Continues migration with DDS, Common
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/**
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* {{ namespace_abbr_upper }} Data Topic Client Interface
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* $Id$
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* $HeadURL$
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* $Author$
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* Created by Christian Ehrlicher, SLSE, 2016-04-07
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*/
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{% autoescape off %}
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// filename: {{ namespace_abbr }}_dtc_impl.cpp
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#include "{{ namespace_abbr }}_dtc_impl.h"
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{% if custom_dtc_procs %}
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#include <{{ include_prefix }}/{{ namespace_abbr }}_dtc_impl_custom.h>
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{% endif %}
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#include <DDS/DTC/generic_dtc_impl.h>
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#include <dds/core/cond/StatusCondition.hpp>
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#include <dds/core/cond/WaitSet.hpp>
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#include <unordered_map>
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#include <QCoreApplication>
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#include <QThread>
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namespace {{ namespace }}
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{
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namespace Interface
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{
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// initializer function
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std::shared_ptr<Dtc> Dtc::create(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
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{
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// share only for main thread
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if (qApp->thread() != QThread::currentThread())
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{% if custom_dtc_procs %}
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return std::make_shared<DtcImplCustom>(ddsConnector);
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{% else %}
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return std::make_shared<DtcImpl>(ddsConnector);
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{% endif %}
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static std::unordered_map<DDSConnector::DdsConnector*, std::weak_ptr<Dtc>> s_availableConnectors;
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auto it = s_availableConnectors.find(ddsConnector.get());
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if (it != s_availableConnectors.end())
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{
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auto ret = it->second.lock();
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if (ret)
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return ret;
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s_availableConnectors.erase(it);
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}
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{% if custom_dtc_procs %}
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auto ret = std::make_shared<DtcImplCustom>(ddsConnector);
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{% else %}
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auto ret = std::make_shared<DtcImpl>(ddsConnector);
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{% endif %}
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s_availableConnectors.insert(std::make_pair(ddsConnector.get(), ret));
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return std::move(ret); // c++11 defect
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}
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// DtcImpl
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DtcImpl::DtcImpl(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
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: Dtc()
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, m_ddsConnector(ddsConnector)
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, m_logger(getLogger("Dtc"))
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{}
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DtcImpl::~DtcImpl()
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{
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enableAll(false);
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}
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bool DtcImpl::enableAll(bool enable)
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{ {% for dt in dataTopics.member %} {% if dt.dtcImpl %} {% if dt.autosubscribe %}
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if (!enable{{ dt.name }}(enable))
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{
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ERROR_LOG(m_logger) << "Error initializing data topic {{ dt.name }}";
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return false;
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}
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{% endif %} {% endif %} {% endfor %}
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return true;
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}
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{% for dt in dataTopics.member %} {% if dt.dtcImpl %} {% if dt.key.name %}
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template <>
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struct TopicConstraints<{{ dt.type }}>
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{
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using KEY = {{ dt.key.cppType }};
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};
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{% endif %} {% endif %} {% endfor %}
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template <typename DTC>
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bool DtcImpl::checkEnabled(const DTC &dtc) const
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{
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if (!dtc)
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{
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using TOPIC = typename DtcConstraints<DTC>::TOPIC ;
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WARNING_LOG(m_logger) << "Error retrieving data topic "
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<< DDS::topic_type_name<TOPIC>::value() << " - not enabled";
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Q_ASSERT(false);
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return false;
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}
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return true;
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}
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template <typename DTC>
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bool DtcImpl::waitForHistoricalData(DTC &dtc, int timeoutMSec)
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{
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if (!checkEnabled(dtc))
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return false;
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return dtc->waitForHistoricalData(timeoutMSec);
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}
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template <typename T, typename K = typename TopicConstraints<T>::KEY>
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K getKey(const T &val);
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template <typename DTC,
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typename T,
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typename K>
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QMap<K, T> DtcImpl::getAll(const DTC &dtc) const
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{
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if (!checkEnabled(dtc))
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return {};
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QMap<K, T> retMap;
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for (const auto &sample : dtc->readAlive())
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retMap.insert(getKey(sample.data()), sample);
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return retMap;
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}
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template <typename DTC, typename C, typename T, typename K>
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T DtcImpl::getOne(const DTC &dtc, const C &cont, const K &key) const
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{
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if (!checkEnabled(dtc))
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return {};
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const auto it = cont.find(key);
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return it == cont.end() ? T() : it.value();
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}
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template <typename DTC, typename C, typename T>
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bool DtcImpl::iterateAll(const DTC &dtc, const C &cont, const std::function<void(const T &data)> &cb) const
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{
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if (!checkEnabled(dtc))
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return false;
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for (const auto &sample : cont)
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cb(sample);
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return true;
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}
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template <typename DTC, typename C, typename T>
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bool DtcImpl::iterateUntil(const DTC &dtc, const C &cont, const std::function<bool(const T &data)> &cb) const
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{
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if (!checkEnabled(dtc))
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return false;
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for (const auto &sample : cont)
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{
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if (cb(sample))
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return true;
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}
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return false;
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}
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{% for dt in dataTopics.member %} {% if dt.dtcImpl %}
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//
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// Data Topic '{{ dt.name }}'
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//
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bool DtcImpl::enable{{ dt.name }}(bool enable)
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{
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if (enable)
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{
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if (m_dtc{{ dt.name }})
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{
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INFO_LOG(m_logger) << "{{ dt.name }} already enabled!";
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return true;
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}
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m_dtc{{ dt.name }}.reset(m_ddsConnector->createDTC<DTC::{{ dt.name }}Impl>());
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assert(m_dtc{{ dt.name }}.get());
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m_dtc{{ dt.name }}->setSubscriberCallback([this](const {{ namespace }}::{{ dt.name }} &data, DataModification modType)
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{
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{{ dt.nameFlc }}ChangedInternal(data, modType);
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});
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}
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else
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{
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m_dtc{{ dt.name }} = nullptr;
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}
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return true;
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}
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bool DtcImpl::waitForHistoricalData{{ dt.name }}(int timeoutMSec)
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{
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if (!is{{ dt.name }}Enabled())
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{
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enable{{ dt.name }}();
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DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
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}
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if (!waitForHistoricalData(m_dtc{{ dt.name }}, timeoutMSec))
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return false;
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{% if dt.key.name %}
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m_{{ dt.nameFlc }}Cont = getAll(m_dtc{{ dt.name }});
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{% else %}
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auto samples = m_dtc{{ dt.name }}->readAlive();
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if (samples.length() == 0)
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return false;
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m_{{ dt.nameFlc }} = samples[samples.length() - 1].data();
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{% endif %}
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return true;
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}
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{% if dt.key.name %}
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template <>
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{{ dt.key.cppType }} getKey(const {{ dt.type }} &val)
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{
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return val.{{ dt.key.name }}();
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}
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QMap<{{ dt.key.cppType }},{{ namespace }}::{{ dt.type }}> DtcImpl::{{ dt.nameFlc }}s()
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{
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if (!is{{ dt.name }}Enabled())
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{
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enable{{ dt.name }}();
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DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
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waitForHistoricalData{{ dt.name }}(10);
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}
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return m_{{ dt.nameFlc }}Cont;
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}
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bool DtcImpl::{{ dt.nameFlc }}s(const std::function<void(const {{ namespace }}::{{ dt.type }} &data)> &cb)
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{
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if (!is{{ dt.name }}Enabled())
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{
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enable{{ dt.name }}();
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DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
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waitForHistoricalData{{ dt.name }}(10);
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}
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return iterateAll(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, cb);
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}
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bool DtcImpl::{{ dt.nameFlc }}s(const std::function<bool(const {{ namespace }}::{{ dt.type }} &data)> &cb)
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{
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if (!is{{ dt.name }}Enabled())
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{
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enable{{ dt.name }}();
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DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
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waitForHistoricalData{{ dt.name }}(10);
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}
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return iterateUntil(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, cb);
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}
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{{ namespace }}::{{ dt.type }} DtcImpl::{{ dt.nameFlc }}({{ dt.key.cppTypeCr }} {{ dt.key.nameFlc }})
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{
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if (!is{{ dt.name }}Enabled())
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{
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enable{{ dt.name }}();
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DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
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waitForHistoricalData{{ dt.name }}(10);
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}
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return getOne(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, {{ dt.key.nameFlc }});
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}
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void DtcImpl::{{ dt.nameFlc }}ChangedInternal(const {{ namespace }}::{{ dt.type }} &data, DataModification modType)
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{
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switch (modType)
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{
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case DataModification::eAdded:
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case DataModification::eModified:
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m_{{ dt.nameFlc }}Cont[getKey(data)] = data;
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break;
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case DataModification::eRemoved:
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m_{{ dt.nameFlc }}Cont.remove(getKey(data));
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break;
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}
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emit {{ dt.nameFlc }}Changed(data, modType);
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}
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{% else %}
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{{ namespace }}::{{ dt.type }} DtcImpl::{{ dt.nameFlc }}()
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{
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return m_{{ dt.nameFlc }};
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}
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void DtcImpl::{{ dt.nameFlc }}ChangedInternal(const {{ namespace }}::{{ dt.type }} &data, DataModification modType)
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{
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switch (modType)
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{
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case DataModification::eAdded:
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case DataModification::eModified:
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m_{{ dt.nameFlc }} = data;
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break;
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case DataModification::eRemoved:
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m_{{ dt.nameFlc }} = {{ namespace }}::{{ dt.type }}();
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break;
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}
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emit {{ dt.nameFlc }}Changed(data, modType);
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}
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{% endif %} {% endif %} {% endfor %}
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} // namespace Interface
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} // namespace {{ namespace }}
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{% endautoescape %}
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