59 lines
1.8 KiB
C++
Executable File
59 lines
1.8 KiB
C++
Executable File
/**
|
|
* Initialisation for Subscriber
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
*/
|
|
|
|
#include "initialisation.h"
|
|
#include "subscriber.h"
|
|
|
|
#include <DDS/DDSConnector/publisher.h>
|
|
|
|
namespace DdsView
|
|
{
|
|
|
|
Initialisation::Initialisation(const dds::domain::DomainParticipant &dp,
|
|
int domainId, IDL::PartitionType partitionType,
|
|
int exerciseId, TelegramModel *tm)
|
|
: DDSConnector::DdsConnector(domainId, partitionType, exerciseId)
|
|
, m_logger(DdsView::getLogger("Initialisation"))
|
|
|
|
{
|
|
DEBUG_LOG(m_logger) << "Initialisation for partition: " << getDefaultPartition();
|
|
initDDS(dp, tm);
|
|
}
|
|
|
|
void Initialisation::initDDS(const dds::domain::DomainParticipant &dp, TelegramModel *tm)
|
|
{
|
|
DDSConnector::DdsConnector::init();
|
|
|
|
// Initialisation Subscriber
|
|
setSubscriber(new DdsView::Subscriber(dp, getDefaultPartition(), tm));
|
|
|
|
// Initialisation Publisher
|
|
// Note (!): The publisher has its own domainParticipant
|
|
setPublisher(new DDSConnector::Publisher(dds::domain::DomainParticipant(getDomainId()), getDefaultPartition()));
|
|
|
|
if (getPublisher()->getDomainParticipant() == nullptr)
|
|
return;
|
|
|
|
// Enable DomainParticipant
|
|
// Default-QoS Configuration for enabled => false (using Qos from DefaultParticipant)
|
|
dds::domain::DomainParticipant &pubDp = const_cast<dds::domain::DomainParticipant &>(getPublisher()->getDomainParticipant());
|
|
pubDp->enable();
|
|
}
|
|
|
|
bool Initialisation::initDDTCs(const QVector<DDSGeneric::TopicDescription> &vDro)
|
|
{
|
|
DdsView::Subscriber *sub = dynamic_cast<DdsView::Subscriber *>(getSubscriber());
|
|
return sub ? sub->initDDTCs(vDro) : false;
|
|
}
|
|
|
|
bool Initialisation::publish(const dds::core::xtypes::DynamicData &data, const std::string &topicName)
|
|
{
|
|
return getPublisher() ? getPublisher()->write(data, topicName) : false;
|
|
}
|
|
|
|
} // Namespace DdsView
|