Initial commit

Lts/Proxies/TrainingAreaBase/dds_handler.cpp

@@ -0,0 +1,101 @@
+/**
+  * DdsHandler for DDS
+  * $Id$
+  * $HeadURL$
+  * $Author$
+  * Created by Christian Ehrlicher, SLSE, 2016-04-14
+  */
+
+#include "dds_handler.h"
+
+#include <DDS/DDSConnector/publisher.h>
+#include <DDS/DDSConnector/dds_connector.h>
+#include <DDS/Core/pacemaker.h>
+#include <DDS/DTC/generic_dtc_impl.h>
+#include <DDS/DTS/generic_dts_impl.h>
+
+namespace TrainingAreaBase
+{
+
+DdsHandler::DdsHandler(int domainId, int exerciseId)
+  : m_ddsConnector(new DDSConnector::DdsConnector(domainId, IDL::PartitionType::Exercise, exerciseId))  
+  , m_curMSecSinceEpoch(0)
+  , m_exerciseId(exerciseId)
+  , m_logger(getLogger("DdsHandler"))
+{
+  DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
+}
+
+DdsHandler::~DdsHandler()
+{
+  m_pacemaker->setNewState(Core::RunningState::StoppedNormally);
+  m_pacemaker = nullptr;
+  m_dtcPartitionTime = nullptr;
+  m_dtsEmergencyCall = nullptr;
+  m_dtsEmergencyCallPublisher = nullptr;
+  m_dtsTab = nullptr;
+  m_ftsTab = nullptr;
+  m_ftcPpm = nullptr;
+  m_ftcNom = nullptr;
+  m_dtcOpm = nullptr;
+  m_ddsConnector = nullptr;
+}
+
+bool DdsHandler::init(const QStringList &qosFileList)
+{
+  if (!m_ddsConnector->init(qosFileList))
+  {
+    ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
+    return false;
+  }
+
+  // default initialize Publisher and Subscriber
+  m_ddsConnector->initPublisherSubscriber();
+
+  // Pacemaker
+  m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
+
+  // Current exercise time
+  m_dtcPartitionTime.reset(m_ddsConnector->createDTC<DTC::PartitionTimeImpl>());
+  assert(m_dtcPartitionTime.get());
+  m_dtcPartitionTime->setSubscriberCallback([this](const Core::PartitionTime & data, DataModification)
+  {
+    m_curMSecSinceEpoch = data.timeStamp();
+  });
+
+  // default dts:...
+  m_dtsTab = TrainingAreaBase::Interface::Dts::create(m_ddsConnector);
+
+  // enable all ...
+  bool bRet = m_dtsTab->enableAll();
+  // ... but not EmergencyCall:
+  m_dtsTab->enableEmergencyCall(false);
+
+  // instead, prepare publishing of EmergencyCall to 'AllExercises':
+  m_dtsEmergencyCallPublisher = std::make_shared<DDSConnector::Publisher>(m_ddsConnector->getDomainParticipant(),
+                                                                          DDSConnector::DdsConnector::getPartitionString(IDL::PartitionType::AllExercises));
+  m_dtsEmergencyCall = std::make_shared<DTS::EmergencyCallImpl>(m_ddsConnector->getDomainParticipant(),
+                                                                m_dtsEmergencyCallPublisher->getDdsPublisher(),
+                                                                DDS::Helper::getShortTopicName(DDS::topic_type_name<TrainingAreaBase::EmergencyCall>::value()));
+
+
+  INFO_LOG(m_logger) << "Dts TrainingAreaBase initialised";
+
+  m_ftsTab = TrainingAreaBase::Interface::Fts::create(m_ddsConnector);
+  bRet &= m_ftsTab->enableAll();
+  INFO_LOG(m_logger) << "Fts TrainingAreaBase initialised";
+
+  m_ftcPpm = ParticipantManagement::Interface::Ftc::create(m_ddsConnector);
+  bRet &= m_ftcPpm->enableSetMissionActionFulfilled();
+
+  m_ftcNom = NotificationManagement::Interface::Ftc::create(m_ddsConnector);
+  bRet &= m_ftcNom->enableCreateNotification();
+
+  m_dtcOpm = OperatorManagement::Interface::Dtc::create(m_ddsConnector);
+  bRet &= m_dtcOpm->enableUser();
+
+
+  return bRet;
+}
+
+} // Namespace PDM