Continues migration with DDS, Common
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Executable
+97
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#
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# $Id$
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# $HeadURL$
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# $Author$
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#
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INCLUDE(MacroRTIDDSGen)
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INCLUDE(MacroCodeGenIdl)
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SET(xml_FILE core.xml)
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#
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# --- Library svcCoreCommon / ddscore --------------------------------------------------------------------------------
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#
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SET(SRCS_common
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core_export.h
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function_reply_object.cpp
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function_reply_object.h
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logger.cpp
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logger.h
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)
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# Generates core.idl / core_enums.idl
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CODEGEN_IDL_SVC(SRCS_common ${xml_FILE})
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# Generate core.sql
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CODEGEN_SQL(SRCS_common ${xml_FILE})
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# Generate *.cpp/*.hpp from core_enums.idl / core.idl
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RTIDDSGEN(SRCS_common core_enums.idl)
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RTIDDSGEN(SRCS_common core.idl)
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# Generate core_dt[s,c]_types.h, core_ft[s,c]_types.h
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CODEGEN_TOPIC_TYPEDEFS(SRCS_common ${xml_FILE})
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# generate core_[d|f]tc.h
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CODEGEN_CLIENT_TOPICS_IFC(SRCS_common ${xml_FILE})
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NGL_ADD_LIBRARY(WS AAR HLA SV ddscore SHARED ${SRCS_common})
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NGL_TARGET_LINK_LIBRARIES(ddscore
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PRIVATE
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NGLLogger
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PUBLIC
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LtsUtilsCoreHeaderOnly
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ddsdts
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Qt5::Core
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RTI::nddsc # DDS_GroupDataQosPolicy_initialize (wo auch immer das herkommt)
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RTI::nddscore # RTI_LOG_ANY_FAILURE_s (wo auch immer das herkommt)
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RTI::nddscpp2
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)
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NGL_TARGET_INCLUDE_DIRECTORIES(ddscore
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/../../
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${CMAKE_CURRENT_BINARY_DIR}/../../
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)
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NGL_INSTALL_TARGET(ddscore)
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#
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# --- Library svcCoreClient --------------------------------------------------------------------------------
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#
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SET(SRCS_client
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core_export.h
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pacemaker.h
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pacemaker.cpp
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topic_lock_master.h
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topic_lock_master.cpp
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)
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# generate core_[d|f]tc_impl.[cpp|h]
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CODEGEN_CLIENT_TOPICS_IMPL(SRCS_client ${xml_FILE})
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NGL_ADD_LIBRARY(AAR SV WS HLA svcCoreClient SHARED ${SRCS_client})
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NGL_TARGET_INCLUDE_DIRECTORIES(svcCoreClient
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/../../
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${CMAKE_CURRENT_BINARY_DIR}/../../
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)
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NGL_TARGET_LINK_LIBRARIES(svcCoreClient
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PRIVATE
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RTI::nddscpp2
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ddsconnector
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PUBLIC
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ddscore
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ddsftc
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)
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NGL_INSTALL_TARGET(svcCoreClient)
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#
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# --- Library svcCoreServer --------------------------------------------------------------------------------
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# not used (no core service needed)
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#
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#
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# --- Topic Type Plugin --------------------------------------------------------------
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#
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CREATE_TOPIC_TYPE_PLUGIN(${xml_FILE})
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Executable
+204
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
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<service namespace="Core" abbreviation="CORE" procNames="Core" exerciseDependency="Global">
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<rcs>
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<Id Id="$Id$"/>
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<HeadURL HeadURL="$HeadURL$"/>
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<Author Author="$Author$"/>
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</rcs>
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<tables>
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<table name="ft_reply_state" comment="static data (not project specific) generate from enum">
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<column name="id" datatype="integer" isPrimaryKey="1"/>
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<column name="name" datatype="text"/>
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</table>
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<table name="replay_type" comment="Type of replay (Data for reports/events or situation)">
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<column name="id" datatype="integer" isPrimaryKey="1"/>
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<column name="name" datatype="text"/>
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</table>
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<table name="running_state">
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<column name="id" datatype="integer" isPrimaryKey="1"/>
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<column name="name" datatype="text"/>
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</table>
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<table name="service_group_type">
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<column name="id" datatype="integer" isPrimaryKey="1"/>
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<column name="name" datatype="text"/>
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</table>
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<table name="z_reference">
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<column name="id" datatype="integer" isPrimaryKey="1"/>
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<column name="name" datatype="text"/>
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</table>
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</tables>
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<views/>
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<topicTypes>
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<topicType name="BaseEntity">
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<column name="id" idlType="long" isKey="1"/>
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<column name="name" idlType="string"/>
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<column name="isDeleted" idlType="boolean"/>
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<column name="isUsed" idlType="boolean" comment="Defines if it is used by others (i.e. foreign key constraint)"/>
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</topicType>
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<topicType name="BaseEntityTranslatable">
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<column name="id" idlType="long" isKey="1"/>
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<column name="name" idlType="string" isTranslatable="1"/>
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<column name="isDeleted" idlType="boolean"/>
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<column name="isUsed" idlType="boolean" comment="Defines if it is used by others (i.e. foreign key constraint)"/>
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</topicType>
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<topicType name="BaseEntityWithSampleTime" baseValueType="BaseEntity">
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<column name="sampleTime" idlType="long long" comment="Timestamp"/>
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</topicType>
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<topicType name="CurrentRunningState" isDataObject="1" routeToClient="0" routeToServer="0" routeInReplay="0">
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<column name="pid" idlType="long long" isKey="1"/>
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<column name="runningState" idlType="RunningState"/>
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<column name="ports" idlType="sequence<PortInformation>" isOptional="1"/>
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<column name="errorString" idlType="string" isOptional="1"/>
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</topicType>
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<topicType name="FunctionReply">
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<column name="id" idlType="long"/>
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<column name="errorString" idlType="string"/>
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<column name="errorParams" idlType="sequence<string>"/>
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<column name="additionalInfo" idlType="string"/>
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</topicType>
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<topicType name="FunctionReplyWithState" baseValueType="FunctionReply">
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<column name="replyState" idlType="FtReplyState"/>
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</topicType>
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<topicType name="GeoPositionAbsoluteTime" baseValueType="GeoPosition">
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<column name="absoluteTime" idlType="long long" comment="Timestamp"/>
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</topicType>
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<topicType name="GeoPositionRelativeTime" baseValueType="GeoPosition">
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<column name="relativeTime" idlType="long long" comment="Timestamp"/>
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</topicType>
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<topicType name="GeoPosition" baseValueType="GeoPosition2D">
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<column name="z" idlType="double" comment="height above ground"/>
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</topicType>
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<topicType name="GeoPosition2D">
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<column name="lon" idlType="double" comment="[m]"/>
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<column name="lat" idlType="double" comment="[m]"/>
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</topicType>
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<topicType name="LockEntityError">
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<column name="workstationName" idlType="string"/>
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<column name="operatorName" idlType="string"/>
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</topicType>
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<topicType name="TryLockEntityReply" baseValueType="FunctionReply">
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<column name="alreadyLocked" idlType="LockEntityError" isOptional="1"/>
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</topicType>
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<topicType name="LockedEntity" isDataObject="1" routeToClient="0" routeToServer="0" routeInReplay="0" baseValueType="LockedEntityBase">
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<column name="id" idlType="long long" isKey="1"/>
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</topicType>
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<topicType name="LockedEntityBase">
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<column name="operatorId" idlType="long"/>
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<column name="workstationId" idlType="long"/>
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<column name="exerciseId" idlType="long"/>
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<column name="entityId" idlType="long long"/>
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<column name="entityTypeName" idlType="string"/>
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</topicType>
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<topicType name="TryLockEntityRequest" baseValueType="LockedEntityBase">
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<column name="id" idlType="long"/>
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</topicType>
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<topicType name="TryUnlockEntityRequest">
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<column name="id" idlType="long"/>
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</topicType>
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<topicType name="Orientation">
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<column name="heave" idlType="double"/>
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<column name="pitch" idlType="double"/>
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<column name="roll" idlType="double"/>
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</topicType>
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<topicType name="PartitionTime" isDataObject="1" routeToClient="1" routeToServer="0" routeInReplay="0">
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<column name="timeStamp" idlType="long long"/>
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</topicType>
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<topicType name="PortInformation">
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<column name="number" idlType="long"/>
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<column name="type" idlType="PortType"/>
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<column name="properties" idlType="string"/>
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</topicType>
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<topicType name="RelativePosition">
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<column name="offsetX" idlType="double" comment="in meter"/>
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<column name="offsetY" idlType="double" comment="in meter"/>
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<column name="offsetZ" idlType="double" comment="in meter"/>
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</topicType>
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<topicType name="RelativePositionAbsoluteTime" isDataObject="1" autosubscribe="1" routeToClient="1" routeToServer="0" routeInReplay="0" baseValueType="RelativePosition">
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<column name="absoluteTime" idlType="long long" comment="TimeStamp"/>
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</topicType>
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<topicType name="RelativePositionRelativeTime" isDataObject="1" autosubscribe="1" routeToClient="1" routeToServer="0" routeInReplay="0" baseValueType="RelativePosition">
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<column name="relativeTime" idlType="long long" comment="TimeStamp"/>
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</topicType>
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<topicType name="RemoveElementRequest">
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<column name="id" idlType="long"/>
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</topicType>
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<topicType name="ReplayPartition" isDataObject="1" routeToClient="1" routeToServer="0" routeInReplay="0">
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<column name="id" idlType="long" isKey="1"/>
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<column name="name" idlType="string"/>
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<column name="exerciseId" idlType="long"/>
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<column name="workstationId" idlType="long"/>
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<column name="operatorId" idlType="long"/>
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<column name="replayType" idlType="ReplayType"/>
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<column name="domainId" idlType="long"/>
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<column name="tcpConnectionUrl" idlType="string"/>
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</topicType>
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<topicType name="Velocity">
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<column name="x" idlType="double"/>
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<column name="y" idlType="double"/>
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<column name="z" idlType="double"/>
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</topicType>
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</topicTypes>
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<functionTopics>
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<functionTopic name="TryLockEntity" requestTopicType="TryLockEntityRequest" replyTopicType="TryLockEntityReply" requestTopicName="TryLockEntityRequest" replyTopicName="TryLockEntityReply" routeInReplay="1"/>
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<!-- <functionTopic name="TryLockEntity" requestTopicType="LockedEntityBase" replyTopicType="TryLockEntityReply" requestTopicName="TryLockEntityRequest" replyTopicName="TryLockEntityReply" routeInReplay="1"/>-->-->
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<functionTopic name="TryUnlockEntity" requestTopicType="TryUnlockEntityRequest" replyTopicType="FunctionReply" requestTopicName="TryUnlockEntityRequest" replyTopicName="TryUnlockEntityReply" routeInReplay="1"/>
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</functionTopics>
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<enumerations>
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<enumeration name="FtReplyState" table="ft_reply_state">
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<attribute key="NotStarted" value="0"/>
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<attribute key="InProgress" value="1"/>
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<attribute key="Completed" value="2"/>
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<attribute key="Error" value="4"/>
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</enumeration>
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<enumeration name="PortType">
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<attribute key="Unknown" value="0"/>
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<attribute key="WebSocketServer" value="1"/>
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<attribute key="WebSocketPositionServer" value="2"/>
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<attribute key="WebSocketAdlerServer" value="3"/>
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</enumeration>
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<enumeration name="PositionReportingSource">
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<attribute key="Gps" value="0"/>
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<attribute key="Wls" value="1"/>
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<attribute key="Ops" value="2"/>
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<attribute key="External" value="3"/>
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<attribute key="SetByOperator" value="4"/>
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<attribute key="MovementSimulation" value="5"/>
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<attribute key="OpsTunnel" value="6"/>
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<attribute key="OpsBuilding" value="7"/>
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</enumeration>
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<enumeration name="ReplayType" table="replay_type">
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<attribute key="UnknownData" value="0"/>
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<attribute key="SituationData" value="1"/>
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<attribute key="ReportData" value="2"/>
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<attribute key="EventData" value="3"/>
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<attribute key="OtherData" value="4"/>
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<attribute key="SnapshotData" value="5"/>
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</enumeration>
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<enumeration name="RunningState" table="running_state">
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<attribute key="NotYetStarted" value="0"/>
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<attribute key="Starting" value="1"/>
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<attribute key="StartingError" value="2"/>
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<attribute key="Running" value="3"/>
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<attribute key="Stopping" value="4"/>
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<attribute key="StoppedNormally" value="5"/>
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<attribute key="StoppedError" value="6"/>
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</enumeration>
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<enumeration name="ServiceGroupType" table="service_group_type">
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<attribute key="Master" value="0"/>
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<attribute key="Core" value="1"/>
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<attribute key="ExercisePreparation" value="2"/>
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<attribute key="ExerciseExecution" value="3"/>
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<attribute key="ExercisePaused" value="4"/>
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<attribute key="ExerciseAfterActionReview" value="5"/>
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<attribute key="Playback" value="6"/>
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</enumeration>
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<enumeration name="ZReference" table="z_reference">
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<attribute key="ZrUndefined" value="0"/>
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<attribute key="Zr_Unused" value="1"/>
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<attribute key="ZrRelativeAGL" value="100"/>
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<attribute key="ZrAbsolute" value="200"/>
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<attribute key="ZrDrapedOnGround" value="300"/>
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<attribute key="ZrRelativeToDefinedValue" value="400"/>
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</enumeration>
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</enumerations>
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</service>
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Executable
+48
@@ -0,0 +1,48 @@
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#pragma once
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#include <QtCore/qglobal.h>
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#ifndef CORE_COMMON_EXPORT
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# ifdef BUILD_STATIC_LIBRARIES
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# define CORE_COMMON_EXPORT
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# else
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# if defined(MAKE_DDSCORE_LIB)
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# define CORE_COMMON_EXPORT Q_DECL_EXPORT
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# ifndef WIN32
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# ifdef NDDSUSERDllExport
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# undef NDDSUSERDllExport
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# endif
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# define NDDSUSERDllExport Q_DECL_EXPORT
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# endif
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# else
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# define CORE_COMMON_EXPORT Q_DECL_IMPORT
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# endif
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# endif
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#endif
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#ifndef CORE_CLIENT_EXPORT
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# ifdef BUILD_STATIC_LIBRARIES
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# define CORE_CLIENT_EXPORT
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# else
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# if defined(MAKE_SVCCORECLIENT_LIB)
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# define CORE_CLIENT_EXPORT Q_DECL_EXPORT
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# else
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# define CORE_CLIENT_EXPORT Q_DECL_IMPORT
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# endif
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# endif
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#endif
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#ifndef CORE_SERVER_EXPORT
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# ifdef BUILD_STATIC_LIBRARIES
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# define CORE_SERVER_EXPORT
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# else
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||||
# if defined(MAKE_SVCCORESERVER_LIB)
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# define CORE_SERVER_EXPORT Q_DECL_EXPORT
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# else
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||||
# define CORE_SERVER_EXPORT Q_DECL_IMPORT
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||||
# endif
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||||
# endif
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||||
#endif
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||||
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||||
Executable
+48
@@ -0,0 +1,48 @@
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||||
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||||
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||||
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#include "function_reply_object.h"
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#include <QtCore/QString>
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#include <QtCore/QCoreApplication>
|
||||
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||||
namespace Core
|
||||
{
|
||||
|
||||
FunctionReplyObject &FunctionReplyObject::arg(qint64 val)
|
||||
{
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m_args.push_back(std::to_string(val));
|
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return *this;
|
||||
}
|
||||
|
||||
FunctionReplyObject &FunctionReplyObject::arg(const std::string &str)
|
||||
{
|
||||
m_args.push_back(str);
|
||||
return *this;
|
||||
}
|
||||
|
||||
FunctionReplyObject &FunctionReplyObject::arg(const QString &str)
|
||||
{
|
||||
m_args.push_back(str.toStdString());
|
||||
return *this;
|
||||
}
|
||||
|
||||
std::string FunctionReplyObject::operator()() const
|
||||
{
|
||||
if (m_args.empty())
|
||||
return m_str;
|
||||
|
||||
QString ret(QString::fromStdString(m_str));
|
||||
for (const std::string &s : m_args)
|
||||
ret = ret.arg(QString::fromStdString(s));
|
||||
return ret.toStdString();
|
||||
}
|
||||
|
||||
QString FunctionReplyObject::translated() const
|
||||
{
|
||||
QString ret(QCoreApplication::translate("dds", m_str.c_str()));
|
||||
for (const std::string &s : m_args)
|
||||
ret = ret.arg(QString::fromStdString(s));
|
||||
return ret;
|
||||
}
|
||||
|
||||
}
|
||||
Executable
+95
@@ -0,0 +1,95 @@
|
||||
|
||||
|
||||
|
||||
#pragma once
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "core_export.h"
|
||||
|
||||
#ifndef tr_lts
|
||||
#define tr_lts(ctx, t) (t)
|
||||
#endif
|
||||
|
||||
namespace Core
|
||||
{
|
||||
|
||||
|
||||
|
||||
class CORE_COMMON_EXPORT FunctionReplyObject
|
||||
{
|
||||
public:
|
||||
explicit FunctionReplyObject(int id = -1, const char *str = nullptr)
|
||||
: m_str(str ? str : std::string())
|
||||
, m_id(id)
|
||||
{}
|
||||
|
||||
explicit FunctionReplyObject(const char *str)
|
||||
: m_str(str ? str : std::string())
|
||||
{}
|
||||
|
||||
explicit FunctionReplyObject(int id, const std::string &errStr, const std::vector<std::string> &errArgs)
|
||||
: m_str(errStr)
|
||||
, m_args(errArgs)
|
||||
, m_id(id)
|
||||
{}
|
||||
|
||||
explicit FunctionReplyObject(int id, std::string &&errStr, std::vector<std::string> &&errArgs)
|
||||
: m_str(std::move(errStr))
|
||||
, m_args(std::move(errArgs))
|
||||
, m_id(id)
|
||||
{}
|
||||
|
||||
explicit FunctionReplyObject(int id, const std::string &errStr, const std::vector<std::string> &errArgs, const std::string &additionalInfo)
|
||||
: m_str(errStr)
|
||||
, m_additionalInfo(additionalInfo)
|
||||
, m_args(errArgs)
|
||||
, m_id(id)
|
||||
{}
|
||||
|
||||
explicit FunctionReplyObject(int id, std::string &&errStr, std::vector<std::string> &&errArgs, std::string &&additionalInfo)
|
||||
: m_str(std::move(errStr))
|
||||
, m_additionalInfo(std::move(additionalInfo))
|
||||
, m_args(std::move(errArgs))
|
||||
, m_id(id)
|
||||
{}
|
||||
|
||||
~FunctionReplyObject() = default;
|
||||
|
||||
|
||||
FunctionReplyObject &arg(qint64 val);
|
||||
FunctionReplyObject &arg(const std::string &str);
|
||||
FunctionReplyObject &arg(const QString &str);
|
||||
|
||||
|
||||
|
||||
bool error() const { return !m_str.empty(); }
|
||||
void setId(int id) { m_id = id; }
|
||||
FunctionReplyObject &setStr(const char *str) { m_str = str; return *this; }
|
||||
FunctionReplyObject &setAdditionalInfo(const char *additionalInfo) { m_additionalInfo = additionalInfo; return *this; }
|
||||
|
||||
int id() const { return m_id; }
|
||||
std::string str() const { return m_str; }
|
||||
std::string additionalInfo() const { return m_additionalInfo; }
|
||||
|
||||
std::vector<std::string> args() const { return m_args; }
|
||||
|
||||
|
||||
|
||||
|
||||
std::string operator()() const;
|
||||
|
||||
|
||||
QString translated() const;
|
||||
|
||||
int64_t uniqueId() const { return m_uniqueId; }
|
||||
void setUniqueId(int64_t uniqueId) { m_uniqueId = uniqueId; }
|
||||
private:
|
||||
std::string m_str;
|
||||
std::string m_additionalInfo;
|
||||
std::vector<std::string> m_args;
|
||||
int64_t m_uniqueId = 0;
|
||||
int m_id = -1;
|
||||
};
|
||||
|
||||
}
|
||||
Executable
+31
@@ -0,0 +1,31 @@
|
||||
|
||||
|
||||
|
||||
#include "logger.h"
|
||||
|
||||
#include <NGLLogger/NGLLoggerBootstrap.h>
|
||||
|
||||
namespace Core
|
||||
{
|
||||
|
||||
LOGGER_T getLogger(const char *name)
|
||||
{
|
||||
static const char ns[] = "CORE.";
|
||||
std::string loggerName;
|
||||
const size_t len = strlen(name);
|
||||
loggerName.reserve(sizeof(ns) + len);
|
||||
loggerName.append(ns, sizeof(ns) - 1);
|
||||
loggerName.append(name, len);
|
||||
|
||||
try
|
||||
{
|
||||
return NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger( loggerName );
|
||||
}
|
||||
catch ( const std::exception &ex )
|
||||
{
|
||||
fprintf(stderr, "Error retrieving logger: %s", ex.what());
|
||||
abort();
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
Executable
+13
@@ -0,0 +1,13 @@
|
||||
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <NGLLogger/INGLLogger.h>
|
||||
#include "core_export.h"
|
||||
|
||||
namespace Core
|
||||
{
|
||||
using LOGGER_T = NGL::INGLLogger&;
|
||||
CORE_COMMON_EXPORT LOGGER_T getLogger(const char *name);
|
||||
}
|
||||
Executable
+117
@@ -0,0 +1,117 @@
|
||||
|
||||
|
||||
|
||||
#include "pacemaker.h"
|
||||
|
||||
#include <QCoreApplication>
|
||||
#include <QThread>
|
||||
#include <QTimer>
|
||||
#include <NGLLogger/NGLLoggerBootstrap.h>
|
||||
#include <DDS/DTS/generic_dts.h>
|
||||
#include <DDS/DTS/generic_dts_impl.h>
|
||||
#include <DDS/DDSConnector/dds_connector.h>
|
||||
|
||||
namespace Core
|
||||
{
|
||||
Pacemaker::Pacemaker(DDSConnector::DdsConnector *ddsConnector)
|
||||
: QObject(nullptr)
|
||||
, m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Core.Pacemaker"))
|
||||
{
|
||||
init(ddsConnector);
|
||||
}
|
||||
|
||||
Pacemaker::~Pacemaker()
|
||||
{
|
||||
m_paceThread->requestInterruption();
|
||||
m_paceThread->quit();
|
||||
m_paceThread->wait();
|
||||
delete m_paceThread;
|
||||
m_publishTimer->deleteLater();
|
||||
delete m_dtsCurrentRunningState;
|
||||
}
|
||||
|
||||
|
||||
void Pacemaker::setNewState(Core::RunningState newState, const QString &errorString)
|
||||
{
|
||||
if (QThread::currentThread() == this->thread())
|
||||
setNewStateInternal(newState, errorString);
|
||||
else
|
||||
QTimer::singleShot(0, this, [this, newState, errorString]() { setNewStateInternal(newState, errorString); });
|
||||
}
|
||||
|
||||
void Pacemaker::setNewStateInternal(Core::RunningState newState, const QString &errorString)
|
||||
{
|
||||
m_state.runningState(newState);
|
||||
if (errorString.isEmpty())
|
||||
m_state.errorString().reset();
|
||||
else
|
||||
m_state.errorString(errorString.toStdString());
|
||||
publishState();
|
||||
}
|
||||
|
||||
void Pacemaker::addPort(unsigned short number, Core::PortType portType, const QString &properties)
|
||||
{
|
||||
if (QThread::currentThread() == this->thread())
|
||||
addPortInternal(number, portType, properties);
|
||||
else
|
||||
QTimer::singleShot(0, this, [this, number, portType, properties]() { addPortInternal(number, portType, properties); });
|
||||
}
|
||||
|
||||
void Pacemaker::addPortInternal(unsigned short number, Core::PortType portType,const QString &properties)
|
||||
{
|
||||
if (!m_state.ports().is_set())
|
||||
m_state.ports() = std::vector<Core::PortInformation>();
|
||||
m_state.ports().get().push_back(Core::PortInformation(number, portType, properties.toStdString()));
|
||||
|
||||
publishState();
|
||||
}
|
||||
|
||||
void Pacemaker::publishState()
|
||||
{
|
||||
if (!m_dtsCurrentRunningState)
|
||||
return;
|
||||
m_dtsCurrentRunningState->write(m_state);
|
||||
}
|
||||
|
||||
void Pacemaker::init(DDSConnector::DdsConnector *ddsConnector)
|
||||
{
|
||||
m_dtsCurrentRunningState = ddsConnector->createDTS<DTS::CurrentRunningStateImpl>();
|
||||
if (!m_dtsCurrentRunningState)
|
||||
{
|
||||
WARNING_LOG(m_logger) << "Can not initialize DTS::CurrentRunningState!";
|
||||
return;
|
||||
}
|
||||
m_state.pid(QCoreApplication::applicationPid());
|
||||
m_state.runningState(Core::RunningState::Starting);
|
||||
|
||||
m_paceThread = new QThread;
|
||||
this->moveToThread(m_paceThread);
|
||||
|
||||
startTimer();
|
||||
publishState();
|
||||
}
|
||||
|
||||
void Pacemaker::startTimer()
|
||||
{
|
||||
if (m_publishTimer)
|
||||
return;
|
||||
|
||||
m_publishTimer = new QTimer();
|
||||
|
||||
|
||||
m_publishTimer->moveToThread(m_paceThread);
|
||||
|
||||
connect(m_publishTimer, &QTimer::timeout,
|
||||
this, &Pacemaker::publishState);
|
||||
|
||||
m_publishTimer->setSingleShot(false);
|
||||
m_publishTimer->setInterval(m_publishTimerDelay);
|
||||
connect(m_paceThread, &QThread::started, this, [this](){
|
||||
m_publishTimer->start();
|
||||
});
|
||||
|
||||
|
||||
m_paceThread->start();
|
||||
}
|
||||
|
||||
}
|
||||
Executable
+57
@@ -0,0 +1,57 @@
|
||||
|
||||
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <QtCore/QObject>
|
||||
#include <QtCore/QThread>
|
||||
#include <DDS/Core/core_dts_types.h>
|
||||
#include "core_export.h"
|
||||
|
||||
namespace DDSConnector
|
||||
{
|
||||
class DdsConnector;
|
||||
}
|
||||
class QTimer;
|
||||
namespace NGL
|
||||
{
|
||||
class INGLLogger;
|
||||
}
|
||||
|
||||
namespace Core
|
||||
{
|
||||
class CORE_CLIENT_EXPORT Pacemaker final : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit Pacemaker(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
|
||||
: Pacemaker(ddsConnector.get())
|
||||
{}
|
||||
|
||||
explicit Pacemaker(DDSConnector::DdsConnector *ddsConnector);
|
||||
~Pacemaker();
|
||||
|
||||
void startTimer();
|
||||
|
||||
public Q_SLOTS:
|
||||
void setNewState(Core::RunningState newState, const QString &errorString = QString());
|
||||
void addPort(unsigned short number, Core::PortType portType, const QString &properties = QStringLiteral(""));
|
||||
|
||||
|
||||
void publishState();
|
||||
|
||||
private:
|
||||
void init(DDSConnector::DdsConnector *ddsConnector);
|
||||
void setNewStateInternal(Core::RunningState newState, const QString &errorString = QString());
|
||||
void addPortInternal(unsigned short number, Core::PortType portType, const QString &properties = QStringLiteral(""));
|
||||
private:
|
||||
static constexpr const int m_publishTimerDelay = 3000;
|
||||
|
||||
CurrentRunningState m_state;
|
||||
QTimer *m_publishTimer = nullptr;
|
||||
QThread *m_paceThread = nullptr;
|
||||
|
||||
DTS::CurrentRunningStateImpl *m_dtsCurrentRunningState;
|
||||
NGL::INGLLogger &m_logger;
|
||||
};
|
||||
}
|
||||
Executable
+47
@@ -0,0 +1,47 @@
|
||||
#include "topic_lock_master.h"
|
||||
|
||||
#include <DDS/DDSConnector/dds_connector.h>
|
||||
|
||||
namespace Core
|
||||
{
|
||||
|
||||
TopicLockMaster::TopicLockMaster(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
|
||||
: QObject(nullptr)
|
||||
, m_coreDtc(nullptr)
|
||||
{
|
||||
init(ddsConnector);
|
||||
}
|
||||
|
||||
TopicLockMaster::~TopicLockMaster()
|
||||
{
|
||||
m_coreDtc.reset();
|
||||
}
|
||||
|
||||
bool TopicLockMaster::init(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
|
||||
{
|
||||
if (!ddsConnector)
|
||||
return false;
|
||||
|
||||
m_coreDtc = Core::Interface::Dtc::create(ddsConnector);
|
||||
if (!m_coreDtc)
|
||||
return false;
|
||||
m_coreDtc->enableAll();
|
||||
|
||||
m_coreDtc->lockedEntitys([this] (const LockedEntity &data) {
|
||||
m_lockedEntitys << key(data.entityId(), data.exerciseId(), QString::fromStdString(data.entityTypeName()));
|
||||
});
|
||||
|
||||
connect(m_coreDtc.get(), &Interface::Dtc::lockedEntityChanged, this,
|
||||
[this] (const LockedEntity &data, DataModification modType)
|
||||
{
|
||||
key k(data.entityId(), data.exerciseId(), QString::fromStdString(data.entityTypeName()));
|
||||
if (modType == DataModification::eAdded)
|
||||
m_lockedEntitys << k;
|
||||
else if (modType == DataModification::eRemoved)
|
||||
m_lockedEntitys.remove(k);
|
||||
} );
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
Executable
+64
@@ -0,0 +1,64 @@
|
||||
#pragma once
|
||||
|
||||
#include <Core/core_dtc.h>
|
||||
|
||||
#include <QSet>
|
||||
#include <QString>
|
||||
|
||||
|
||||
namespace DDSConnector
|
||||
{
|
||||
class DdsConnector;
|
||||
}
|
||||
|
||||
namespace Core
|
||||
{
|
||||
|
||||
struct key
|
||||
{
|
||||
inline key() = default;
|
||||
inline key(int64_t id, int exId, const QString &name)
|
||||
: entityTypeName(name)
|
||||
, entityId(id)
|
||||
, exerciseId(exId)
|
||||
{}
|
||||
|
||||
inline bool operator==(const key &o) const
|
||||
{
|
||||
return entityId == o.entityId &&
|
||||
exerciseId == o.exerciseId &&
|
||||
entityTypeName == o.entityTypeName;
|
||||
}
|
||||
|
||||
QString entityTypeName;
|
||||
int64_t entityId = 0;
|
||||
int exerciseId = 0;
|
||||
};
|
||||
|
||||
inline uint qHash(const Core::key &k, uint seed = 0)
|
||||
{
|
||||
return ::qHash(k.entityTypeName, seed) ^ ::qHash(k.entityId, seed) ^ ::qHash(k.exerciseId, seed);
|
||||
}
|
||||
|
||||
class CORE_CLIENT_EXPORT TopicLockMaster : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
explicit TopicLockMaster(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector);
|
||||
~TopicLockMaster();
|
||||
|
||||
bool init(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector);
|
||||
|
||||
template<typename E>
|
||||
bool isLocked(const E &data, int exerciseId)
|
||||
{
|
||||
auto it = m_lockedEntitys.constFind(key(data.id(), exerciseId, QString::fromStdString(typeid(E).name())));
|
||||
return !(it == m_lockedEntitys.cend());
|
||||
}
|
||||
|
||||
private:
|
||||
QSet<key> m_lockedEntitys;
|
||||
std::shared_ptr<Core::Interface::Dtc> m_coreDtc;
|
||||
};
|
||||
|
||||
}
|
||||
Reference in new issue
Block a user