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Executable
+41
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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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# CMakeLists.txt fuer topicdiscover
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#
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SET(topicdiscover_SRCS
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topic_discoverer.cpp
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topic_discoverer.h
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)
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NGL_ADD_LIBRARY(AAR SV WS NO_TRANSLATION topicdiscover SHARED ${topicdiscover_SRCS})
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NGL_TARGET_INCLUDE_DIRECTORIES(topicdiscover
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INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/../
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)
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NGL_TARGET_LINK_LIBRARIES(topicdiscover
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PRIVATE
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ddsQoS
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NGLLogger
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RTI::nddsc
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RTI::nddscore
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PUBLIC
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Qt5::Core
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RTI::nddscpp2
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ddsQoS
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)
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NGL_INSTALL_TARGET(topicdiscover)
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##################
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NGL_ADD_EXECUTABLE(topicdiscoverexe AAR SV WS main.cpp)
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NGL_TARGET_LINK_LIBRARIES(topicdiscoverexe
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LtsCommandLineParser
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nglcoreapplication
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topicdiscover
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)
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+78
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log4j.reset=true
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log4j.rootLogger=WARN, file
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# TopicDiscoverer
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###########################################################
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log4j.logger.TopicDiscoverer=INFO
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log4j.logger.TopicDiscoverer.BuiltinSubscriberListener=INFO
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log4j.logger.TopicDiscoverer.BuiltinParticipantListener=INFO
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log4j.appender.file=org.apache.log4j.RollingFileAppender
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log4j.appender.file.MaxFileSize=1MB
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log4j.appender.file.MaxBackupIndex=9
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log4j.appender.file.file=${LOG4QT_LOGDIR}/${LOG4QT_USER}_topicDiscoverer.log
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log4j.appender.file.layout=org.apache.log4j.PatternLayout
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log4j.appender.file.layout.ConversionPattern=%d %-5p %c |#| %m (%.50F:%L) %n
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# Appnd_Console
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###########################################################
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log4j.appender.stdout=org.apache.log4j.ConsoleAppender
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log4j.appender.stdout.layout=org.apache.log4j.PatternLayout
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log4j.appender.stdout.layout.ConversionPattern= %d %p %c %c{1} - %m (%-.30F:%L) %n
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# Appnd_Syslog
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###########################################################
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log4j.appender.syslog=org.apache.log4j.SyslogAppender
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log4j.appender.syslog.Threshold=ERROR
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log4j.appender.syslog.SysLogHost=localhost
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log4j.appender.syslog.Facility=LOCAL7
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log4j.appender.syslog.layout=org.apache.log4j.PatternLayout
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log4j.appender.syslog.layout.ConversionPattern= %-4r %-5p %c %x - %m
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log4j.appender.syslog.LevelRangeFilter.AcceptOnMatch=true
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log4j.appender.syslog.LevelRangeFilter.LevelMin=INFO
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log4j.appender.syslog.LevelRangeFilter.LevelMax=FATAL
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###########################################################
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###########################################################
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###########################################################
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# 1) Available Levels in LOG4CXX Version 0.10.0:
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# TRACE,
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# DEBUG,
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# INFO,
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# WARN,
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# ERROR
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# FATAL
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#
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# d = date/time
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# p = priority (Level)
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# c = category/channel
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# m = message
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# F = file
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# L = line
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# n = platform dependent line separator character or characters.
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# ....
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#
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# Examples for console:
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# a)
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# %d %p %c #%m# (%.50F:%L)%n
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# date/time
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# priority
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# category/channel
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# #message#
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# (Maximal 50Character des Filename von rechts:Line)
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# line separator
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#
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# b)
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# %d (%.15F:%L) %-5p %c |#| %m%n
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# date/time
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# (Maximal 15Character des Filename von rechts:Line)
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# priority, Right pad with spaces if the priority name is less than 5 characters long.
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# category/channel
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# message
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# line separator
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#
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# Examples for files:
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Executable
+69
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/**
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* @RDE_HEADER@
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* DDS View -> The "LogView" for DDS
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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/*!
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*
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* \page OCLaptop O/C Laptop
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*
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* This part of the TDS software is needed to assist the O/C in the field. It is
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* designed to provide a subset of the workstation software to help the O/C to
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* evaluate the situation in the field. It has also the possibility to do short
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* after action reviews (prepared with the workstation software) and to do evaluations
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* for later usage in the workstation i.e. for the after action review. The TakeHomePackage-Viewer
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* is also a part of this software component.
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*
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*/
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#include <QtGui/QDesktopServices>
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#include <QtCore/QSettings>
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#include <LtsCommandLineParser/LtsCommandLineParser.h>
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#include <NGLLogger/INGLLogger.h>
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#include <nglsettings/nglsettings_settings.h>
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#include <nglapplication/nglcoreapplication.h>
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#include "topic_discoverer.h"
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int main( int argc, char *argv[] )
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{
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NGLCoreApplication app ( argc, argv );
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QCoreApplication::setApplicationName(QLatin1String("Topic Discoverer"));
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QCoreApplication::setOrganizationName(QLatin1String("RME"));
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app.createLogger("TopicDiscover", "log4cxx_topicdiscover.props");
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NGL::INGLLogger &logger = app.baseLogger();
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LtsCommandLineParser::LtsCommandLineParser options;
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options.addOption( { QStringList() << QLatin1String("lang") << QLatin1String("language")
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, QLatin1String("language / region code (e.g. de_DE or en_US)")
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, QLatin1String("de_DE|en_US")
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, QLatin1String("en_US") } );
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if(!options.init())
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{
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options.showHelp();
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return -1;
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}
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QString langCodeArg = options.isSet(QLatin1String("lang")) ? options.value(QLatin1String("lang")) : QLatin1String("en_US");
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Q_UNUSED(langCodeArg);
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STARTUP_LOG(logger);
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TopicDiscoverer td(0);
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td.init(DDS::QosProfile::ConnectionType::ShmUdp, QUrl());
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int retval = app.exec();
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SHUTDOWN_LOG(logger);
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return retval;
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}
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Executable
+194
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#include "topic_discoverer.h"
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#include <NGLLogger/NGLLoggerBootstrap.h>
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#include <QCoreApplication>
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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BuiltinAnyListener::BuiltinAnyListener(QObject *parent)
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: m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("TopicDiscoverer.BuiltinAnyListener"))
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{
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Q_UNUSED(parent)
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}
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dds::core::xtypes::StructType BuiltinAnyListener::structType(const std::string &typeName)
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{
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QReadLocker l(&m_safeTypeLock);
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return m_structTypes.value(typeName, dds::core::xtypes::StructType("NULL"));
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}
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// This gets called when a participant has been discovered
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template <typename S>
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void BuiltinAnyListener::on_data_available(dds::sub::DataReader<S> &reader)
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{
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// We only process newly seen participants
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dds::sub::LoanedSamples<S> samples
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= reader.select().state(dds::sub::status::DataState::new_instance()).take();
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for (typename dds::sub::LoanedSamples<S>::iterator sampleIt = samples.begin();
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sampleIt != samples.end();
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++sampleIt)
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{
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if (!sampleIt->info().valid())
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continue;
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const std::string &topicName = sampleIt->data().topic_name();
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const std::string &typeName = sampleIt->data().type_name();
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if (QString::fromStdString(typeName).contains(QLatin1String("rti::"), Qt::CaseInsensitive))
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continue;
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dds::core::optional<dds::core::xtypes::DynamicType> dynamicType = sampleIt->data()->type();
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if (!dynamicType.is_set() || dynamicType.get().kind() != dds::core::xtypes::TypeKind::STRUCTURE_TYPE)
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continue;
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const dds::core::xtypes::StructType &structType = static_cast<dds::core::xtypes::StructType&>(dynamicType.get());
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DEBUG_LOG(m_logger) << "Built-in Reader: found subscriber: "
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<< " topicName: " << topicName
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<< " topicType: " << typeName
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;
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{
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QWriteLocker l(&m_safeTypeLock);
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m_structTypes.insert(typeName, structType);
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}
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emit topicDescription(topicName, typeName);
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}
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}
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/***********************************************************************************************/
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BuiltinPublicationListener::BuiltinPublicationListener(QObject *parent)
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: BuiltinAnyListener(parent)
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{
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}
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void BuiltinPublicationListener::on_data_available(dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> &reader)
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{
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BuiltinAnyListener::on_data_available(reader);
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}
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/***********************************************************************************************/
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BuiltinSubscriberListener::BuiltinSubscriberListener(QObject *parent)
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: BuiltinAnyListener(parent)
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{
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}
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void BuiltinSubscriberListener::on_data_available(dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> &reader)
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{
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BuiltinAnyListener::on_data_available(reader);
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}
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/***********************************************************************************************/
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TopicDiscoverer::TopicDiscoverer(int domainId, QObject *parent)
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: QObject(parent)
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, m_domainId(domainId)
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, m_domainParticipant(nullptr)
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, m_publisherListener(nullptr)
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, m_subscriberListener(nullptr)
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, m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("TopicDiscoverer"))
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{
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qRegisterMetaType<std::string>("std::string");
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}
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void TopicDiscoverer::init(DDS::QosProfile::ConnectionType ct, const QUrl &tcpDiscoveryUrl)
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{
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// make sure to get the same qos as a normal dp/publisher/subscriber
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DDS::QosProfile::setDefault();
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// By default, the participant is enabled upon construction.
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// At that time our listeners for the builtin topics have not
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// been installed, so we disable the participant until we
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// set up the listeners.
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dds::domain::qos::DomainParticipantFactoryQos factoryQos =
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dds::domain::DomainParticipant::participant_factory_qos();
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factoryQos << dds::core::policy::EntityFactory::ManuallyEnable();
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dds::domain::DomainParticipant::participant_factory_qos(factoryQos);
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// Create a DomainParticipant with given Qos.
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m_domainParticipant = dds::domain::DomainParticipant(m_domainId, DDS::QosProfile::domainParticipantDefault(ct, tcpDiscoveryUrl));
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dds::domain::qos::DomainParticipantQos dpQos = m_domainParticipant.qos();
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rti::core::policy::EntityName entityName;
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entityName.name(QString(qAppName() +
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QStringLiteral(" - DP ") +
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QString::number(m_domainId)
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).toStdString());
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dpQos << entityName;
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m_domainParticipant.qos(dpQos);
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// Installing listeners for the builtin topics requires several steps
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// First get the builtin subscriber.
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dds::sub::Subscriber builtin_subscriber = dds::sub::builtin_subscriber(m_domainParticipant);
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// Get builtin subscriber's datareader for publishers.
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std::vector< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > publication_reader;
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dds::sub::find< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> >
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(
|
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builtin_subscriber,
|
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dds::topic::publication_topic_name(),
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std::back_inserter(publication_reader)
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);
|
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BuiltinPublicationListener *bipl = new BuiltinPublicationListener(this);
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// Install our listener using ListenerBinder.
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m_publisherListener = rti::core::bind_and_manage_listener(publication_reader[0],
|
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bipl,
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dds::core::status::StatusMask::data_available()
|
||||
);
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connect(bipl, &BuiltinPublicationListener::topicDescription,
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this, &TopicDiscoverer::onTopicDescription);
|
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/*------------------------------*/
|
||||
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||||
// Get builtin subscriber's datareader for subscribers.
|
||||
std::vector< dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > subscription_reader;
|
||||
dds::sub::find< dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> >
|
||||
(
|
||||
builtin_subscriber,
|
||||
dds::topic::subscription_topic_name(),
|
||||
std::back_inserter(subscription_reader)
|
||||
);
|
||||
|
||||
BuiltinSubscriberListener *bisl = new BuiltinSubscriberListener(this);
|
||||
|
||||
// Install our listener using ListenerBinder.
|
||||
m_subscriberListener = rti::core::bind_and_manage_listener(subscription_reader[0],
|
||||
bisl,
|
||||
dds::core::status::StatusMask::data_available()
|
||||
);
|
||||
|
||||
connect(bisl, &BuiltinSubscriberListener::topicDescription,
|
||||
this, &TopicDiscoverer::onTopicDescription);
|
||||
/*------------------------------*/
|
||||
|
||||
// Done! All the listeners are installed, so we can enable the
|
||||
// participant now.
|
||||
m_domainParticipant.enable();
|
||||
}
|
||||
|
||||
void TopicDiscoverer::onTopicDescription(const std::string &topicName,
|
||||
const std::string &typeName)
|
||||
{
|
||||
INFO_LOG(m_logger) << "Built-in Reader: found Topic: "
|
||||
<< " topicName: " << topicName
|
||||
<< " typeName: " << typeName
|
||||
;
|
||||
|
||||
BuiltinAnyListener* bal = qobject_cast<BuiltinAnyListener*>(sender());
|
||||
|
||||
if (!bal)
|
||||
return;
|
||||
|
||||
dds::core::xtypes::StructType type = bal->structType(typeName);
|
||||
|
||||
if (type.name() != "NULL")
|
||||
emit topicDescription(topicName, typeName, type);
|
||||
}
|
||||
Executable
+106
@@ -0,0 +1,106 @@
|
||||
#pragma once
|
||||
|
||||
#include <dds/dds.hpp>
|
||||
#include <QtCore/QObject>
|
||||
#include <QtCore/QMap>
|
||||
#include <QtCore/QReadWriteLock>
|
||||
#include <DDS/QosProfile/DDS_DefaultQos.h>
|
||||
|
||||
#include <rti/core/ListenerBinder.hpp>
|
||||
|
||||
#ifndef TOPICDISCOVER_EXPORT
|
||||
# ifdef BUILD_STATIC_LIBRARIES
|
||||
# define TOPICDISCOVER_EXPORT
|
||||
# else
|
||||
# if defined(MAKE_TOPICDISCOVER_LIB)
|
||||
# define TOPICDISCOVER_EXPORT Q_DECL_EXPORT
|
||||
# else
|
||||
# define TOPICDISCOVER_EXPORT Q_DECL_IMPORT
|
||||
# endif
|
||||
# endif
|
||||
#endif
|
||||
|
||||
namespace NGL {
|
||||
class INGLLogger;
|
||||
}
|
||||
|
||||
class BuiltinAnyListener
|
||||
: public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
dds::core::xtypes::StructType structType(const std::string &typeName);
|
||||
|
||||
protected:
|
||||
template <typename S>
|
||||
void on_data_available(dds::sub::DataReader<S>& reader);
|
||||
|
||||
explicit BuiltinAnyListener(QObject *parent = nullptr);
|
||||
virtual ~BuiltinAnyListener() = default;
|
||||
|
||||
signals:
|
||||
void topicDescription(const std::string &topicName,
|
||||
const std::string &typeName);
|
||||
|
||||
protected:
|
||||
QMap<std::string, dds::core::xtypes::StructType> m_structTypes;
|
||||
QReadWriteLock m_safeTypeLock;
|
||||
NGL::INGLLogger &m_logger;
|
||||
};
|
||||
|
||||
class BuiltinPublicationListener
|
||||
: public BuiltinAnyListener
|
||||
, public dds::sub::NoOpDataReaderListener<dds::topic::PublicationBuiltinTopicData>
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit BuiltinPublicationListener(QObject *parent = nullptr);
|
||||
virtual ~BuiltinPublicationListener() = default;
|
||||
void on_data_available(dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> &reader) override final;
|
||||
};
|
||||
|
||||
class BuiltinSubscriberListener
|
||||
: public BuiltinAnyListener
|
||||
, public dds::sub::NoOpDataReaderListener<dds::topic::SubscriptionBuiltinTopicData>
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit BuiltinSubscriberListener(QObject *parent = nullptr);
|
||||
virtual ~BuiltinSubscriberListener() = default;
|
||||
|
||||
void on_data_available(dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> &reader) override final;
|
||||
};
|
||||
|
||||
class TOPICDISCOVER_EXPORT TopicDiscoverer
|
||||
: public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit TopicDiscoverer(int domainId, QObject *parent = nullptr);
|
||||
virtual ~TopicDiscoverer() = default;
|
||||
|
||||
void init(DDS::QosProfile::ConnectionType ct, const QUrl &tcpDiscoveryUrl);
|
||||
const dds::domain::DomainParticipant &getDomainParticipant() const { return m_domainParticipant; }
|
||||
|
||||
signals:
|
||||
void topicDescription(const std::string &topicName,
|
||||
const std::string &typeName,
|
||||
const dds::core::xtypes::StructType &type);
|
||||
|
||||
private slots:
|
||||
void onTopicDescription(const std::string &topicName,
|
||||
const std::string &typeName);
|
||||
|
||||
private:
|
||||
|
||||
int m_domainId;
|
||||
dds::domain::DomainParticipant m_domainParticipant;
|
||||
rti::core::ListenerBinder< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > m_publisherListener;
|
||||
rti::core::ListenerBinder< dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > m_subscriberListener;
|
||||
NGL::INGLLogger &m_logger;
|
||||
|
||||
};
|
||||
Reference in new issue
Block a user