qt-migration-legatus/qt6-after/qt6-migrated-legatus/Lts/Services/TargetManagement/dds_handler.cpp

/**
  * DdsHandler for DDS
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Hanna E. Rathje, SLSE, 2015-09-02
  */

#include "dds_handler.h"

#include <DDS/DTS/generic_dts_impl.h>
#include <DDS/Core/pacemaker.h>

namespace TargetManagement
{

DdsHandler::DdsHandler(int domainId, int exerciseId)
  : m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Exercise, exerciseId))
{
  DEBUG_LOG() << "DdsHandler(" << m_ddsConnector->getDomainId() << ") for partition: " << m_ddsConnector->getDefaultPartition();
}

bool DdsHandler::init(const QStringList &qosFileList)
{
  if (!m_ddsConnector->init(qosFileList))
  {
    ERROR_LOG() << "Error initializing dds connections - aborting";
    return false;
  }

  // default initialize Publisher and Subscriber
  m_ddsConnector->initPublisherSubscriber();
  m_ddsConnector->enableBatchedWriter(false);

  // Pacemaker
  m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
  m_topicLockMaster = std::make_shared<Core::TopicLockMaster>(m_ddsConnector);

  // DTC Core (to get partitionTime)
  m_dtcCore = Core::Interface::Dtc::create(m_ddsConnector);
  m_dtcCore->enablePartitionTime();

  // DTS Target
  m_dtsTgt = TargetManagement::Interface::Dts::create(m_ddsConnector);
  bool bRet = m_dtsTgt->enableAll();
  INFO_LOG() << "Dts initialised";

  // FTS Target
  m_ftsTgt = TargetManagement::Interface::Fts::create(m_ddsConnector);
  bRet &= m_ftsTgt->enableAll();
  INFO_LOG() << "Fts initialised";

  // DTC TrainingAreaBase
  m_dtcTab = TrainingAreaBase::Interface::Dtc::create(m_ddsConnector);
  if (!m_dtcTab->enableTargetData())
  {
    ERROR_LOG() << "Could not enable receive TAB";
    return false;
  }

  // FTC TrainingAreaBase
  m_ftcTab = TrainingAreaBase::Interface::Ftc::create(m_ddsConnector);
  if (!m_ftcTab->enableSendTargetData())
  {
    ERROR_LOG() << "Could not enable Send TAB";
    return false;
  }

  // Participant Management

  m_dtcPpm = ParticipantManagement::Interface::Dtc::create(m_ddsConnector);
  if (!(m_dtcPpm->enableParticipant() &&
        m_dtcPpm->enableParticipantPosition() &&
        m_dtcPpm->enableType() &&
        m_dtcPpm->enableEquipmentType()
       ))
  {
    ERROR_LOG() << "Could not initialize ParticipantManagement enableXXX data topic client";
    return false;
  }
  // Get 'static' data for all participants (playerdata)
  // Player in Referenzmap eintragen
  {
    auto cb = [this](const ParticipantManagement::Participant & participant)
    {
      if (participant.equipmentNumber().is_set())
      {
        m_partId2EquipNoMap.insert(participant.id(), participant.equipmentNumber().get());
        m_equipNo2partIdMap.insert(participant.equipmentNumber().get(), participant.id());
      }
      else
        m_partId2EquipNoMap.insert(participant.id(), 0);
    };
    m_dtcPpm->participants(cb);
  }

  connect(m_dtcPpm.get(), &ParticipantManagement::Interface::Dtc::participantChanged,
          this, &DdsHandler::onParticipantChanged);

  return bRet;
}

int DdsHandler::participantId2EquipNo(const int participantId) const
{
  int ret = m_partId2EquipNoMap.value(participantId, 0);
  INFO_LOG() << "participantId2EquipNo participantId=" << participantId
                     << " EquipmentNumber=" << ret;
  return ret;
} // end of participantId2EquipNo()

int DdsHandler::equipNo2participantId(const int equipmentNumber) const
{
  int ret = m_equipNo2partIdMap.value(equipmentNumber, 0);
  INFO_LOG() << "EquipNo2participantId equipmentNumber=" << equipmentNumber
                     << " ParticipantId=" << ret;
  return ret;
} // end of EquipNo2participantId()

// ///////////////////////////////////
// P P M (ParticipantManagement)
// ///////////////////////////////////
void DdsHandler::onParticipantChanged(const ParticipantManagement::Participant &data, DataModification modType)
{
  DEBUG_LOG() << "onParticipantChanged";
  if (modType == DataModification::eRemoved)
    m_partId2EquipNoMap.remove(data.id());
  else
  {
    m_partId2EquipNoMap[data.id()] = data.equipmentNumber().is_set() ? data.equipmentNumber().get() : 0;
    if (data.equipmentNumber().is_set())
      m_equipNo2partIdMap.insert(data.equipmentNumber().get(), data.id());
  }

  if (m_logger.isTraceEnabled())
  {
    for (auto i = m_partId2EquipNoMap.begin(); i != m_partId2EquipNoMap.end(); ++i)
    {
      TRACE_LOG() << " partId2EquipNoMap.size(): " << m_partId2EquipNoMap.size()
                          << " partId: " << i.key()
                          << " eqNo: " << i.value();
    }
  }
} // end of onParticipantChanged()
} // Namespace PDM