torsten
950d669538
- BUILD_RTI conditional compilation für RTI Connext DDS dependencies - Namespace fixes in core_dtc.h (Core:: → DDS::Core::) - CMakeLists.txt: BUILD_RTI option und conditional dependencies - Handler minelayer: namespace closing mit BUILD_RTI guard - Build erfolgreich mit BUILD_RTI=OFF validiert Signed-off-by: Torsten Wierschin <torsten.wierschin@life-maps.com>
86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
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#include "initialisation.h"
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <Lts/Common/ProjectConfig/project_defines.h>
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#include <NGLLogger/NGLLoggerBootstrap.h>
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Initialisation::Initialisation() : m_domainParticipant(nullptr)
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, m_domainParticipantSub(nullptr)
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, m_domainId(0)
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, m_exerciseId(-1)
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, m_ddsPublisher(nullptr)
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, m_ddsSubscriber(nullptr)
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, m_subListener(new DDSGeneric::SubscriberListener)
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.getNGLLogger("UnitTests.Initialisation")),
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m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger())
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{
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if (!DDS::QosProfile::setDefault())
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ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";
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}
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Initialisation::~Initialisation()
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{
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cleanupSubscriberListener();
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m_ddsSubscriber = nullptr;
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m_ddsPublisher = nullptr;
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}
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void Initialisation::cleanupSubscriberListener()
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{
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if (m_ddsSubscriber != nullptr && m_subListener != nullptr)
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{
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m_ddsSubscriber.listener(nullptr, dds::core::status::StatusMask::none());
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delete m_subListener;
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m_subListener = nullptr;
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}
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}
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bool Initialisation::initDDS(int domainId, int exerciseId, PubSub pubsub)
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{
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if (m_domainParticipant == nullptr)
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m_domainParticipant = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
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if (pubsub == USE_PUBLISHER || pubsub == USE_PUB_SUB)
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{
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dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
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DEBUG_LOG(m_logger) << "Publish on partition " << IDL::exercisePartition(exerciseId);
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dds::core::policy::Partition partitionQos;
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partitionQos.name({IDL::exercisePartition(exerciseId)});
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publisherQos << partitionQos;
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m_ddsPublisher = dds::pub::Publisher(m_domainParticipant, publisherQos);
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}
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if (pubsub == USE_SUBSCRIBER || pubsub == USE_PUB_SUB)
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{
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dds::domain::DomainParticipant domainPart = m_domainParticipant;
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if (domainPart == nullptr || m_domainParticipantSub == nullptr)
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{
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m_domainParticipantSub = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
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domainPart = m_domainParticipantSub;
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}
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dds::sub::qos::SubscriberQos subscriberQos = domainPart.default_subscriber_qos();
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DEBUG_LOG(m_logger) << "Subsribing on partition " << IDL::exercisePartition(exerciseId);
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dds::core::policy::Partition partitionQos;
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partitionQos.name({IDL::exercisePartition(exerciseId)});
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subscriberQos << partitionQos;
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m_ddsSubscriber = dds::sub::Subscriber(domainPart, subscriberQos, m_subListener, m_subListener->mask());
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}
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if (m_domainId == 0)
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m_domainId = domainId;
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if (m_exerciseId < 0)
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m_exerciseId = exerciseId;
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return true;
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}
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