146 lines
4.6 KiB
C++
Executable File
146 lines
4.6 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 Hanna E. Rathje, SLSE, 2015-09-02
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*/
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#include "dds_handler.h"
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#include <DDS/DTS/generic_dts_impl.h>
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#include <Core/pacemaker.h>
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namespace TargetManagement
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{
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DdsHandler::DdsHandler(int domainId, int exerciseId)
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: m_ddsConnector(std::make_shared<DDSConnector::DdsConnector>(domainId, IDL::PartitionType::Exercise, exerciseId))
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, m_logger(getLogger("DdsHandler"))
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{
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DEBUG_LOG(m_logger) << "DdsHandler(" << m_ddsConnector->getDomainId() << ") for partition: " << m_ddsConnector->getDefaultPartition();
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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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// DTC Core (to get partitionTime)
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m_dtcCore = Core::Interface::Dtc::create(m_ddsConnector);
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m_dtcCore->enablePartitionTime();
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// DTS Target
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m_dtsTgt = TargetManagement::Interface::Dts::create(m_ddsConnector);
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bool bRet = m_dtsTgt->enableAll();
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INFO_LOG(m_logger) << "Dts initialised";
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// FTS Target
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m_ftsTgt = TargetManagement::Interface::Fts::create(m_ddsConnector);
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bRet &= m_ftsTgt->enableAll();
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INFO_LOG(m_logger) << "Fts initialised";
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// DTC TrainingAreaBase
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m_dtcTab = TrainingAreaBase::Interface::Dtc::create(m_ddsConnector);
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if (!m_dtcTab->enableTargetData())
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{
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ERROR_LOG(m_logger) << "Could not enable receive TAB";
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return false;
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}
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// FTC TrainingAreaBase
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m_ftcTab = TrainingAreaBase::Interface::Ftc::create(m_ddsConnector);
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if (!m_ftcTab->enableSendTargetData())
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{
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ERROR_LOG(m_logger) << "Could not enable Send TAB";
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return false;
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}
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// Participant Management
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m_dtcPpm = ParticipantManagement::Interface::Dtc::create(m_ddsConnector);
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if (!(m_dtcPpm->enableParticipant() &&
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m_dtcPpm->enableParticipantPosition() &&
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m_dtcPpm->enableType() &&
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m_dtcPpm->enableEquipmentType()
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))
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{
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ERROR_LOG(m_logger) << "Could not initialize ParticipantManagement enableXXX data topic client";
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return false;
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}
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// Get 'static' data for all participants (playerdata)
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// Player in Referenzmap eintragen
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{
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auto cb = [this](const ParticipantManagement::Participant & participant)
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{
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if (participant.equipmentNumber().is_set())
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{
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m_partId2EquipNoMap.insert(participant.id(), participant.equipmentNumber().get());
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m_equipNo2partIdMap.insert(participant.equipmentNumber().get(), participant.id());
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}
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else
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m_partId2EquipNoMap.insert(participant.id(), 0);
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};
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m_dtcPpm->participants(cb);
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}
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connect(m_dtcPpm.get(), &ParticipantManagement::Interface::Dtc::participantChanged,
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this, &DdsHandler::onParticipantChanged);
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return bRet;
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}
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int DdsHandler::participantId2EquipNo(const int participantId) const
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{
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int ret = m_partId2EquipNoMap.value(participantId, 0);
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INFO_LOG(m_logger) << "participantId2EquipNo participantId=" << participantId
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<< " EquipmentNumber=" << ret;
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return ret;
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} // end of participantId2EquipNo()
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int DdsHandler::equipNo2participantId(const int equipmentNumber) const
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{
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int ret = m_equipNo2partIdMap.value(equipmentNumber, 0);
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INFO_LOG(m_logger) << "EquipNo2participantId equipmentNumber=" << equipmentNumber
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<< " ParticipantId=" << ret;
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return ret;
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} // end of EquipNo2participantId()
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// ///////////////////////////////////
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// P P M (ParticipantManagement)
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// ///////////////////////////////////
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void DdsHandler::onParticipantChanged(const ParticipantManagement::Participant &data, DataModification modType)
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{
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DEBUG_LOG(m_logger) << "onParticipantChanged";
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if (modType == DataModification::eRemoved)
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m_partId2EquipNoMap.remove(data.id());
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else
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{
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m_partId2EquipNoMap[data.id()] = data.equipmentNumber().is_set() ? data.equipmentNumber().get() : 0;
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if (data.equipmentNumber().is_set())
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m_equipNo2partIdMap.insert(data.equipmentNumber().get(), data.id());
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}
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if (m_logger.isTraceEnabled())
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{
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for (auto i = m_partId2EquipNoMap.begin(); i != m_partId2EquipNoMap.end(); ++i)
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{
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TRACE_LOG(m_logger) << " partId2EquipNoMap.size(): " << m_partId2EquipNoMap.size()
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<< " partId: " << i.key()
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<< " eqNo: " << i.value();
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}
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}
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} // end of onParticipantChanged()
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} // Namespace PDM
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