107 lines
3.0 KiB
C++
Executable File
107 lines
3.0 KiB
C++
Executable File
#pragma once
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#include <dds/dds.hpp>
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#include <QtCore/QObject>
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#include <QtCore/QMap>
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#include <QtCore/QReadWriteLock>
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <rti/core/ListenerBinder.hpp>
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#ifndef TOPICDISCOVER_EXPORT
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# ifdef BUILD_STATIC_LIBRARIES
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# define TOPICDISCOVER_EXPORT
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# else
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# if defined(MAKE_TOPICDISCOVER_LIB)
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# define TOPICDISCOVER_EXPORT Q_DECL_EXPORT
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# else
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# define TOPICDISCOVER_EXPORT Q_DECL_IMPORT
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# endif
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# endif
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#endif
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namespace NGL {
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class INGLLogger;
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}
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class BuiltinAnyListener
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: public QObject
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{
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Q_OBJECT
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public:
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dds::core::xtypes::StructType structType(const std::string &typeName);
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protected:
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template <typename S>
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void on_data_available(dds::sub::DataReader<S>& reader);
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explicit BuiltinAnyListener(QObject *parent = nullptr);
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virtual ~BuiltinAnyListener() = default;
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signals:
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void topicDescription(const std::string &topicName,
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const std::string &typeName);
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protected:
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QMap<std::string, dds::core::xtypes::StructType> m_structTypes;
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QReadWriteLock m_safeTypeLock;
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NGL::INGLLogger &m_logger;
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};
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class BuiltinPublicationListener
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: public BuiltinAnyListener
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, public dds::sub::NoOpDataReaderListener<dds::topic::PublicationBuiltinTopicData>
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{
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Q_OBJECT
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public:
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explicit BuiltinPublicationListener(QObject *parent = nullptr);
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virtual ~BuiltinPublicationListener() = default;
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void on_data_available(dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> &reader) override final;
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};
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class BuiltinSubscriberListener
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: public BuiltinAnyListener
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, public dds::sub::NoOpDataReaderListener<dds::topic::SubscriptionBuiltinTopicData>
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{
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Q_OBJECT
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public:
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explicit BuiltinSubscriberListener(QObject *parent = nullptr);
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virtual ~BuiltinSubscriberListener() = default;
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void on_data_available(dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> &reader) override final;
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};
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class TOPICDISCOVER_EXPORT TopicDiscoverer
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: public QObject
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{
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Q_OBJECT
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public:
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explicit TopicDiscoverer(int domainId, QObject *parent = nullptr);
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virtual ~TopicDiscoverer() = default;
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void init(DDS::QosProfile::ConnectionType ct, const QUrl &tcpDiscoveryUrl);
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const dds::domain::DomainParticipant &getDomainParticipant() const { return m_domainParticipant; }
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signals:
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void topicDescription(const std::string &topicName,
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const std::string &typeName,
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const dds::core::xtypes::StructType &type);
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private slots:
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void onTopicDescription(const std::string &topicName,
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const std::string &typeName);
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private:
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int m_domainId;
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dds::domain::DomainParticipant m_domainParticipant;
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rti::core::ListenerBinder< dds::sub::DataReader<dds::topic::PublicationBuiltinTopicData> > m_publisherListener;
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rti::core::ListenerBinder< dds::sub::DataReader<dds::topic::SubscriptionBuiltinTopicData> > m_subscriberListener;
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NGL::INGLLogger &m_logger;
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};
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