torstenandCopilot
8d456c7d1a
- Add missing m_logger member declarations to GenericDataWriter, GenericDataReader, GenericDtcImplSubscriberTemplate - Add DynamicDataImpl.hpp include for complete type in publisher.h/cpp - Wrap dds_connector.cpp implementation in #if BUILD_RTI guards - Fix stub signatures in dds_connector.h to match implementation - Set CMAKE_CXX_STANDARD to 17 (RTI 7.7.0 hard requirement) RTI Connext DDS 7.7.0 only supports C++14/C++17. C++20/23 causes header compilation errors. Cannot mix C++ variants. Remaining Qt6 issues (separate from RTI work): - QJsonDocument::toBinaryData/fromBinaryData → toJson/fromJson - QJsonObject initializer list syntax in training_area_telegrams.cpp Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
69 lines
1.5 KiB
C++
Executable File
69 lines
1.5 KiB
C++
Executable File
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#pragma once
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#include <QtCore/QMap>
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#include <NGLLogger/INGLLogger.h>
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#include <DDS/DTS/generic_dts_impl.h>
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#include <DDS/Generic/generic_data_writer.h>
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#include <rti/core/xtypes/DynamicDataImpl.hpp>
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#include "pub_sub_base.h"
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namespace DDSConnector
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{
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class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
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{
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public:
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Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
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~Publisher();
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void enableBatchedWriter(bool bEnable);
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dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }
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template <typename T>
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bool write(const T &data)
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{
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using myDWO = DDSGeneric::GenericDataWriter<T>;
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using myDTS = DTS::GenericDtsImpl< myDWO >;
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std::string dwoType = DDS::topic_type_name<T>::value();
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DEBUG_LOG(m_logger) << "dwoType = " << dwoType;
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myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
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if (dts == nullptr)
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{
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dts = new myDTS(m_domainParticipant, m_ddsPublisher);
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m_dtsMap.insert(dwoType, dts);
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}
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return dts->write(data);
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}
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bool write(const dds::core::xtypes::DynamicData &data)
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{
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return write(data, data.type().name());
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}
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bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);
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protected:
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void initDDS();
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void deleteDDS();
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protected:
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dds::pub::Publisher m_ddsPublisher;
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QMap<std::string, DTS::Base*> m_dtsMap;
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QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
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};
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}
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