99 lines
2.4 KiB
C++
Executable File
99 lines
2.4 KiB
C++
Executable File
/**
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* MainHandler for OC-connection to the SFM
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Philipp Dassow, NLST, 2018-01-23
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*/
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#include "main_handler.h"
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#include "settings.h"
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#include "logger.h"
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#include <DDS/Core/pacemaker.h>
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namespace TrainingAreaBaseOC
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{
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MainHandler::MainHandler(QObject *parent)
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: QObject(parent)
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, m_logger(getLogger("MainHandler"))
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, m_aesDtc(nullptr)
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, m_aesFtc(nullptr)
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, m_pdmDtc(nullptr)
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, m_canagHandler(nullptr)
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, m_connectionHandler(nullptr)
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, m_ddsHandler(nullptr)
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, m_rxHandler(nullptr)
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, m_ftsHandler(nullptr)
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, m_websocketHandler(nullptr)
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{}
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MainHandler::~MainHandler()
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{
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m_rxHandler.reset();
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m_canagHandler.reset();
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m_connectionHandler.reset();
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m_ftsHandler.reset();
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m_aesDtc.reset();
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m_aesFtc.reset();
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m_pdmDtc.reset();
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m_ddsHandler.reset();
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}
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bool MainHandler::init(int domainId, int exerciseId)
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{
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// initialize DDS
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m_ddsHandler = std::make_shared<DdsHandler>(domainId, exerciseId);
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if (!m_ddsHandler->init())
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{
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ERROR_LOG(m_logger) << "Could not initialise DdsHandler.";
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return false;
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}
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// create AES Dtc
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m_aesDtc = AreaEffectSimulation::Interface::Dtc::create(m_ddsHandler->ddsConnector());
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DEBUG_LOG(m_logger) << "Created AES Dtc";
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// create AES Ftc
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m_aesFtc = AreaEffectSimulation::Interface::Ftc::create(m_ddsHandler->ddsConnector());
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DEBUG_LOG(m_logger) << "Created AES Ftc";
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// create PDM Dtc
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m_pdmDtc = ProjectDataManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector());
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DEBUG_LOG(m_logger) << "Created PDM Dtc";
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// ConnectionHandler
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m_connectionHandler = std::make_shared<ConnectionHandler>();
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if (!m_connectionHandler->init())
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{
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ERROR_LOG(m_logger) << "Could not initialise ConnectionHandler.";
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return false;
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}
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// to DDS
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m_rxHandler = std::make_shared<SendToDds>(this);
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// CanagHandler / to TrainingArea
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m_canagHandler = std::make_shared<CanagHandler>(this);
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if (!m_canagHandler->init())
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{
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ERROR_LOG(m_logger) << "Could not initialise CanagHandler.";
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return false;
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}
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// from DDS
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m_ftsHandler = std::make_shared<RecvFromDdsFts>(this);
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#ifndef GUEZ_MODE
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m_websocketHandler = std::make_shared<WebsocketHandler>(this, exerciseId, m_ddsHandler->dtsTaboc(), m_ddsHandler->dtcTaboc());
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#endif
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m_ddsHandler->pacemaker()->setNewState(Core::RunningState::Running);
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return true;
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}
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} // namespace TrainingAreaBaseOC
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