qt-migration-legatus/qt6-after/qt6-migrated-legatus/Lts/DDS/DDSConnector/dds_connector.h

#pragma once

#include <DDS/Generic/generic_base.h>
#include <Lts/Common/ProjectConfig/project_defines.h>
#include <QtCore/QUrl>
#include <QtCore/QStringList>
#include <ddsconnector_export.h>

#if BUILD_RTI
#include <dds/pub/CoherentSet.hpp>
#include <dds/pub/Publisher.hpp>
#include <dds/sub/Subscriber.hpp>
#endif

class QObject;

namespace DDS
{
namespace QosProfile
{
enum class ConnectionType;
}
} // namespace DDS

namespace DDSGeneric
{
class WaitSetHandler;
class SubscriberListener;
} // namespace DDSGeneric

namespace DDSConnector
{
class Publisher;
class Subscriber;

#if !BUILD_RTI
// Stub types for RTI DDS when BUILD_RTI=OFF
namespace dds { namespace domain { class DomainParticipant; } }
namespace dds { namespace pub { class Publisher; } }
namespace dds { namespace sub { class Subscriber; } }
namespace dds { namespace topic { template<typename T> class Filter; } }
#endif

class DDSCONNECTOR_EXPORT DdsConnector
{
#if BUILD_RTI
    DdsConnector(int domainId, const dds::domain::DomainParticipant& domainParticipant,
                 IDL::PartitionType defaultPartitionType, int partitionId, int exerciseId,
                 DDS::QosProfile::ConnectionType connectionType, const QUrl& tcpConnectionUrl);

  public:
    DdsConnector(const DdsConnector&) = delete;
    DdsConnector& operator=(const DdsConnector&) = delete;

    DdsConnector(int domainId, IDL::PartitionType defaultPartitionType, int partitionId = 0, int exerciseId = 0,
                 const QUrl& tcpConnectionUrl = QUrl());

    DdsConnector(const dds::domain::DomainParticipant& domainParticipant, IDL::PartitionType defaultPartitionType,
                 int partitionId = 0, int exerciseId = 0, const QUrl& tcpConnectionUrl = QUrl());

    DdsConnector(const dds::domain::DomainParticipant& domainParticipant, IDL::PartitionType defaultPartitionType,
                 DDS::QosProfile::ConnectionType connectionType, int partitionId = 0, int exerciseId = 0);

    DdsConnector(int domainId, IDL::PartitionType defaultPartitionType, int partitionId, int exerciseId,
                 DDS::QosProfile::ConnectionType connectionType);

    virtual ~DdsConnector();

    virtual bool init(const QStringList& qosFileList = QStringList());

    dds::domain::DomainParticipant getDomainParticipant() const
    {
        return m_domainParticipant;
    }

    void setDomainParticipant(const dds::domain::DomainParticipant& participant);

    Publisher* getPublisher()
    {
        return m_publisher;
    }

    dds::pub::Publisher getDdsPublisher() const;
    void setPublisher(Publisher* publisher);
    void enableBatchedWriter(bool bEnable);

    Subscriber* getSubscriber()
    {
        return m_subscriber;
    }

    dds::sub::Subscriber getDdsSubscriber() const;
    void setSubscriber(Subscriber* subscriber);
    DDSGeneric::SubscriberListener* getSubscriberListener();

    const DDSGeneric::WaitSetHandler* getWaitSetHandler() const
    {
        return m_wsHandler;
    }

    int getDomainId() const
    {
        return m_domainId;
    }

    IDL::PartitionType getPartitionType() const
    {
        return m_defaultPartitionType;
    }

    int getPartitionId() const
    {
        return m_partitionId;
    }

    int getExerciseId() const
    {
        return m_exerciseId;
    }

    std::string getDefaultPartition() const;
    QUrl getTcpConnectionUrl() const;
    static std::string getPartitionString(IDL::PartitionType pt, int partitionId = -1);

    void initPublisherSubscriber();
    void initPublisher();
    void initSubscriber();
    void initDomainParticipant();

  private:
#if BUILD_RTI
    void initInternal();
    void createWaitSetHandler();
#endif

  public:
    template <typename T>
    T* createDTS(const std::string& topicName =
                     DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
    {
        if (getDomainParticipant() == nullptr || getDdsPublisher() == nullptr)
            return nullptr;
        T* dts = new T(getDomainParticipant(), getDdsPublisher(), topicName);
        return dts;
    }

    template <typename T>
    T* createDTC(const std::string& topicName =
                     DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
    {
        if (getDomainParticipant() == nullptr || getDdsSubscriber() == nullptr)
            return nullptr;
        T* dtc = new T(getDomainParticipant(), getDdsSubscriber(), getSubscriberListener(), topicName);
        return dtc;
    }

    template <typename T>
    T* createDTC(const dds::topic::Filter& filter, const std::string& topicName = DDS::Helper::getShortTopicName(
                                                       DDS::topic_type_name<typename T::TopicType>::value()))
    {
        if (getDomainParticipant() == nullptr || getDdsSubscriber() == nullptr)
            return nullptr;
        T* dtc = new T(getDomainParticipant(), getDdsSubscriber(), getSubscriberListener(), filter, topicName);
        return dtc;
    }

    template <typename T> T* createFTS()
    {
        if (getDomainParticipant() == nullptr || getDdsPublisher() == nullptr || getDdsSubscriber() == nullptr)
            return nullptr;
        createWaitSetHandler();
        T* fts = new T(getDomainParticipant(), getDdsPublisher(), getDdsSubscriber(), m_wsHandler);
        return fts;
    }

    template <typename T> T* createFTC(QObject* objToInform)
    {
        if (getDomainParticipant() == nullptr || getDdsPublisher() == nullptr || getDdsSubscriber() == nullptr)
            return nullptr;
        T* ftc = new T(getDomainParticipant(), getDdsPublisher(), getDdsSubscriber(), objToInform,
                       IDL::toStdString(m_defaultPartitionType), m_partitionId);
        return ftc;
    }
#else
    // Stub constructor and methods when BUILD_RTI=OFF
    DdsConnector() = default;
    virtual ~DdsConnector() = default;
    
    // Stub methods
    bool init(const QStringList& /*qosFileList*/ = QStringList()) { return false; }
    void* getDomainParticipant() const { return nullptr; }
    void setDomainParticipant(void* /*participant*/) {}
    Publisher* getPublisher() { return nullptr; }
    void* getDdsPublisher() const { return nullptr; }
    void setPublisher(Publisher* /*publisher*/) {}
    void enableBatchedWriter(bool /*bEnable*/) {}
    Subscriber* getSubscriber() { return nullptr; }
    void* getDdsSubscriber() const { return nullptr; }
    void setSubscriber(Subscriber* /*subscriber*/) {}
    void* getSubscriberListener() { return nullptr; }
    const void* getWaitSetHandler() const { return nullptr; }
    int getDomainId() const { return 0; }
    int getPartitionType() const { return 0; }
    int getPartitionId() const { return 0; }
    int getExerciseId() const { return 0; }
    std::string getDefaultPartition() const { return ""; }
    QUrl getTcpConnectionUrl() const { return QUrl(); }
    static std::string getPartitionString(int /*pt*/, int /*partitionId*/ = -1) { return ""; }
    void initPublisherSubscriber() {}
    void initPublisher() {}
    void initSubscriber() {}
    void initDomainParticipant() {}
#endif

  private:
    NGL::INGLLogger& m_logger;
    int m_domainId;
    IDL::PartitionType m_defaultPartitionType;
    int m_partitionId;
    int m_exerciseId;

    QUrl m_tcpConnectionUrl;
    DDS::QosProfile::ConnectionType m_connectionType;
#if BUILD_RTI
    dds::domain::DomainParticipant m_domainParticipant;
#endif
    DDSConnector::Publisher* m_publisher;
    DDSConnector::Subscriber* m_subscriber;
    DDSGeneric::WaitSetHandler* m_wsHandler;
};

#if BUILD_RTI
class CoherentSet
{
  public:
    explicit CoherentSet(const std::shared_ptr<DdsConnector>& connector) : m_coherentSet(connector->getDdsPublisher())
    {
    }

  private:
    dds::pub::CoherentSet m_coherentSet;
};
#else
// Stub CoherentSet when BUILD_RTI=OFF
class CoherentSet
{
  public:
    explicit CoherentSet(const std::shared_ptr<DdsConnector>& /*connector*/) {}
};
#endif

} // namespace DDSConnector