153 lines
4.6 KiB
C++
Executable File
153 lines
4.6 KiB
C++
Executable File
/**
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* DdsInterface for Aes
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#include "dds_handler.h"
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#include "aes_dts.h"
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#include "aes_fts.h"
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#include <Core/pacemaker.h>
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#include <Core/core_dtc.h>
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#include <TrainingAreaBase/tab_dtc.h>
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#include <QCoreApplication>
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#include <QThread>
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namespace AreaEffectSimulation
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{
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DdsHandler::DdsHandler(int domainId, int exerciseId, QObject *parent)
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: QObject(parent)
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, m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Exercise, exerciseId))
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, m_currentTimeMSec(-1)
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, m_logger(getLogger("DdsInterface"))
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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_pdmDtc = nullptr;
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m_ppmDtc = nullptr;
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m_tabDtc = nullptr;
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m_tabFtc = nullptr;
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m_ddsFts = nullptr;
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m_ddsDts = nullptr;
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m_ismDtc = nullptr;
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m_topicLockMaster = nullptr;
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m_pacemaker = nullptr;
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m_dtcCore = 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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m_ddsConnector->enableBatchedWriter(false);
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// Pacemaker
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m_pacemaker = std::make_shared<Core::Pacemaker>(m_ddsConnector);
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m_topicLockMaster = std::make_shared<Core::TopicLockMaster>(m_ddsConnector);
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m_dtcCore = Core::Interface::Dtc::create(m_ddsConnector);
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connect(m_dtcCore.get(), &Core::Interface::Dtc::partitionTimeChanged,
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this, &DdsHandler::onPartitionTimeChanged);
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m_dtcCore->enablePartitionTime();
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// TODO: waitForHistoricalData does not work on non-keyed data as it seems ...
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for (int i = 0; i < 1000; ++i)
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{
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if (m_currentTimeMSec > 0)
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break;
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QCoreApplication::processEvents();
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QThread::msleep(10);
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}
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// TrainingAreaBase
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m_tabDtc = TrainingAreaBase::Interface::Dtc::create(m_ddsConnector);
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m_tabFtc = TrainingAreaBase::Interface::Ftc::create(m_ddsConnector);
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bool bRet = m_tabFtc->enableSendResetAllDusMines();
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bRet &= m_tabFtc->enableAdlerCalculateTrajectory();
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bRet &= m_tabFtc->enableAdlerFqFb();
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bRet &= m_tabFtc->enableSendExConfirmationReport();
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bRet &= m_tabFtc->enableSendExFiredReport();
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bRet &= m_tabFtc->enableSendExFireReadiness();
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m_ddsDts = AreaEffectSimulation::Interface::Dts::create(m_ddsConnector);
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m_ddsFts = AreaEffectSimulation::Interface::Fts::create(m_ddsConnector);
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bRet &= m_ddsDts->enableAll();
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DEBUG_LOG(m_logger) << "initialized Dts: " << bRet;
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bRet &= m_ddsFts->enableAll();
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bRet &= m_ddsFts->enableTargetPositionsModify();
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bRet &= m_ddsFts->enableTrajectoryAdlerModify();
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bRet &= m_ddsFts->enableEffectClusterFireHalt();
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bRet &= m_ddsFts->enableAcknowledgeExternalAesItem();
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bRet &= m_ddsFts->enableSetAesItemEffectorState();
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DEBUG_LOG(m_logger) << "initialized Fts: " << bRet;
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m_pdmDtc = ProjectDataManagement::Interface::Dtc::create(m_ddsConnector);
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m_pdmDtc->enableChargeType();
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m_pdmDtc->waitForHistoricalDataChargeType(20000);
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m_ppmDtc = ParticipantManagement::Interface::Dtc::create(m_ddsConnector);
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m_ppmDtc->enableParticipantPosition();
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m_ppmDtc->waitForHistoricalDataParticipantPosition(20000);
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m_ppmDtc->enableParticipant();
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m_ppmDtc->waitForHistoricalDataParticipant(20000);
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m_cesFtc = CentralEffectSimulation::Interface::Ftc::create(m_ddsConnector);
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bRet &= m_cesFtc->enableDetonationLocation();
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// for mine corridors (as buildings)
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m_ismDtc = InfrastructureManagement::Interface::Dtc::create(m_ddsConnector);
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m_ismDtc->enableMainFootprint();
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m_ismDtc->waitForHistoricalDataMainFootprint(20000);
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// for Elevation :
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m_asmDtc = AssetManagement::Interface::Dtc::create(m_ddsConnector);
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m_asmDtc->waitForHistoricalDataTrainingArea(1000);
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m_exmDtc = ExerciseManagement::Interface::Dtc::create(m_ddsConnector);
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m_exmDtc->waitForHistoricalDataExercise(1000);
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// : for Elevation
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return bRet;
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}
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QDateTime DdsHandler::currentPartitionTime() const
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{
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return QDateTime::fromMSecsSinceEpoch(currentPartitionTimeMSec());
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}
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qint64 DdsHandler::currentPartitionTimeMSec() const
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{
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if (!m_elapsedTimer.isValid())
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return m_currentTimeMSec;
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return m_currentTimeMSec + m_elapsedTimer.elapsed();
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}
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void DdsHandler::onPartitionTimeChanged(const Core::PartitionTime ¤tTime)
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{
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m_elapsedTimer.restart();
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m_currentTimeMSec = currentTime.timeStamp();
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}
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ProjectDataManagement::ChargeType DdsHandler::getChargeType(int chargeTypeId)
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{
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return m_pdmDtc->chargeType(chargeTypeId);
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}
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} // Namespace AES
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