torstenandCopilot
7173785915
Major Changes:
- Merged latest Qt5 devel content from dlbo (292 files changed, 7 new dirs)
- Consolidated forward-declarations and include folders
- Removed unneeded modules per Niklas' repo check list
Build System Fixes:
- Fixed CMake VERSION_GREATER syntax in ParticipantManagement/CMakeLists.txt
- Added VLC packages (libvlc-dev, vlc-plugin-base) to docker_build.sh
- Added PostgreSQL dev packages (libpq-dev, postgresql-server-dev-all) to Dockerfile
- Fixed locale warnings (ANSI_X3.4-1968 → C.UTF-8)
- Fixed ArcGIS SDK path warnings when BUILD_ARCGIS=OFF
Code Generation Fixes:
- Fixed IDL enum collisions (PortType→CorePortType/DdsutPortType, PdmEventType)
- Fixed Grantlee template svc_translation.cpp.grantlee:
- Changed {{ idl_enum.name }}_def:: to {{ idl_enum.name }}::
- Fixed .underlying() calls for C++11 scoped enums (enum class)
- Removed generated files from repo (moc_*, *_dtc.h, *_ftc.h)
Validation:
- BUILD_RTI=ON: SUCCESS
- BUILD_RTI=OFF: SUCCESS
- C++17 standard maintained for RTI 7.7 compatibility
- Ubuntu 26.04 Docker environment verified
Remaining Warnings (expected):
- BgViewer, KDChart, KDReports, Poppler-Qt6 not found (optional features)
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
76 lines
1.8 KiB
C++
76 lines
1.8 KiB
C++
/**
|
|
* @RDE_HEADER@
|
|
*
|
|
* Publisher for DataSampleGeneration
|
|
* Uses DTSs to publish data
|
|
*
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
*/
|
|
#pragma once
|
|
|
|
#include <QtCore/QMap>
|
|
#include <NGLLogger/INGLLogger.h>
|
|
#include <DDS/DTS/generic_dts_impl.h>
|
|
#include <DDS/Generic/generic_data_writer.h>
|
|
|
|
#include "pub_sub_base.h"
|
|
|
|
namespace DDSConnector
|
|
{
|
|
class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
|
|
{
|
|
public:
|
|
Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
|
|
~Publisher();
|
|
|
|
void enableBatchedWriter(bool bEnable);
|
|
dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }
|
|
|
|
// Write data for each topicType (i.e. T = Lts_ExerciseParticipant)
|
|
template <typename T>
|
|
bool write(const T &data)
|
|
{
|
|
using myDWO = DDSGeneric::GenericDataWriter<T>;
|
|
using myDTS = DTS::GenericDtsImpl< myDWO >;
|
|
|
|
std::string dwoType = DDS::topic_type_name<T>::value();
|
|
DEBUG_LOG(m_logger) << "dwoType = " << dwoType;
|
|
|
|
myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
|
|
if (dts == nullptr)
|
|
{
|
|
dts = new myDTS(m_domainParticipant, m_ddsPublisher);
|
|
m_dtsMap.insert(dwoType, dts);
|
|
}
|
|
|
|
return dts->write(data);
|
|
}
|
|
|
|
// Use default typeName, if topicName is not specified
|
|
bool write(const dds::core::xtypes::DynamicData &data)
|
|
{
|
|
return write(data, data.type().name());
|
|
}
|
|
|
|
bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);
|
|
|
|
|
|
protected:
|
|
void initDDS();
|
|
void deleteDDS();
|
|
|
|
protected:
|
|
dds::pub::Publisher m_ddsPublisher;
|
|
|
|
// Map for static DTcs
|
|
QMap<std::string, DTS::Base*> m_dtsMap;
|
|
|
|
// Map for dynamic types
|
|
// QMap<topicName,DataWriter (defined)>
|
|
QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
|
|
};
|
|
|
|
}
|