76 lines
1.8 KiB
C++
Executable File
76 lines
1.8 KiB
C++
Executable File
/**
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* @RDE_HEADER@
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*
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* Publisher for DataSampleGeneration
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* Uses DTSs to publish data
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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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#pragma once
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#include <QtCore/QMap>
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#include <NGLLogger/INGLLogger.h>
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#include <DDS/DTS/generic_dts_impl.h>
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#include <DDS/Generic/generic_data_writer.h>
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#include "pub_sub_base.h"
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namespace DDSConnector
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{
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class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
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{
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public:
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Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
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~Publisher();
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void enableBatchedWriter(bool bEnable);
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dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }
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// Write data for each topicType (i.e. T = Lts_ExerciseParticipant)
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template <typename T>
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bool write(const T &data)
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{
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using myDWO = DDSGeneric::GenericDataWriter<T>;
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using myDTS = DTS::GenericDtsImpl< myDWO >;
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std::string dwoType = DDS::topic_type_name<T>::value();
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DEBUG_LOG(m_logger) << "dwoType = " << dwoType;
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myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
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if (dts == nullptr)
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{
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dts = new myDTS(m_domainParticipant, m_ddsPublisher);
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m_dtsMap.insert(dwoType, dts);
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}
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return dts->write(data);
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}
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// Use default typeName, if topicName is not specified
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bool write(const dds::core::xtypes::DynamicData &data)
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{
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return write(data, data.type().name());
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}
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bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);
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protected:
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void initDDS();
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void deleteDDS();
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protected:
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dds::pub::Publisher m_ddsPublisher;
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// Map for static DTcs
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QMap<std::string, DTS::Base*> m_dtsMap;
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// Map for dynamic types
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// QMap<topicName,DataWriter (defined)>
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QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
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};
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}
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