119 lines
3.2 KiB
C++
Executable File
119 lines
3.2 KiB
C++
Executable File
/**
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* Instance of the UAS plugin
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Mike Wille, ESZS, 2025-04-17
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*/
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#include "plugin_instance.h"
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#include "from_tab.h"
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#include "uav_ia_manager.h"
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#include <TrainingAreaBase/send_to_dds.h>
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#include <TrainingAreaBase/training_area_telegrams.h>
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#include <CentralEffectSimulation/ces_dtc.h>
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#include <ProjectDataManagement/pdm_dtc.h>
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#include <ParticipantManagement/ppm_dtc.h>
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#include <FileManagement/flm_dtc.h>
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#include <FileManagement/flm_ftc.h>
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#include <TmsIfAdapter/module_loader.h>
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#include <TmsIfAdapter/tms_if_adapter.h>
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#include <TmsIfAdapter/uav_commander.h>
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#include <QCoreApplication>
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namespace UAS
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{
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TmsIfModuleHandle::TmsIfModuleHandle()
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: m_handle(ModuleLoader::load(QString(QCoreApplication::applicationDirPath() + QStringLiteral("/../lib/")).toStdString())) // won't work on windows as libs are always inside the bin dir (QCoreApplication::applicationFilePath)
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{}
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TmsIfModuleHandle::~TmsIfModuleHandle()
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{
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try
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{
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ModuleLoader::unload(m_handle);
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}
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catch(std::exception &ex)
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{
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qDebug() << "failed to unload tms-if adapter module! " << ex.what();
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}
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}
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PluginInstance::PluginInstance(TrainingAreaBase::Plugin::DataProvider *dataProvider,
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const std::shared_ptr<TrainingAreaBase::RecvFromTab> &sendToDds,
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const std::shared_ptr<TrainingAreaBase::DdsHandler> &ddsHandler,
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NGL::Settings *settings)
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: m_exerciseId(dataProvider->exerciseId())
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, m_sendToDds(sendToDds)
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, m_settings(settings)
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, m_tmsIfAdapter(ModuleLoader::get(m_tmsIfModuleHandle()))
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, m_ddsHandler(ddsHandler)
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, m_dtcPdm(ProjectDataManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector()))
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, m_dtcPpm(ParticipantManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector()))
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, m_uavIAManager(new UAVInterfaceAdapterManager(m_ddsHandler, m_sendToDds, m_tmsIfAdapter, m_exerciseId, this))
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, m_fromTab(new FromTab(ddsHandler, m_sendToDds, m_uavIAManager, m_exerciseId))
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, m_logger(getLogger("PluginInstance"))
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{
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DEBUG_LOG(m_logger) << "UAS PluginInstance running!";
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if (!m_dtcPdm)
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{
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WARNING_LOG(m_logger) << "m_dtcPdm failed";
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throw std::runtime_error("m_dtcPdm failed");
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}
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m_dtcPdm->enableChargeType(); // for m_dtcPdm->isJamming(..)
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m_dtcPdm->waitForHistoricalDataChargeType(3000);
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if (!m_dtcPpm)
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{
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WARNING_LOG(m_logger) << "m_dtcPpm failed";
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throw std::runtime_error("m_dtcPpm failed");
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}
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m_dtcPpm->enableParticipant(); // for looking up and receiving UAV participants to start UAV IA process(es)
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m_dtcPpm->waitForHistoricalDataParticipant(3000);
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// only start interface adapter *instances* when tmsIfAdapter is done setting up the interface adapter itself
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if (m_tmsIfAdapter.isReady())
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{
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m_uavIAManager->init();
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}
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else
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{
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m_tmsIfAdapter.set_isReady_Callback([this]()
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{
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m_uavIAManager->init();
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});
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}
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}
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bool PluginInstance::init()
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{
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return true;
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}
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std::shared_ptr<TrainingAreaBase::SendToTab> PluginInstance::sendToTab()
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{
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return m_fromTab;
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}
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bool PluginInstance::canSendData() const
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{
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return true;
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}
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} // namespace UAS
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//#include <plugin_instance.moc> // temp! for Positions test class
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