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>
102 lines
3.3 KiB
C++
Executable File
102 lines
3.3 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 Christian Ehrlicher, SLSE, 2016-04-14
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*/
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#include "dds_handler.h"
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#include <DDS/DDSConnector/publisher.h>
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#include <DDS/DDSConnector/dds_connector.h>
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#include <DDS/Core/pacemaker.h>
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#include <DDS/DTC/generic_dtc_impl.h>
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#include <DDS/DTS/generic_dts_impl.h>
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namespace TrainingAreaBase
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{
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DdsHandler::DdsHandler(int domainId, int exerciseId)
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: m_ddsConnector(new DDSConnector::DdsConnector(domainId, IDL::PartitionType::Exercise, exerciseId))
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, m_curMSecSinceEpoch(0)
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, m_exerciseId(exerciseId)
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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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m_pacemaker->setNewState(Core::RunningState::StoppedNormally);
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m_pacemaker = nullptr;
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m_dtcPartitionTime = nullptr;
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m_dtsEmergencyCall = nullptr;
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m_dtsEmergencyCallPublisher = nullptr;
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m_dtsTab = nullptr;
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m_ftsTab = nullptr;
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m_ftcPpm = nullptr;
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m_ftcNom = nullptr;
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m_dtcOpm = nullptr;
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m_ddsConnector = nullptr;
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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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// Pacemaker
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m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
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// Current exercise time
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m_dtcPartitionTime.reset(m_ddsConnector->createDTC<DTC::PartitionTimeImpl>());
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assert(m_dtcPartitionTime.get());
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m_dtcPartitionTime->setSubscriberCallback([this](const Core::PartitionTime & data, DataModification)
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{
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m_curMSecSinceEpoch = data.timeStamp();
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});
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// default dts:...
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m_dtsTab = TrainingAreaBase::Interface::Dts::create(m_ddsConnector);
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// enable all ...
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bool bRet = m_dtsTab->enableAll();
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// ... but not EmergencyCall:
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m_dtsTab->enableEmergencyCall(false);
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// instead, prepare publishing of EmergencyCall to 'AllExercises':
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m_dtsEmergencyCallPublisher = std::make_shared<DDSConnector::Publisher>(m_ddsConnector->getDomainParticipant(),
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DDSConnector::DdsConnector::getPartitionString(IDL::PartitionType::AllExercises));
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m_dtsEmergencyCall = std::make_shared<DTS::EmergencyCallImpl>(m_ddsConnector->getDomainParticipant(),
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m_dtsEmergencyCallPublisher->getDdsPublisher(),
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DDS::Helper::getShortTopicName(DDS::topic_type_name<TrainingAreaBase::EmergencyCall>::value()));
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INFO_LOG(m_logger) << "Dts TrainingAreaBase initialised";
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m_ftsTab = TrainingAreaBase::Interface::Fts::create(m_ddsConnector);
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bRet &= m_ftsTab->enableAll();
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INFO_LOG(m_logger) << "Fts TrainingAreaBase initialised";
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m_ftcPpm = ParticipantManagement::Interface::Ftc::create(m_ddsConnector);
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bRet &= m_ftcPpm->enableSetMissionActionFulfilled();
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m_ftcNom = NotificationManagement::Interface::Ftc::create(m_ddsConnector);
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bRet &= m_ftcNom->enableCreateNotification();
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m_dtcOpm = OperatorManagement::Interface::Dtc::create(m_ddsConnector);
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bRet &= m_dtcOpm->enableUser();
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return bRet;
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}
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} // Namespace PDM
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