166 lines
4.0 KiB
C++
166 lines
4.0 KiB
C++
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#include "pacemaker.h"
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#if BUILD_RTI
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#include <DDS/DDSConnector/dds_connector.h>
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#include <DDS/DTS/generic_dts.h>
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#include <DDS/DTS/generic_dts_impl.h>
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#include <NGLLogger/NGLLoggerBootstrap.h>
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#include <QtCore/QCoreApplication>
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#include <QtCore/QThread>
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#include <QtCore/QTimer>
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namespace Core
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{
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Pacemaker::Pacemaker(DDSConnector::DdsConnector *ddsConnector)
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: QObject(nullptr)
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, m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Core.Pacemaker"))
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{
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init(ddsConnector);
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}
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Pacemaker::~Pacemaker()
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{
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m_paceThread->requestInterruption();
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m_paceThread->quit();
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m_paceThread->wait();
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delete m_paceThread;
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m_publishTimer->deleteLater();
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delete m_dtsCurrentRunningState;
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}
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void Pacemaker::setNewState(Core::RunningState newState, const QString& errorString)
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{
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if (QThread::currentThread() == this->thread())
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setNewStateInternal(newState, errorString);
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else
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QTimer::singleShot(0, this, [this, newState, errorString]() { setNewStateInternal(newState, errorString); });
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}
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void Pacemaker::setNewStateInternal(Core::RunningState newState, const QString& errorString)
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{
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m_state.runningState = newState;
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if (errorString.isEmpty())
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m_state.errorString.reset();
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else
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m_state.errorString = errorString.toStdString();
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publishState();
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}
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void Pacemaker::addPort(unsigned short number, Core::CorePortType portType, const QString& properties)
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{
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if (QThread::currentThread() == this->thread())
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addPortInternal(number, portType, properties);
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else
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QTimer::singleShot(0, this,
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[this, number, portType, properties]() { addPortInternal(number, portType, properties); });
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}
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void Pacemaker::addPortInternal(unsigned short number, Core::CorePortType portType, const QString& properties)
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{
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if (!m_state.ports.is_set())
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m_state.ports = std::vector<Core::PortInformation>();
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m_state.ports.get().push_back(Core::PortInformation(number, portType, properties.toStdString()));
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publishState();
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}
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void Pacemaker::publishState()
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{
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if (!m_dtsCurrentRunningState)
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return;
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m_dtsCurrentRunningState->write(m_state);
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}
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void Pacemaker::init(DDSConnector::DdsConnector* ddsConnector)
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{
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m_dtsCurrentRunningState = ddsConnector->createDTS<DTS::CurrentRunningStateImpl>();
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if (!m_dtsCurrentRunningState)
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{
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WARNING_LOG(m_logger) << "Can not initialize DTS::CurrentRunningState!";
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return;
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}
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m_state.pid = QCoreApplication::applicationPid();
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m_state.runningState = Core::RunningState::Starting;
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m_paceThread = new QThread;
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this->moveToThread(m_paceThread);
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startTimer();
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publishState();
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}
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void Pacemaker::startTimer()
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{
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if (m_publishTimer)
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return;
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m_publishTimer = new QTimer();
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m_publishTimer->moveToThread(m_paceThread);
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connect(m_publishTimer, &QTimer::timeout, this, &Pacemaker::publishState);
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m_publishTimer->setSingleShot(false);
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m_publishTimer->setInterval(m_publishTimerDelay);
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connect(m_paceThread, &QThread::started, this, [this]() { m_publishTimer->start(); });
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m_paceThread->start();
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}
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#else // BUILD_RTI
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Pacemaker::Pacemaker(void* ddsConnector)
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: QObject(nullptr)
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{
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Q_UNUSED(ddsConnector)
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}
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Pacemaker::~Pacemaker()
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{
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}
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void Pacemaker::setNewState(Core::RunningState newState, const QString& errorString)
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{
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Q_UNUSED(newState)
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Q_UNUSED(errorString)
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}
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void Pacemaker::setNewStateInternal(Core::RunningState newState, const QString& errorString)
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{
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Q_UNUSED(newState)
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Q_UNUSED(errorString)
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}
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void Pacemaker::addPort(unsigned short number, Core::CorePortType portType, const QString& properties)
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{
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Q_UNUSED(number)
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Q_UNUSED(portType)
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Q_UNUSED(properties)
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}
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void Pacemaker::addPortInternal(unsigned short number, Core::CorePortType portType, const QString& properties)
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{
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Q_UNUSED(number)
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Q_UNUSED(portType)
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Q_UNUSED(properties)
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}
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void Pacemaker::publishState()
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{
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}
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void Pacemaker::init(void* ddsConnector)
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{
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Q_UNUSED(ddsConnector)
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}
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void Pacemaker::startTimer()
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{
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}
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#endif // BUILD_RTI
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} // namespace Core
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