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>
99 lines
2.4 KiB
C++
Executable File
99 lines
2.4 KiB
C++
Executable File
/**
|
|
* MainHandler for OC-connection to the SFM
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
* Created by Philipp Dassow, NLST, 2018-01-23
|
|
*/
|
|
|
|
#include "main_handler.h"
|
|
#include "settings.h"
|
|
#include "logger.h"
|
|
#include <DDS/Core/pacemaker.h>
|
|
|
|
namespace TrainingAreaBaseOC
|
|
{
|
|
|
|
MainHandler::MainHandler(QObject *parent)
|
|
: QObject(parent)
|
|
, m_aesDtc(nullptr)
|
|
, m_aesFtc(nullptr)
|
|
, m_pdmDtc(nullptr)
|
|
, m_canagHandler(nullptr)
|
|
, m_connectionHandler(nullptr)
|
|
, m_ddsHandler(nullptr)
|
|
, m_rxHandler(nullptr)
|
|
, m_ftsHandler(nullptr)
|
|
, m_websocketHandler(nullptr)
|
|
, m_logger(getLogger("MainHandler"))
|
|
{}
|
|
|
|
MainHandler::~MainHandler()
|
|
{
|
|
m_rxHandler.reset();
|
|
m_canagHandler.reset();
|
|
m_connectionHandler.reset();
|
|
m_ftsHandler.reset();
|
|
m_aesDtc.reset();
|
|
m_aesFtc.reset();
|
|
m_pdmDtc.reset();
|
|
m_ddsHandler.reset();
|
|
}
|
|
|
|
bool MainHandler::init(int domainId, int exerciseId)
|
|
{
|
|
// initialize DDS
|
|
m_ddsHandler = std::make_shared<DdsHandler>(domainId, exerciseId);
|
|
if (!m_ddsHandler->init())
|
|
{
|
|
ERROR_LOG(m_logger) << "Could not initialise DdsHandler.";
|
|
return false;
|
|
}
|
|
|
|
// create AES Dtc
|
|
m_aesDtc = AreaEffectSimulation::Interface::Dtc::create(m_ddsHandler->ddsConnector());
|
|
DEBUG_LOG(m_logger) << "Created AES Dtc";
|
|
|
|
// create AES Ftc
|
|
m_aesFtc = AreaEffectSimulation::Interface::Ftc::create(m_ddsHandler->ddsConnector());
|
|
DEBUG_LOG(m_logger) << "Created AES Ftc";
|
|
|
|
// create PDM Dtc
|
|
m_pdmDtc = ProjectDataManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector());
|
|
DEBUG_LOG(m_logger) << "Created PDM Dtc";
|
|
|
|
// ConnectionHandler
|
|
m_connectionHandler = std::make_shared<ConnectionHandler>();
|
|
|
|
if (!m_connectionHandler->init())
|
|
{
|
|
ERROR_LOG(m_logger) << "Could not initialise ConnectionHandler.";
|
|
return false;
|
|
}
|
|
|
|
// to DDS
|
|
m_rxHandler = std::make_shared<SendToDds>(this);
|
|
|
|
// CanagHandler / to TrainingArea
|
|
m_canagHandler = std::make_shared<CanagHandler>(this);
|
|
|
|
if (!m_canagHandler->init())
|
|
{
|
|
ERROR_LOG(m_logger) << "Could not initialise CanagHandler.";
|
|
return false;
|
|
}
|
|
|
|
|
|
// from DDS
|
|
m_ftsHandler = std::make_shared<RecvFromDdsFts>(this);
|
|
#ifndef GUEZ_MODE
|
|
m_websocketHandler = std::make_shared<WebsocketHandler>(this, exerciseId, m_ddsHandler->dtsTaboc(), m_ddsHandler->dtcTaboc());
|
|
#endif
|
|
|
|
m_ddsHandler->pacemaker()->setNewState(Core::RunningState::Running);
|
|
|
|
return true;
|
|
}
|
|
|
|
} // namespace TrainingAreaBaseOC
|