torstenandCopilot
93020295ad
- ism_dtc_impl_custom.h/cpp: Wrap all DDS-dependent method declarations and implementations with BUILD_RTI guards - dds_handler.cpp (InfrastructureManagement): Guard RTI DDS initialization code - dds_handler.h/cpp (AudioVideoManagement): Guard DomainParticipant types and methods - Enables building without RTI Connext DDS dependencies (BUILD_RTI=OFF) - Stub types used when guards are disabled Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
69 lines
1.7 KiB
C++
Executable File
69 lines
1.7 KiB
C++
Executable File
/**
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* @RDE_HEADER@
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* DDS Handler for ISM
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Iuliana Ojog, SLSE, 2016-11-26
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*/
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#include "dds_handler.h"
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#if BUILD_RTI
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#include <DDS/Core/pacemaker.h>
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#endif
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namespace InfrastructureManagement
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{
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DdsHandler::DdsHandler(int domainId)
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: m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Any))
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{
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DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
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}
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bool DdsHandler::init(const QStringList &qosFileList)
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{
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if (!m_ddsConnector->init(qosFileList))
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{
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ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
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return false;
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}
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#if BUILD_RTI
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// default initialize Publisher and Subscriber
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m_ddsConnector->initPublisherSubscriber();
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// Pacemaker
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m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
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m_topicLockMaster = std::make_shared<Core::TopicLockMaster>(m_ddsConnector);
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m_ddsDts = InfrastructureManagement::Interface::Dts::create(m_ddsConnector);
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m_ddsFts = InfrastructureManagement::Interface::Fts::create(m_ddsConnector);
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bool bRet = true;
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try
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{
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bRet = m_ddsFts->enableAll();
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INFO_LOG(m_logger) << "Fts initialised";
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// erst FTS funktioniert komischer Weise nicht (seit MainStructureElementModifyRequest
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// von MainStructureElement abgeleitet ist ... rti/dds - Bug?
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bRet &= m_ddsDts->enableAll();
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INFO_LOG(m_logger) << "Dts initialised";
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}
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catch (const dds::core::Exception &e)
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{
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ERROR_LOG(m_logger) << "Exception: " << e.what();
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m_pacemaker->setNewState(Core::RunningState::StoppedError);
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return false;
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}
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return bRet;
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#else
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return true;
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#endif
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}
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} // Namespace PDM
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