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/**
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* Handle a nine-liner from a nasat aircraft and publish them
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Christian Ehrlicher, SLSE, 2019-12-01
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*/
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#include "handler_nasat_nine_liner.h"
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#include "handler_nasat_aircraft.h"
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#include "handler_nasat_aircraft_participant.h"
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#include "handler_participant.h"
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#include "initialization.h"
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#include "dds_handler.h"
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#include <QDateTime>
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#include <LtsCoordTrans/lts_coord_trans.h>
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namespace GuezNasat
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{
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HandlerNasatNineLiner::HandlerNasatNineLiner(Initialization *mainHandler)
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: m_mainHandler(mainHandler)
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, m_logger(getLogger("HandlerNasatNineLiner"))
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{}
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bool HandlerNasatNineLiner::init() const
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{
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// if an association between nasatAircraftId and participant) is removed
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// Planning | Assign NASAT Aircrafts) the associated NineLiner should also be removed:
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connect(m_mainHandler->handlerParticipant().get(), &HandlerParticipant::nasatAircraftParticipantRemoved,
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this, &HandlerNasatNineLiner::onNasatAircraftParticipantRemoved, Qt::DirectConnection);
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DEBUG_LOG(m_logger) << "HandlerNasatNineLiner init done";
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// currently we don't read old 9-liner data from the database to publish
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// them again on restart - too much work without any real gain.
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return true;
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}
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static Nasat9Liner createDds9Liner(const NasatNineLiner &nasatNineLiner)
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{
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Nasat9Liner nl;
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const qint64 tsMSec = nasatNineLiner.timestamp <= 0 ? QDateTime::currentMSecsSinceEpoch() : qRound64(nasatNineLiner.timestamp * 1000);
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nl.sampleTime(tsMSec);
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if (nasatNineLiner.initialPointMode != 0)
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nl.initialPoint(Core::GeoPosition2D(LtsCoordTrans::deg2rad() * nasatNineLiner.initialPoint.lon,
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LtsCoordTrans::deg2rad() * nasatNineLiner.initialPoint.lat));
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if (nasatNineLiner.heading2InitialPointMode != Heading2InitialPointMode::Undefined)
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{
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nl.hdg2InitialPointMode(static_cast<Hdg2InitialPointMode::inner_enum>(nasatNineLiner.heading2InitialPointMode));
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nl.hdgInitialPoint2Target(nasatNineLiner.headingInitialPoint2Target);
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}
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else
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{
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nl.hdg2InitialPointMode(Hdg2InitialPointMode_def::Undefined);
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nl.hdgInitialPoint2Target(-1);
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}
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if (nasatNineLiner.distance2InitialPointMode != 0)
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nl.distanceInitialPoint2Target(nasatNineLiner.distanceInitialPoint2Target);
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else
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nl.distanceInitialPoint2Target(-1);
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if (nasatNineLiner.targetPositionMode != 0)
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{
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const auto z = nasatNineLiner.altitudeTargetMode != 0 ? nasatNineLiner.altitudeTarget : -1;
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nl.targetPosition(Core::GeoPosition(LtsCoordTrans::deg2rad() * nasatNineLiner.targetPosition.lon,
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LtsCoordTrans::deg2rad() * nasatNineLiner.targetPosition.lat,
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z));
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}
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else
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{
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nl.targetPosition(Core::GeoPosition(std::nan(""), std::nan(""), std::nan("")));
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}
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if (nasatNineLiner.modeFriendlies != 0)
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{
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nl.friendliesBearing(nasatNineLiner.friendlies.bearing);
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nl.friendliesDistance(nasatNineLiner.friendlies.distance);
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}
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else
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{
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nl.friendliesBearing(-1);
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nl.friendliesDistance(-1);
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}
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if (nasatNineLiner.finalAttackHeadingMode != FinalAttackHeadingMode::None)
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{
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nl.finalAttackHeading(nasatNineLiner.finalAttackHeading.heading);
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if (nasatNineLiner.finalAttackHeadingMode == FinalAttackHeadingMode::HeadingWithSector)
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{
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nl.finalAttackHeadingLow(nasatNineLiner.finalAttackHeading.headingLow);
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nl.finalAttackHeadingHigh(nasatNineLiner.finalAttackHeading.headingHigh);
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}
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else
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{
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nl.finalAttackHeadingLow(-1);
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nl.finalAttackHeadingHigh(-1);
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}
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}
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else
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nl.finalAttackHeading(-1);
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if (nasatNineLiner.timeForTargetMode != TimeForTargetMode::None)
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nl.timeForTarget(nasatNineLiner.timeForTargetMode == TimeForTargetMode::TimeToTarget ? -nl.timeForTarget() : nl.timeForTarget());
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else
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nl.timeForTarget(0);
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return nl;
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}
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void HandlerNasatNineLiner::nineLinerReceived(const NasatNineLiner &nasatNineLiner)
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{
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// QHash<ExerciseParticipantKey, NasatAircraftParticipantEx>>
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DEBUG_LOG(m_logger) << "nineLinerReceived, aircraftId=" << nasatNineLiner.aircraftId
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<< " - nasatNineLiner.aircraftId is aka nasatId";
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const auto participants = m_mainHandler->handlerParticipant()->participantsForNasatId(nasatNineLiner.aircraftId);
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if (participants.isEmpty())
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{
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INFO_LOG(m_logger) << "No exercise participants found to publish 9-liner for nasat aircraft with id "
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<< nasatNineLiner.aircraftId;
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return;
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}
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DEBUG_LOG(m_logger) << "nineLinerReceived, publishing to exercises";
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static int s_id = 1;
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Nasat9Liner nl = createDds9Liner(nasatNineLiner);
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for (auto it = participants.begin(); it != participants.end(); ++it)
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{
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nl.id(s_id++);
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const auto &exerciseParticipantId = it.key();
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auto nape = it.value();
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DEBUG_LOG(m_logger) << "nineLinerReceived, publishing to exercises, s_id=" << s_id
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<< ", exerciseParticipantId.exerciseId=" << exerciseParticipantId.exerciseId
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<< ", exerciseParticipantId.participantId=" << exerciseParticipantId.participantId;
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auto &nineLinerParticipant = m_nineLiner[exerciseParticipantId];
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nl.isCurrent(true);
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nl.participantId(exerciseParticipantId.participantId);
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nineLinerParticipant.push_back(nl);
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// GUEZE-1676: Nineliner sollen zeitlich wie Trefferlinien angezeigt werden
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// isCurrent is outdated
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// if (nineLinerParticipant.size() > 1)
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// {
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// auto &oldLast = nineLinerParticipant[nineLinerParticipant.size() - 2];
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// if (oldLast.sampleTime() > nl.sampleTime())
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// {
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// nineLinerParticipant.last().isCurrent(false); // in vector
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// nl.isCurrent(false); // for publishing
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// std::sort(nineLinerParticipant.begin(), nineLinerParticipant.end(),
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// [](const Nasat9Liner & a, const Nasat9Liner & b) { return a.sampleTime() < b.sampleTime();});
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// }
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// else
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// {
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// // outdated
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// oldLast.isCurrent(false); // in vector + for publishing
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// oldLast.sampleTime(QDateTime::currentMSecsSinceEpoch()); // update sample_time for proper replay
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// nape->publisher()->publish(oldLast);
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// }
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// }
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nape->publisher()->publish(nl);
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}
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}
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void HandlerNasatNineLiner::onNasatAircraftParticipantRemoved(const NasatAircraftParticipant &nap)
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{
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// don´t know, how to remove the samples from dds.
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// -> set to isCurrent(false)...
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const int nasatId = m_mainHandler->nasatAircraft()->nasatIdFromNasatAircraftId(nap.nasatAircraftId());
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INFO_LOG(m_logger) << " onNasatAircraftParticipantRemoved, nap = " << nap << ", nasatId = " << nasatId;
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if (nasatId < 0)
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{
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WARNING_LOG(m_logger) << " nasatIdFromNasatAircraftId failed, nap=" << nap;
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return;
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}
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const auto participants = m_mainHandler->handlerParticipant()->participantsForNasatId(nasatId);
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if (participants.isEmpty())
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{
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INFO_LOG(m_logger) << "No exercise participants found to publish 9-liner for nasat aircraft with id "
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<< nap.nasatAircraftId();
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return;
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}
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for (auto it = participants.begin(); it != participants.end(); ++it)
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{
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const auto &exerciseParticipantId = it.key();
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auto nape = it.value();
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auto &nineLinerParticipant = m_nineLiner[exerciseParticipantId];
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DEBUG_LOG(m_logger) << LOGFUNCTION << " updating for removing "
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<< ", exerciseParticipantId.exerciseId=" << exerciseParticipantId.exerciseId
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<< ", exerciseParticipantId.participantId=" << exerciseParticipantId.participantId
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<< ", nineLinerParticipant.isEmpty()=" << nineLinerParticipant.isEmpty();
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if (!nineLinerParticipant.isEmpty())
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{
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auto &oldLast = nineLinerParticipant.last();
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if (oldLast.isCurrent())
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{
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DEBUG_LOG(m_logger) << LOGFUNCTION << " updating for removing "
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<< ", exerciseParticipantId.exerciseId=" << exerciseParticipantId.exerciseId
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<< ", exerciseParticipantId.participantId=" << exerciseParticipantId.participantId;
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oldLast.sampleTime(QDateTime::currentMSecsSinceEpoch()); // update sample_time for proper replay
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oldLast.isCurrent(false); // in vector - will suppress the according situation map object
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nape->publisher()->publish(oldLast);
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}
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}
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} // for
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}
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} // namespace GuezNasat
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