << "Publish on partition " << IDL::exercisePartition(exerciseId);
|
|
|
|
dds::core::policy::Partition partitionQos;
|
|
partitionQos.name({IDL::exercisePartition(exerciseId)});
|
|
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, DDS::QosProfile::domainParticipantShm());
|
|
domainPart = m_domainParticipantSub;
|
|
}
|
|
|
|
dds::sub::qos::SubscriberQos subscriberQos = domainPart.default_subscriber_qos();
|
|
|
|
DEBUG_LOG(m_logger) << "Subsribing on partition " << IDL::exercisePartition(exerciseId);
|
|
|
|
dds::core::policy::Partition partitionQos;
|
|
partitionQos.name({IDL::exercisePartition(exerciseId)});
|
|
subscriberQos << partitionQos;
|
|
|
|
m_ddsSubscriber = dds::sub::Subscriber(domainPart, subscriberQos, m_subListener, m_subListener->mask());
|
|
}
|
|
|
|
if (m_domainId == 0)
|
|
m_domainId = domainId;
|
|
|
|
if (m_exerciseId < 0)
|
|
m_exerciseId = exerciseId;
|
|
|
|
return true;
|
|
}
|