Initial commit

Lts/Tools/DataSampleReceiver/topic_data.cpp

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+/**
+  * @RDE_HEADER@
+  *
+  * TopicData
+  * Uses DTC to subscribe to data
+  *
+  * $Id$
+  * $HeadURL$
+  * $Author$
+  */
+
+#include "topic_data.h"
+#include <NGLLogger/NGLLoggerBootstrap.h>
+
+#include <ExerciseManagement/exm.hpp>
+
+namespace DataSampleReceiver
+{
+
+TopicData::TopicData(const dds::domain::DomainParticipant &dp, const std::string &partition, const QVector<DDSGeneric::TopicDescription> &vDdro)
+  : DDSConnector::Subscriber(dp, partition)
+  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("DSR.TopicData"))
+{
+  initDDTCs(vDdro);
+}
+
+TopicData::~TopicData()
+{
+  qDeleteAll(m_ddtcMap);
+  m_ddtcMap.clear();
+}
+
+bool TopicData::initDDTCs(const QVector<DDSGeneric::TopicDescription> &vDdro)
+{
+  if (m_domainParticipant == nullptr ||
+      m_ddsSubscriber == nullptr ||
+      m_subscriberListener == nullptr)
+  {
+    ERROR_LOG(m_logger) << "Inititialisation failed: "
+                           " m_domainParticipant/m_ddsSubscriber/m_subscriberListener not initialised";
+    return false;
+  }
+
+  m_vDdro = vDdro;
+
+  INFO_LOG(m_logger) << "TopicDescriptions size: #" << vDdro.size();
+
+  // Initialise DDTCs
+  for (const DDSGeneric::TopicDescription &topicDesc : vDdro)
+  {
+    INFO_LOG(m_logger) << "topicDesc.topicName: " << topicDesc.name;
+    INFO_LOG(m_logger) << "topicDesc.topicType: " << topicDesc.typeName;
+
+    DTC::Ddtc<DDSGeneric::DynamicDataReader>* ddtc =  this->create(
+          [this](const dds::core::xtypes::DynamicData& data, const std::string &topicName, DataModification modType)
+                 { Q_UNUSED(modType); processData(data, QString::fromStdString(topicName)); },
+                   topicDesc.type,
+                   nullptr /* Use SubscriberListener from DdsConnector */,
+                   topicDesc.name );
+
+    if (ddtc == nullptr)
+    {
+      ERROR_LOG(m_logger) << "Can't create ddtc for Topic (" << topicDesc.name
+                          << "), TypeName (" << topicDesc.typeName << ")";
+      continue;
+    }
+
+    m_ddtcMap.insert(topicDesc.name, ddtc);
+  }
+
+  return true;
+}
+
+void TopicData::processData(const ExerciseManagement::Exercise &data)
+{
+
+  DEBUG_LOG(m_logger) << "=> IN processData Exercise";
+
+  INFO_LOG(m_logger) << "|#| id:              # " << data.id();
+  INFO_LOG(m_logger) << "|#| name:            # " << data.name();
+  INFO_LOG(m_logger) << "|#| state:           # " << data.state();
+  INFO_LOG(m_logger) << "|#| partition:       # " << data.partitionName();
+  INFO_LOG(m_logger) << "|#| isUsed:          # " << data.isUsed();
+  INFO_LOG(m_logger) << "|#| markedAsDeleted: # " << data.isDeleted();
+
+}
+
+
+void TopicData::processData(const ParticipantManagement::Participant &data)
+{
+  DEBUG_LOG(m_logger) << "-> IN processData Participant";
+
+  INFO_LOG(m_logger) << "|#| participantId: #" << data.id();
+  INFO_LOG(m_logger) << "|#| name:          #" << data.name();
+  INFO_LOG(m_logger) << "|#| hierarchyNo:   #" << data.hierarchyNumber();
+  INFO_LOG(m_logger) << "|#| equipNo:       #" << data.equipmentNumber();
+
+  //processData(data.location());
+}
+
+bool TopicData::processData(const dds::core::xtypes::DynamicData &data, const QString &ns)
+{
+  DEBUG_LOG(m_logger) << "-> IN processData dynamicData";
+  if (tryProcessDataAsTyped(data, ns))
+    return true;
+
+  // maybe also possible;
+  // getStructType() from ddtc (m_ddtcMap)
+
+  // If no Namespace (thus, external call) or no valid data: Create new DynData
+  //if ( data.type().kind() == dds::core::xtypes::TypeKind::NO_TYPE )
+  //  data = dds::core::xtypes::DynamicData(*m_type);
+
+  // data[n] runs from 1..count()!
+  for (uint32_t member_index = 1; member_index <= data.member_count(); ++member_index)
+  {
+    const rti::core::xtypes::DynamicDataMemberInfo info = data.member_info(member_index);
+
+    INFO_LOG(m_logger)  << "Parameter: " << info.member_name();
+    TRACE_LOG(m_logger) << "MemberName: " << ns << " - " << info.member_name();
+    TRACE_LOG(m_logger) << "member_id = " << info.member_index()
+                        << ", member_kind = " << info.member_kind()
+                        << ", index: " << data.member_index(info.member_name());
+
+    //    if (!data.member_exists(member_index))
+    //      continue;
+
+    QVariant var;
+    switch(info.member_kind().underlying())
+    {
+    case dds::core::xtypes::TypeKind::CHAR_8_TYPE:
+      var = data.value<char>(member_index);
+      break;
+#if RTI_DDS_VERSION_MAJOR < 6
+    case dds::core::xtypes::TypeKind::CHAR_32_TYPE:
+#else
+    case dds::core::xtypes::TypeKind::CHAR_16_TYPE:
+#endif
+      var = data.value<DDS_Wchar>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::UINT_8_TYPE:
+      var = data.value<uint8_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::INT_16_TYPE:
+      var = data.value<int16_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::UINT_16_TYPE:
+      var = data.value<uint16_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::INT_32_TYPE:
+      var = data.value<int32_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::UINT_32_TYPE:
+      var = data.value<uint32_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::INT_64_TYPE:
+      var = data.value<qlonglong>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::UINT_64_TYPE:
+      var = data.value<qulonglong>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::FLOAT_32_TYPE:
+      var = data.value<float>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::FLOAT_64_TYPE:
+      var = data.value<double>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::ENUMERATION_TYPE:
+      var = data.value<int32_t>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::BOOLEAN_TYPE:
+      var = data.value<bool>(member_index);
+      break;
+    case dds::core::xtypes::TypeKind::STRING_TYPE:
+    {
+      const dds::core::string tmp = data.value<dds::core::string>(member_index);
+      if (tmp.c_str())  // unset -> nullptr
+        var = QString::fromUtf8(tmp.c_str ());
+      break;
+    }
+    case dds::core::xtypes::TypeKind::STRUCTURE_TYPE:
+    {
+      //        rti::core::xtypes::LoanedDynamicData innerLoaned = data.loan_value(member_index);
+      processData(data.value<dds::core::xtypes::DynamicData>(member_index), ns + QString::fromStdString(info.member_name()) + QLatin1Char('.'));
+      break;
+    }
+    default:
+      break;
+    }
+
+    INFO_LOG(m_logger) << "Content  : '" << var.toString() << "'";
+  }
+
+  return true;
+}
+
+bool TopicData::tryProcessDataAsTyped(const dds::core::xtypes::DynamicData &data, const QString &ns)
+{
+  // ExerciseManagement::Exercise
+  if (processData<ExerciseManagement::Exercise>(data,ns))
+    return true;
+
+  // Core::SpatialData
+  if (processData<ParticipantManagement::Participant>(data,ns))
+    return true;
+
+  return false;
+}
+
+/**
+ * @brief Get the typeCode of a topic if available in m_vddro
+ * @param topicName
+ * @return
+ */
+dds::core::xtypes::StructType TopicData::getTypeCode(const std::string &topicName) const
+{
+  DEBUG_LOG(m_logger) << "m_vDdro.size = " << m_vDdro.size();
+
+  for (int i = 0; i < m_vDdro.size(); ++i)
+  {
+    DDSGeneric::TopicDescription td = m_vDdro.at(i);
+    if (td.name == topicName)
+    {
+      INFO_LOG(m_logger) << "Found topicType for #" << topicName;
+      return td.type;
+    }
+  }
+
+  // TODO: oder besser throw?
+  return dds::core::xtypes::StructType("Unknown");
+}
+
+
+} // Namespace DataSampleReceiver