torstenandCopilot
3028302f7b
- Merged 292 changed files from dlbo snapshot - Fixed IDL enum collisions (PortType, PdmEventType) - Fixed Grantlee template for C++11 scoped enums - Fixed CMake VERSION_GREATER syntax - Added missing directories (THP, LtsRestClient, etc.) Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
88 lines
2.2 KiB
C++
Executable File
88 lines
2.2 KiB
C++
Executable File
/**
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* DdsHandler for DDS
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Gerlinde Rudolphus, SLTE, 2022-06-09
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*/
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#include "dds_handler.h"
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#include "nme_dts.h"
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#include "nme_fts.h"
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#include <DDS/DTS/generic_dts_impl.h>
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#include <DDS/Core/pacemaker.h>
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namespace NmeaManagement
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{
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DdsHandler::DdsHandler(int domainId)
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: m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Any))
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, m_logger(getLogger("DdsHandler"))
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{
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DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
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}
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DdsHandler::~DdsHandler()
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{}
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bool DdsHandler::init(const QStringList &qosFileList)
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{
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if (!m_ddsConnector->init(qosFileList))
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{
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ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
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return false;
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}
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// default initialize Publisher and Subscriber
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m_ddsConnector->initPublisherSubscriber();
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m_ddsConnector->enableBatchedWriter(false);
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// Pacemaker
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m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
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m_ddsDts = NmeaManagement::Interface::Dts::create(m_ddsConnector);
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m_ddsFts = NmeaManagement::Interface::Fts::create(m_ddsConnector);
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if (!m_ddsDts->enableBatteryAlarm())
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{
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ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryAlarm data topic server";
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return false;
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}
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if (!m_ddsDts->enableServiceControl())
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{
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ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableServiceControl data topic server";
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return false;
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}
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if (!m_ddsDts->enableBatteryState())
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{
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ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableBatteryState data topic server";
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return false;
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}
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if (!m_ddsDts->enablePositionExcon())
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{
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ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enablePositionExcon data topic server";
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return false;
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}
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INFO_LOG(m_logger) << "Dts initialised";
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if (!m_ddsFts->enableAll())
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{
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ERROR_LOG(m_logger) << "Could not initialize NmeaManagement enableAll function topic";
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return false;
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}
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INFO_LOG(m_logger) << "Fts initialised";
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// TODO: call at the end of main_handler init:
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this->pacemaker()->setNewState(Core::RunningState::Running);
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return true;
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}
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} // Namespace PDM
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