qt5-legatus-legacy/Lts/Services/AreaEffectSimulation/dds_handler.cpp

/**
  * DdsInterface for Aes
  * $Id$
  * $HeadURL$
  * $Author$
  */

#include "dds_handler.h"
#include "aes_dts.h"
#include "aes_fts.h"

#include <DDS/Core/pacemaker.h>
#include <DDS/Core/core_dtc.h>
#include <TrainingAreaBase/tab_dtc.h>
#include <QCoreApplication>
#include <QThread>

namespace AreaEffectSimulation
{

DdsHandler::DdsHandler(int domainId, int exerciseId, QObject *parent)
  : QObject(parent)
  , m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Exercise, exerciseId))
  , m_currentTimeMSec(-1)
  , m_logger(getLogger("DdsInterface"))
{
  DEBUG_LOG(m_logger) << "DdsHandler(" << domainId << ") for partition: " << m_ddsConnector->getDefaultPartition();
}

DdsHandler::~DdsHandler()
{
  m_pdmDtc = nullptr;
  m_ppmDtc = nullptr;
  m_tabDtc = nullptr;
  m_tabFtc = nullptr;
  m_ddsFts = nullptr;
  m_ddsDts = nullptr;
  m_ismDtc = nullptr;
  m_topicLockMaster = nullptr;
  m_pacemaker = nullptr;
  m_dtcCore = nullptr;
  m_ddsConnector = nullptr;
}

bool DdsHandler::init(const QStringList &qosFileList)
{
  if (!m_ddsConnector->init(qosFileList))
  {
    ERROR_LOG(m_logger) << "Error initializing dds connections - aborting";
    return false;
  }

  // default initialize Publisher and Subscriber
  m_ddsConnector->initPublisherSubscriber();
  m_ddsConnector->enableBatchedWriter(false);

  // Pacemaker
  m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
  m_topicLockMaster = std::make_shared<Core::TopicLockMaster>(m_ddsConnector);

  m_dtcCore = Core::Interface::Dtc::create(m_ddsConnector);
  connect(m_dtcCore.get(), &Core::Interface::Dtc::partitionTimeChanged,
          this, &DdsHandler::onPartitionTimeChanged);
  m_dtcCore->enablePartitionTime();
  // TODO: waitForHistoricalData does not work on non-keyed data as it seems ...
  for (int i = 0; i < 1000; ++i)
  {
    if (m_currentTimeMSec > 0)
      break;
    QCoreApplication::processEvents();
    QThread::msleep(10);
  }

  // TrainingAreaBase
  m_tabDtc = TrainingAreaBase::Interface::Dtc::create(m_ddsConnector);
  m_tabFtc = TrainingAreaBase::Interface::Ftc::create(m_ddsConnector);
  bool bRet = m_tabFtc->enableSendResetAllDusMines();
  bRet &= m_tabFtc->enableAdlerCalculateTrajectory();
  bRet &= m_tabFtc->enableAdlerFqFb();
  bRet &= m_tabFtc->enableSendExConfirmationReport();
  bRet &= m_tabFtc->enableSendExFiredReport();
  bRet &= m_tabFtc->enableSendExFireReadiness();


  m_ddsDts = AreaEffectSimulation::Interface::Dts::create(m_ddsConnector);
  m_ddsFts = AreaEffectSimulation::Interface::Fts::create(m_ddsConnector);
  bRet &= m_ddsDts->enableAll();
  DEBUG_LOG(m_logger) << "initialized Dts: " << bRet;

  bRet &= m_ddsFts->enableAll();
  bRet &= m_ddsFts->enableTargetPositionsModify();
  bRet &= m_ddsFts->enableTrajectoryAdlerModify();
  bRet &= m_ddsFts->enableEffectClusterFireHalt();


  bRet &= m_ddsFts->enableAcknowledgeExternalAesItem();
  bRet &= m_ddsFts->enableSetAesItemEffectorState();

  DEBUG_LOG(m_logger) << "initialized Fts: " << bRet;

  m_pdmDtc = ProjectDataManagement::Interface::Dtc::create(m_ddsConnector);
  m_pdmDtc->enableChargeType();
  m_pdmDtc->waitForHistoricalDataChargeType(20000);

  m_ppmDtc = ParticipantManagement::Interface::Dtc::create(m_ddsConnector);
  m_ppmDtc->enableParticipantPosition();
  m_ppmDtc->waitForHistoricalDataParticipantPosition(20000);
  m_ppmDtc->enableParticipant();
  m_ppmDtc->waitForHistoricalDataParticipant(20000);

  m_cesFtc = CentralEffectSimulation::Interface::Ftc::create(m_ddsConnector);
  bRet &= m_cesFtc->enableDetonationLocation();

  // for mine corridors (as buildings)
  m_ismDtc = InfrastructureManagement::Interface::Dtc::create(m_ddsConnector);
  m_ismDtc->enableMainFootprint();
  m_ismDtc->waitForHistoricalDataMainFootprint(20000);

  // for Elevation :
  m_asmDtc = AssetManagement::Interface::Dtc::create(m_ddsConnector);
  m_asmDtc->waitForHistoricalDataTrainingArea(1000);
  m_exmDtc = ExerciseManagement::Interface::Dtc::create(m_ddsConnector);
  m_exmDtc->waitForHistoricalDataExercise(1000);
  // : for Elevation

  return bRet;
}

QDateTime DdsHandler::currentPartitionTime() const
{
  return QDateTime::fromMSecsSinceEpoch(currentPartitionTimeMSec());
}

qint64 DdsHandler::currentPartitionTimeMSec() const
{
  if (!m_elapsedTimer.isValid())
    return m_currentTimeMSec;
  return m_currentTimeMSec + m_elapsedTimer.elapsed();
}

void DdsHandler::onPartitionTimeChanged(const Core::PartitionTime &currentTime)
{
  m_elapsedTimer.restart();
  m_currentTimeMSec = currentTime.timeStamp();
}

ProjectDataManagement::ChargeType DdsHandler::getChargeType(int chargeTypeId)
{
  return m_pdmDtc->chargeType(chargeTypeId);
}

} // Namespace AES