Initial commit

Lts/Services/NmeaManagement/dds_handler.cpp

@@ -0,0 +1,87 @@
+/**
+  * DdsHandler for DDS
+  * $Id$
+  * $HeadURL$
+  * $Author$
+  * Created by Gerlinde Rudolphus, SLTE, 2022-06-09
+  */
+
+#include "dds_handler.h"
+
+#include "nme_dts.h"
+#include "nme_fts.h"
+
+#include <DDS/DTS/generic_dts_impl.h>
+#include <DDS/Core/pacemaker.h>
+
+namespace NmeaManagement
+{
+
+DdsHandler::DdsHandler(int domainId)
+  : m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Any))
+  , m_logger(getLogger("DdsHandler"))
+{
+  DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
+}
+
+DdsHandler::~DdsHandler()
+{}
+
+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();
+  m_ddsConnector->enableBatchedWriter(false);
+
+  // Pacemaker
+  m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
+
+  m_ddsDts = NmeaManagement::Interface::Dts::create(m_ddsConnector);
+  m_ddsFts = NmeaManagement::Interface::Fts::create(m_ddsConnector);
+
+  if (!m_ddsDts->enableBatteryAlarm())
+  {
+    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryAlarm data topic server";
+    return false;
+  }
+
+  if (!m_ddsDts->enableServiceControl())
+  {
+    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableServiceControl data topic server";
+    return false;
+  }
+
+  if (!m_ddsDts->enableBatteryState())
+  {
+    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryState data topic server";
+    return false;
+  }
+
+  if (!m_ddsDts->enablePositionExcon())
+  {
+    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enablePositionExcon data topic server";
+    return false;
+  }
+  INFO_LOG(m_logger) << "Dts initialised";
+
+
+  if (!m_ddsFts->enableAll())
+  {
+    ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableAll function topic";
+    return false;
+  }
+  INFO_LOG(m_logger) << "Fts initialised";
+
+  // TODO: call at the end of main_handler init:
+  this->pacemaker()->setNewState(Core::RunningState::Running);
+
+  return true;
+}
+
+} // Namespace PDM