qt5-legatus-legacy/Lts/Tools/TopicDiscover/topic_discoverer.cpp

#include "topic_discoverer.h"

#include <NGLLogger/NGLLoggerBootstrap.h>
#include <QCoreApplication>
#include <DDS/QosProfile/DDS_DefaultQos.h>

BuiltinAnyListener::BuiltinAnyListener(QObject *parent)
  : m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("TopicDiscoverer.BuiltinAnyListener"))
{
  Q_UNUSED(parent)
}

dds::core::xtypes::StructType BuiltinAnyListener::structType(const std::string &typeName)
{
  QReadLocker l(&m_safeTypeLock);
  return m_structTypes.value(typeName, dds::core::xtypes::StructType("NULL"));
}

// This gets called when a participant has been discovered
template <typename S>
void BuiltinAnyListener::on_data_available(dds::sub::DataReader<S> &reader)
{
  // We only process newly seen participants
  dds::sub::LoanedSamples<S> samples
      = reader.select().state(dds::sub::status::DataState::new_instance()).take();

  for (typename dds::sub::LoanedSamples<S>::iterator sampleIt = samples.begin();
       sampleIt != samples.end();
       ++sampleIt)
  {
    if (!sampleIt->info().valid())
      continue;

    const std::string &topicName = sampleIt->data().topic_name();
    const std::string &typeName  = sampleIt->data().type_name();

    if (QString::fromStdString(typeName).contains(QLatin1String("rti::"), Qt::CaseInsensitive))
      continue;

    dds::core::optional<dds::core::xtypes::DynamicType> dynamicType = sampleIt->data()->type();
    if (!dynamicType.is_set() || dynamicType.get().kind() != dds::core::xtypes::TypeKind::STRUCTURE_TYPE)
      continue;

    const dds::core::xtypes::StructType &structType = static_cast<dds::core::xtypes::StructType&>(dynamicType.get());

    DEBUG_LOG(m_logger) << "Built-in Reader: found subscriber: "
                        << " topicName: " << topicName
                        << " topicType: " <<  typeName
                       ;

    {
      QWriteLocker l(&m_safeTypeLock);
      m_structTypes.insert(typeName, structType);
    }
    emit topicDescription(topicName, typeName);
  }
}

/***********************************************************************************************/

BuiltinPublicationListener::BuiltinPublicationListener(QObject *parent)
  : BuiltinAnyListener(parent)
{

}

void BuiltinPublicationListener::on_data_available(dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> &reader)
{
  BuiltinAnyListener::on_data_available(reader);
}

/***********************************************************************************************/

BuiltinSubscriberListener::BuiltinSubscriberListener(QObject *parent)
  : BuiltinAnyListener(parent)
{

}

void BuiltinSubscriberListener::on_data_available(dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> &reader)
{
  BuiltinAnyListener::on_data_available(reader);
}

/***********************************************************************************************/

TopicDiscoverer::TopicDiscoverer(int domainId, QObject *parent)
  : QObject(parent)
  , m_domainId(domainId)
  , m_domainParticipant(nullptr)
  , m_publisherListener(nullptr)
  , m_subscriberListener(nullptr)
  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("TopicDiscoverer"))
{
  qRegisterMetaType<std::string>("std::string");
}

void TopicDiscoverer::init(DDS::QosProfile::ConnectionType ct, const QUrl &tcpDiscoveryUrl)
{
  // make sure to get the same qos as a normal dp/publisher/subscriber
  DDS::QosProfile::setDefault();

  // By default, the participant is enabled upon construction.
  // At that time our listeners for the builtin topics have not
  // been installed, so we disable the participant until we
  // set up the listeners.

  dds::domain::qos::DomainParticipantFactoryQos factoryQos =
      dds::domain::DomainParticipant::participant_factory_qos();

  factoryQos << dds::core::policy::EntityFactory::ManuallyEnable();
  dds::domain::DomainParticipant::participant_factory_qos(factoryQos);

  // Create a DomainParticipant with given Qos.
  m_domainParticipant = dds::domain::DomainParticipant(m_domainId, DDS::QosProfile::domainParticipantDefault(ct, tcpDiscoveryUrl));
  dds::domain::qos::DomainParticipantQos dpQos = m_domainParticipant.qos();
  rti::core::policy::EntityName entityName;
  entityName.name(QString(qAppName() +
                          QStringLiteral(" - DP ") +
                          QString::number(m_domainId)
                          ).toStdString());
  dpQos << entityName;
  m_domainParticipant.qos(dpQos);

  // Installing listeners for the builtin topics requires several steps
  // First get the builtin subscriber.
  dds::sub::Subscriber builtin_subscriber = dds::sub::builtin_subscriber(m_domainParticipant);

  // Get builtin subscriber's datareader for publishers.
  std::vector< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > publication_reader;
  dds::sub::find< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> >
      (
        builtin_subscriber,
        dds::topic::publication_topic_name(),
        std::back_inserter(publication_reader)
        );

  BuiltinPublicationListener *bipl = new BuiltinPublicationListener(this);

  // Install our listener using ListenerBinder.
  m_publisherListener = rti::core::bind_and_manage_listener(publication_reader[0],
      bipl,
      dds::core::status::StatusMask::data_available()
      );

  connect(bipl, &BuiltinPublicationListener::topicDescription,
          this, &TopicDiscoverer::onTopicDescription);
  /*------------------------------*/

  // 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);
}