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/**
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* @RDE_HEADER@
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*
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* MainWindow for DDS View
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*
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "nglsettings.h"
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#include "zwmsui_version.h"
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#include "telegramview.h"
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#include "detailviewdlg.h"
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#include "topic_tree_model.h"
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#include "topicselector.h"
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#include "sampleview.h"
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#include <DDS/Generic/topic_type_plugin.h>
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#include <TopicDiscover/topic_discoverer.h>
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#include <LtsPluginManager/lts_plugin_loader.h>
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#include <QMenuBar>
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MainWindow::MainWindow(int domainId, int exerciseId, DDS::QosProfile::ConnectionType ct, const QUrl &tcpDiscoveryUrl, QWidget *parent)
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: NGLMainWindow(parent)
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, m_dsr(nullptr)
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, m_ddsCredentials()
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, m_topicDiscoverer(new TopicDiscoverer(domainId, this))
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, m_dataSortModel(new TopicSortModel(this))
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, m_functionSortModel(new TopicSortModel(this))
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, m_ui(new Ui::MainWindow)
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{
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m_ui->setupUi(this);
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m_ui->sbExercise->setValue(exerciseId);
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setWindowTitle(tr("DDS View - Domain %1").arg(domainId));
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m_ui->splitter->setSizes(QList<int>() << 550 << 750);
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m_menu[QLatin1String("Edit")] = new QMenu(tr("Edit"));
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m_menuBar->insertMenu(m_menu[QLatin1String("Help")]->menuAction(), m_menu[QLatin1String("Edit")]);
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m_menu[QLatin1String("View")] = new QMenu(tr("View"));
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m_menuBar->insertMenu(m_menu[QLatin1String("Help")]->menuAction(), m_menu[QLatin1String("View")]);
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QAction *action;
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action = m_ui->dwDetailViewTree->toggleViewAction();
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action->setText(tr("Toggle Details (tree)"));
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action->setShortcut(QKeySequence(tr("Ctrl+t")));
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m_menu[QLatin1String("View")]->addAction(action);
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action = new QAction(tr("Load Sample List"), this);
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action->setShortcut(QKeySequence(tr("Ctrl+o")));
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connect(action, &QAction::triggered, m_ui->sampleView, &SampleView::onLoadSampleList);
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m_menu[QLatin1String("File")]->insertAction(m_fileActionBefore, action);
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action = new QAction(tr("Save Sample List"), this);
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action->setShortcut(QKeySequence(tr("Ctrl+s")));
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connect(action, &QAction::triggered, m_ui->sampleView, &SampleView::onSaveSampleList);
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m_menu[QLatin1String("File")]->insertAction(m_fileActionBefore, action);
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action = new QAction(tr("Configure Details"), this);
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connect(action, &QAction::triggered, this, &MainWindow::onConfigureDetails);
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m_menu[QLatin1String("Edit")]->addAction(action);
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setVersionView();
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m_treeSrcModelData = new TreeModel(m_ui->trvDataTopics);
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m_dataSortModel->setSourceModel(m_treeSrcModelData);
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m_ui->trvDataTopics->setModel(m_dataSortModel);
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m_dataSortModel->sort(0, Qt::AscendingOrder);
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m_treeSrcModelFunction = new TreeModel(m_ui->trvFunctionTopics);
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m_functionSortModel->setSourceModel(m_treeSrcModelFunction);
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m_ui->trvFunctionTopics->setModel(m_functionSortModel);
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m_functionSortModel->sort(0, Qt::AscendingOrder);
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m_topicDataModel = new TopicDataModel(m_ui->trvTopicData);
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m_ui->trvTopicData->setModel(m_topicDataModel);
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m_ui->trvTopicData->setColumnHidden(2, true);
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m_ui->trvTopicData->setColumnHidden(3, true);
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m_ui->trvTopicData->setColumnHidden(4, true);
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connect(m_ui->trvDataTopics->selectionModel(), &QItemSelectionModel::selectionChanged,
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this, &MainWindow::onReaderChanged);
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connect(m_ui->trvFunctionTopics->selectionModel(), &QItemSelectionModel::selectionChanged,
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this, &MainWindow::onSelectionFunctionChanged);
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connect(m_ui->sbExercise, QOverload<int>::of(&QSpinBox::valueChanged), this, &MainWindow::onReaderChanged);
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connect(m_ui->pbConnect, &QPushButton::clicked, this, &MainWindow::onConnect);
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connect(m_ui->pbDisconnect, &QPushButton::clicked, this, &MainWindow::onDisconnect);
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connect(m_ui->pbPlay, &QPushButton::clicked, m_ui->sampleView, &SampleView::onPlayChecked);
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connect(m_ui->cbRepeat, &QCheckBox::clicked, m_ui->sampleView, &SampleView::onSetRepeat);
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connect(m_ui->sampleView, &SampleView::playerActive, m_ui->pbPlay, &QToolButton::setChecked);
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m_ui->pbDisconnect->setEnabled(false);
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m_ddsCredentials.domain = -1;
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connect(m_topicDiscoverer, &TopicDiscoverer::topicDescription,
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this, &MainWindow::onTopicDescription);
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m_topicDiscoverer->init(ct, tcpDiscoveryUrl);
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connect(m_ui->telegramView, &TelegramView::dataClicked,
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m_topicDataModel, &TopicDataModel::setTopicData);
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connect(m_ui->telegramView, &TelegramView::clearDetailView,
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m_topicDataModel, &TopicDataModel::reset);
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connect(m_ui->telegramView, &TelegramView::send,
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this, &MainWindow::onSend);
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connect(m_ui->sampleView, &SampleView::send,
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this, &MainWindow::onSend);
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loadPlugins();
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}
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MainWindow::~MainWindow()
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{
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m_versionView->disconnect(this);
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delete m_ui;
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delete m_dsr;
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}
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IDL::PartitionType MainWindow::partitionType() const
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{
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if (m_ui->rbExercise->isChecked())
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return IDL::PartitionType::Exercise;
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if (m_ui->rbPlayback->isChecked())
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return IDL::PartitionType::Replay;
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// Maybe we add all the other options later...
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// default:
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return IDL::PartitionType::Exercise;
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}
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MainWindow::DdsCredentials MainWindow::onReaderChanged()
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{
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const QModelIndexList milDt = m_ui->trvDataTopics->selectionModel()->selectedRows();
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const QModelIndexList milFt = m_ui->trvFunctionTopics->selectionModel()->selectedRows();
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QVector<DDSGeneric::TopicDescription> vTopicDescription;
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vTopicDescription.reserve(vTopicDescription.size() + milFt.size());
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for (const QModelIndex &idx : milDt)
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{
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const DDSGeneric::TopicDescription topicDesc = m_dataSortModel->getData(idx);
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if (topicDesc.typeName.empty())
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continue;
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DEBUG_LOG(m_logger) << "selected data topic: " << topicDesc.name;
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vTopicDescription << topicDesc;
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}
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for (const QModelIndex &idx : milFt)
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{
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const DDSGeneric::TopicDescription topicDesc = m_functionSortModel->getData(idx);
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if (topicDesc.typeName.empty())
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continue;
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DEBUG_LOG(m_logger) << "selected function topic: " << topicDesc.name;
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vTopicDescription << topicDesc;
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}
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DdsCredentials current(m_ui->sbExercise->value(), m_topicDiscoverer->getDomainParticipant().domain_id(), partitionType(), vTopicDescription);
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updateButtons(current);
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return current;
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}
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class ScopedBoolean
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{
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public:
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explicit ScopedBoolean(bool &b)
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: m_b(b)
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{
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m_b = true;
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}
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~ScopedBoolean()
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{
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m_b = false;
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}
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private:
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bool &m_b;
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};
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void MainWindow::onSelectionFunctionChanged(const QItemSelection &selected, const QItemSelection &deselected)
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{
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static bool bInReaderChanged = false;
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if (bInReaderChanged)
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return;
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ScopedBoolean b(bInReaderChanged);
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static QItemSelection itemSelection;
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QModelIndexList mil;
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if (!selected.isEmpty())
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mil = selected.indexes();
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else if (!deselected.isEmpty())
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mil = deselected.indexes();
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else
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return; //should never happen
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if (mil.isEmpty())
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return;
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const QModelIndex index = mil.first();
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if (index.column() != 0)
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return;
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const DDSGeneric::TopicDescription topicDesc = m_functionSortModel->getData(index);
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if (topicDesc.typeName.empty()) // --> knot de(selected)
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{
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int childCount = m_functionSortModel->rowCount(index);
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if (childCount == 0)
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return;
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const QModelIndex startindex = m_functionSortModel->index(0, index.column(), index);
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const QModelIndex endindex = m_functionSortModel->index(childCount - 1, index.column(), index);
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itemSelection.merge(QItemSelection(startindex, endindex), QItemSelectionModel::Select);
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}
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else
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{
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// one child (de)selected
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if (!selected.isEmpty())
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{
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bool allSelected = true;
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int childs = m_functionSortModel->rowCount(index.parent());
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for (int count = 0; count < childs; count ++)
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{
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QModelIndex sibling = index.sibling(count, index.column());
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if (sibling == index)
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continue; // ignore same ModelIndex
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if (!m_ui->trvFunctionTopics->selectionModel()->isSelected(sibling))
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{
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allSelected = false;
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break;
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}
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}
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if (allSelected)
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itemSelection.merge(QItemSelection(index.parent(), index.parent()), QItemSelectionModel::Select);
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itemSelection.append(selected);
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}
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else if (!deselected.isEmpty())
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{
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itemSelection.merge(QItemSelection(index.parent(), index.parent()), QItemSelectionModel::Select);
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itemSelection.append(deselected);
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}
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else
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return; //should never happen
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}
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if (!selected.isEmpty() && !itemSelection.isEmpty())
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{
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m_ui->trvFunctionTopics->selectionModel()->select(itemSelection, QItemSelectionModel::Select);
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m_ui->trvFunctionTopics->selectionModel()->setCurrentIndex(index, QItemSelectionModel::Select);
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}
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else if (!deselected.isEmpty())
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{
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m_ui->trvFunctionTopics->selectionModel()->select(itemSelection, QItemSelectionModel::Deselect);
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m_ui->trvFunctionTopics->selectionModel()->setCurrentIndex(index, QItemSelectionModel::Deselect);
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}
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else
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return; //should never happen
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itemSelection.clear();
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ERROR_LOG(m_logger) << "cur: " << m_ui->trvFunctionTopics->selectionModel()->selectedIndexes().size();
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onReaderChanged();
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}
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void MainWindow::updateButtons(const MainWindow::DdsCredentials ¤t)
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{
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if (current == m_ddsCredentials || m_dsr == nullptr)
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{
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m_ui->pbConnect->setText(tr("Connect"));
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m_ui->pbConnect->setEnabled(m_dsr == nullptr);
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m_ui->pbDisconnect->setEnabled(m_dsr != nullptr);
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}
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else
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{
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m_ui->pbConnect->setText(tr("Switch"));
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m_ui->pbConnect->setEnabled(true);
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m_ui->pbDisconnect->setEnabled(true);
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}
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m_ui->telegramView->setConnected(m_dsr != nullptr);
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m_ui->sampleView->setConnected(m_dsr != nullptr);
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}
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void MainWindow::onSend(const QSharedPointer<dds::core::xtypes::DynamicData> &data, const QString &topicName)
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{
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if (!m_dsr || !data)
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return;
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dds::core::xtypes::DynamicData dataToSend(*data);
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if (dataToSend.member_exists("sampleTime"))
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{
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qint64 curValue = dataToSend.value<qint64>("sampleTime");
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if (curValue <= 1000000)
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dataToSend.value("sampleTime", QDateTime::currentMSecsSinceEpoch() + curValue);
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}
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m_dsr->publish(dataToSend, topicName.toStdString());
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}
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void MainWindow::onConnect()
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{
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if (m_ui->trvDataTopics->selectionModel()->selectedRows().isEmpty() &&
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m_ui->trvFunctionTopics->selectionModel()->selectedRows().isEmpty())
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return;
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// Todo: Change of exercise not regarded!
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DdsCredentials cred = onReaderChanged();
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if (!m_dsr)
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m_dsr = new DdsView::Initialisation(m_topicDiscoverer->getDomainParticipant(),
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cred.domain,
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cred.partitionType,
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cred.exercise,
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m_ui->telegramView->telegramModel());
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// Set DroTypes after Initialisation
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m_dsr->initDDTCs(cred.droTypes);
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m_ddsCredentials = cred;
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updateButtons(cred);
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}
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void MainWindow::onDisconnect()
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{
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delete m_dsr;
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m_dsr = nullptr;
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onReaderChanged();
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}
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void MainWindow::onConfigureDetails()
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{
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TopicSelector *ts = new TopicSelector(TopicSelector::Usage::TypeCodeInfos, this);
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connect(ts, &TopicSelector::typeCodeInfosChanged, m_ui->telegramView, &TelegramView::onTypeCodeInfosChanged);
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ts->show();
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}
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void MainWindow::onTopicDescription(const std::string &topicName, const std::string &typeName, const dds::core::xtypes::StructType &type)
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{
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if (NGLSettings::instance()->hasDataTopic(topicName) ||
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NGLSettings::instance()->hasFunctionTopic(topicName))
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return;
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TopicDescriptionEx topicDesc;
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topicDesc.name = topicName;
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topicDesc.typeName = typeName;
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topicDesc.type = type;
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topicDesc.serviceName = tr("DDS");
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TreeItem *parent = nullptr;
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DEBUG_LOG(m_logger) << "TypeName:" << typeName;
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if (QString::fromStdString(typeName).endsWith(QLatin1String("Request")) ||
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QString::fromStdString(typeName).endsWith(QLatin1String("Reply")))
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{
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// FunctionTopic
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m_functionSortModel->addData(topicDesc, parent);
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NGLSettings::instance()->insertFunctionTopic(topicDesc);
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}
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else
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{
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// DataTopic
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m_dataSortModel->addData(topicDesc, parent);
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NGLSettings::instance()->insertDataTopic(topicDesc);
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}
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}
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void MainWindow::setVersionView()
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{
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m_versionView = new VersionView(NGLSettings::instance(), tr("DDS View"), this);
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connect(m_versionView, &VersionView::destroyed,
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this, &MainWindow::onVersionViewDeleted, Qt::DirectConnection);
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}
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bool MainWindow::loadPlugin(const LtsPluginManager::PluginInstance &pi)
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{
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DDSGeneric::TopicTypePlugin *typePlugin = qobject_cast<DDSGeneric::TopicTypePlugin *>(pi.plugin);
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if (!typePlugin)
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return false;
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const QMap<std::string, DDSGeneric::TopicDescription> dataTopics = typePlugin->getDataTopics();
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for (const DDSGeneric::TopicDescription &td : dataTopics)
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{
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DEBUG_LOG(m_logger) << "Loading data topic from service: " << typePlugin->getServiceShortName()
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<< ", topic: " << td.name;
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TopicDescriptionEx tdEx(td);
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tdEx.serviceName = typePlugin->getServiceShortName();
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NGLSettings::instance()->insertDataTopic(tdEx);
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// nullptr -> no parent -> model must search correct parent on first level
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m_dataSortModel->addData(tdEx, nullptr);
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}
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struct RequestReplyStruct
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{
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DDSGeneric::TopicDescription ftRequest;
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DDSGeneric::TopicDescription ftReply;
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bool hasRequestAndReply() const { return !ftRequest.isEmpty() && !ftReply.isEmpty(); }
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};
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QMap<std::string, RequestReplyStruct> tempData;
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const QMap<std::string, DDSGeneric::TopicDescription> functionTopics = typePlugin->getFunctionTopics();
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for (const DDSGeneric::TopicDescription &td : functionTopics)
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{
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DEBUG_LOG(m_logger) << "req: " << typePlugin->getServiceShortName() << " - " << td.name;
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const QString topicName = QString::fromStdString(td.name);
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if (topicName.endsWith(QLatin1String("Reply")))
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{
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const QString key = topicName.left(topicName.size() - QLatin1String("Reply").size());
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tempData[key.toStdString()].ftReply = td;
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}
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else if (topicName.endsWith(QLatin1String("Request")))
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||||
{
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const QString key = topicName.left(topicName.size() - QLatin1String("Request").size());
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tempData[key.toStdString()].ftRequest = td;
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}
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else
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{
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WARNING_LOG(m_logger) << "Got unknown FTC/S topic: " << td.name;
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// should not happend at all - print warning
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||||
}
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||||
}
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||||
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||||
for (auto it = tempData.cbegin(); it != tempData.cend(); ++it)
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||||
{
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const std::string &key = it.key();
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const RequestReplyStruct &rr = it.value();
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TopicDescriptionEx tdKnot;
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tdKnot.serviceName = typePlugin->getServiceShortName();
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tdKnot.name = key;
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// nullptr -> no parent -> model must search correct parent on first level
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TreeItem *knot = m_functionSortModel->addData(tdKnot, nullptr);
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TopicDescriptionEx tdReply(rr.ftReply);
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tdReply.serviceName = typePlugin->getServiceShortName();
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m_functionSortModel->addData(tdReply, knot);
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NGLSettings::instance()->insertFunctionTopic(tdReply);
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||||
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||||
TopicDescriptionEx tdRequest(rr.ftRequest);
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tdRequest.serviceName = typePlugin->getServiceShortName();
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m_functionSortModel->addData(tdRequest, knot);
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||||
NGLSettings::instance()->insertFunctionTopic(tdRequest);
|
||||
}
|
||||
|
||||
return true; // do not unload plugin because we have some static QString references in there!
|
||||
}
|
||||
|
||||
void MainWindow::loadPlugins()
|
||||
{
|
||||
LtsPluginManager::LtsPluginLoader::getInstance()->loadPlugins(LtsPluginManager::PluginType::TOPIC_TYPE,
|
||||
[&](const LtsPluginManager::PluginInstance & pi) { return loadPlugin(pi); });
|
||||
}
|
||||
Reference in new issue
Block a user