Continues migration with DDS, Common

Lts/DDS/DDSConnector/CMakeLists.txt

@@ -0,0 +1,36 @@
+#
+# $Id$
+# $HeadURL$
+# $Author$
+#
+
+SET(SRCS
+  dds_connector.cpp
+  dds_connector.h
+  publisher.cpp
+  publisher.h
+  pub_sub_base.cpp
+  pub_sub_base.h
+  pub_sub_base_p.h
+  subscriber.cpp
+  subscriber.h
+)
+
+NGL_ADD_LIBRARY2(AAR SV WS HLA ddsconnector SHARED ${SRCS})
+NGL_TARGET_INCLUDE_DIRECTORIES(
+  INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../
+)
+NGL_TARGET_LINK_LIBRARIES(ddsconnector
+  PRIVATE
+    NGLLogger
+  PUBLIC
+    RTI::nddsc
+    RTI::nddscore
+    RTI::nddscpp2
+    ddsQoS
+    ddsdtc
+    ddsdts
+    ProjectConfig
+    Qt5::Core
+)

Lts/DDS/DDSConnector/dds_connector.cpp

@@ -0,0 +1,283 @@
+
+
+
+#include "dds_connector.h"
+#include "publisher.h"
+#include "subscriber.h"
+
+#include <NGLLogger/NGLLoggerBootstrap.h>
+#include <DDS/QosProfile/DDS_DefaultQos.h>
+#include <DDS/Generic/wait_set_handler.h>
+#include <QCoreApplication>
+
+namespace DDSConnector
+{
+
+DdsConnector::DdsConnector(int domainId,
+                           const dds::domain::DomainParticipant &domainParticipant,
+                           IDL::PartitionType defaultPartitionType,
+                           int partitionId,
+                           int exerciseId,
+                           DDS::QosProfile::ConnectionType connectionType,
+                           const QUrl &tcpConnectionUrl)
+  : m_domainId(domainId)
+  , m_defaultPartitionType(defaultPartitionType)
+  , m_partitionId(partitionId)
+  , m_exerciseId(exerciseId)
+  , m_tcpConnectionUrl(tcpConnectionUrl)
+  , m_connectionType(tcpConnectionUrl.isEmpty() ? connectionType : DDS::QosProfile::ConnectionType::Tcp)
+  , m_domainParticipant(domainParticipant)
+  , m_publisher(nullptr)
+  , m_subscriber(nullptr)
+  , m_wsHandler(nullptr)
+  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Common.DDSConnector"))
+{
+  initInternal();
+  DEBUG_LOG(m_logger) << "DdsConnector ctor: " << m_domainId << "," << m_partitionId << ","<< m_exerciseId << "," << static_cast<int>(m_defaultPartitionType);
+}
+
+DdsConnector::DdsConnector(int domainId,
+                           IDL::PartitionType defaultPartitionType,
+                           int partitionId, int exerciseId,
+                           const QUrl &tcpConnectionUrl)
+  : DdsConnector(domainId,
+                 nullptr,
+                 defaultPartitionType,
+                 partitionId,
+                 exerciseId,
+                 DDS::QosProfile::ConnectionType::Server,
+                 tcpConnectionUrl)
+{}
+
+DdsConnector::DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
+                           IDL::PartitionType defaultPartitionType,
+                           int partitionId, int exerciseId,
+                           const QUrl &tcpConnectionUrl)
+  : DdsConnector(domainParticipant.domain_id(),
+                 domainParticipant,
+                 defaultPartitionType,
+                 partitionId,
+                 exerciseId,
+                 DDS::QosProfile::ConnectionType::Server,
+                 tcpConnectionUrl)
+{}
+
+
+DdsConnector::DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
+                           IDL::PartitionType defaultPartitionType,
+                           DDS::QosProfile::ConnectionType connectionType,
+                           int partitionId,
+                           int exerciseId
+                           )
+  : DdsConnector(domainParticipant.domain_id(),
+                 domainParticipant,
+                 defaultPartitionType,
+                 partitionId,
+                 exerciseId,
+                 connectionType,
+                 QUrl())
+{}
+
+DdsConnector::DdsConnector(int domainId,
+                           IDL::PartitionType defaultPartitionType,
+                           int partitionId, int exerciseId,
+                           DDS::QosProfile::ConnectionType connectionType)
+  : DdsConnector(domainId,
+                 nullptr,
+                 defaultPartitionType,
+                 partitionId,
+                 exerciseId,
+                 connectionType,
+                 QUrl())
+{
+  Q_ASSERT(connectionType != DDS::QosProfile::ConnectionType::Tcp);
+}
+
+
+DdsConnector::~DdsConnector()
+{
+  delete m_subscriber;
+  delete m_publisher;
+  delete m_wsHandler;
+}
+
+bool DdsConnector::init(const QStringList &qosFileList)
+{
+  return DDS::QosProfile::setDefault(qosFileList);
+}
+
+QUrl DdsConnector::getTcpConnectionUrl() const
+{
+  DEBUG_LOG(m_logger) << this << " gettcpConnectionUrl: " << m_tcpConnectionUrl.toString();
+  return m_tcpConnectionUrl;
+}
+
+dds::pub::Publisher DdsConnector::getDdsPublisher() const
+{
+  return m_publisher ? m_publisher->getDdsPublisher() : nullptr;
+}
+
+dds::sub::Subscriber DdsConnector::getDdsSubscriber() const
+{
+  return m_subscriber ? m_subscriber->getDdsSubscriber() : nullptr;
+}
+
+DDSGeneric::SubscriberListener *DdsConnector::getSubscriberListener()
+{
+  return m_subscriber ? m_subscriber->getSubscriberListener() : nullptr;
+}
+
+void DdsConnector::initPublisherSubscriber()
+{
+  initSubscriber();
+  initPublisher();
+}
+
+void DdsConnector::initPublisher()
+{
+  if (m_publisher)
+    return;
+  initDomainParticipant();
+  
+  setPublisher(new DDSConnector::Publisher(m_domainParticipant, getDefaultPartition()));
+}
+
+void DdsConnector::initSubscriber()
+{
+  if (m_subscriber)
+    return;
+  initDomainParticipant();
+  
+  setSubscriber(new DDSConnector::Subscriber(m_domainParticipant, getDefaultPartition()));
+}
+
+void DdsConnector::initDomainParticipant()
+{
+  if (m_domainParticipant == nullptr)
+    setDomainParticipant(dds::domain::DomainParticipant(m_domainId,
+                                                        DDS::QosProfile::domainParticipantDefault(m_connectionType, m_tcpConnectionUrl)));
+}
+
+
+std::string DdsConnector::getDefaultPartition() const
+{
+  return getPartitionString(m_defaultPartitionType, m_partitionId);
+}
+
+std::string DdsConnector::getPartitionString(IDL::PartitionType pt, int partitionId)
+{
+  switch (pt)
+  {
+  case IDL::PartitionType::Any:
+    return "*";
+  case IDL::PartitionType::Global:
+    return IDL::exercisePartition(0);
+  case IDL::PartitionType::Exercise:
+  case IDL::PartitionType::AllExercises:
+    return IDL::exercisePartition(partitionId);
+  case IDL::PartitionType::Replay:
+    return IDL::replayPartition(partitionId);
+  }
+
+  NGL::INGLLogger &m_logger = NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("Common.DDSConnector");
+  ERROR_LOG(m_logger) << "Invalid partition type: " << static_cast<int>(pt);
+  return std::string();
+}
+
+void DdsConnector::setDomainParticipant(const dds::domain::DomainParticipant &participant)
+{
+  m_domainParticipant = participant;
+  if (m_domainParticipant == nullptr)
+    return;
+
+  try
+  {
+    
+    dds::domain::qos::DomainParticipantQos dpQos(m_domainParticipant.qos());
+    DDS::QosProfile::print(dpQos, m_logger);
+    rti::core::policy::EntityName entityName;
+    entityName.name(qAppName().toStdString() + (" - DP ") + std::to_string(m_domainId));
+    dpQos << entityName;
+    m_domainParticipant.qos(dpQos);
+    m_domainParticipant->default_datareader_qos(DDS::QosProfile::dataReaderDefault(m_connectionType)); 
+    m_domainParticipant.enable();
+  }
+  catch (const dds::core::Exception &ex)
+  {
+    WARNING_LOG(m_logger) << "Could not enable DomainParticipant: " << ex.what();
+    exit(1);
+  }
+}
+
+void DdsConnector::setPublisher(Publisher *publisher)
+{
+  if (m_publisher && publisher != m_publisher)
+  {
+    WARNING_LOG(m_logger) << "Trying to set publisher but there is already a publisher set - overwriting!";
+    delete m_publisher;
+  }
+  m_publisher = publisher;
+  if (m_publisher)
+    DDS::QosProfile::print(m_publisher->getDdsPublisher().default_datawriter_qos(), m_logger);
+}
+
+void DdsConnector::enableBatchedWriter(bool bEnable)
+{
+  if (m_publisher)
+    m_publisher->enableBatchedWriter(bEnable);
+}
+
+
+void DdsConnector::setSubscriber(Subscriber *subscriber)
+{
+  if (m_subscriber && subscriber != m_subscriber)
+  {
+    WARNING_LOG(m_logger) << "Trying to set subscriber but there is already a subscriber set - overwriting!";
+    delete m_subscriber;
+  }
+  m_subscriber = subscriber;
+  if (m_subscriber)
+    DDS::QosProfile::print(m_subscriber->getDdsSubscriber().default_datareader_qos(), m_logger);
+}
+
+void DdsConnector::initInternal()
+{
+  if (m_tcpConnectionUrl.isValid())
+  {
+    m_connectionType = DDS::QosProfile::ConnectionType::Tcp;
+  }
+  else
+  {
+    m_tcpConnectionUrl.clear();
+    if (m_connectionType == DDS::QosProfile::ConnectionType::Tcp)
+      m_connectionType = DDS::QosProfile::ConnectionType::ShmUdp;
+  }
+
+  if (m_defaultPartitionType == IDL::PartitionType::Any ||
+      m_defaultPartitionType == IDL::PartitionType::AllExercises)
+    m_partitionId = -1;
+  if (m_defaultPartitionType == IDL::PartitionType::Exercise && m_partitionId < 0)
+    WARNING_LOG(m_logger) << "Want to subscribe to an exercise, but no exercise Id is given!";
+  if (m_defaultPartitionType == IDL::PartitionType::Global)
+  {
+    m_partitionId = 0;
+    m_exerciseId = 0;
+  }
+  INFO_LOG(m_logger) << "DDSConnector(" << m_domainId << ") for partition: " << m_partitionId
+                     << " with partition type " << static_cast<int>(m_defaultPartitionType);
+
+  
+  dds::domain::qos::DomainParticipantFactoryQos domainParticipantFactoryQos = dds::domain::DomainParticipant::participant_factory_qos();
+  
+  domainParticipantFactoryQos << dds::core::policy::EntityFactory::ManuallyEnable();
+  dds::domain::DomainParticipant::participant_factory_qos(domainParticipantFactoryQos);
+}
+
+
+void DdsConnector::createWaitSetHandler()
+{
+  if (!m_wsHandler)
+    m_wsHandler = new DDSGeneric::WaitSetHandler;
+}
+
+} 

Lts/DDS/DDSConnector/dds_connector.h

@@ -0,0 +1,214 @@
+
+
+#pragma once
+
+#include <dds/pub/CoherentSet.hpp>
+#include <dds/pub/Publisher.hpp>
+#include <dds/sub/Subscriber.hpp>
+
+#include <QtCore/QStringList>
+#include <Common/ProjectConfig/project_defines.h>
+#include <DDS/DDSConnector/ddsconnector_export.h>
+#include <DDS/Generic/generic_base.h>
+#include <QUrl>
+
+class QObject;
+namespace DDS
+{
+namespace QosProfile
+{
+enum class ConnectionType;
+}
+}
+namespace NGL
+{
+class INGLLogger;
+}
+namespace DDSGeneric
+{
+class WaitSetHandler;
+class SubscriberListener;
+}
+namespace DDSConnector
+{
+class Publisher;
+class Subscriber;
+
+class DDSCONNECTOR_EXPORT DdsConnector
+{
+  DdsConnector(int domainId,
+               const dds::domain::DomainParticipant &domainParticipant,
+               IDL::PartitionType defaultPartitionType,
+               int partitionId,
+               int exerciseId,
+               DDS::QosProfile::ConnectionType connectionType,
+               const QUrl &tcpConnectionUrl);
+public:
+  DdsConnector(const DdsConnector &) = delete;
+  DdsConnector &operator=(const DdsConnector &) = delete;
+
+  
+
+  DdsConnector(int domainId,
+               IDL::PartitionType defaultPartitionType,
+               int partitionId = 0,
+               int exerciseId = 0,
+               const QUrl &tcpConnectionUrl = QUrl());
+  
+
+  DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
+               IDL::PartitionType defaultPartitionType,
+               int partitionId = 0,
+               int exerciseId = 0,
+               const QUrl &tcpConnectionUrl = QUrl());
+
+  DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
+               IDL::PartitionType defaultPartitionType,
+               DDS::QosProfile::ConnectionType connectionType,
+               int partitionId = 0,
+               int exerciseId = 0);
+
+  DdsConnector(int domainId,
+               IDL::PartitionType defaultPartitionType,
+               int partitionId,
+               int exerciseId,
+               DDS::QosProfile::ConnectionType connectionType);
+
+  virtual ~DdsConnector();
+
+  
+
+  virtual bool init(const QStringList &qosFileList = QStringList());
+
+  dds::domain::DomainParticipant getDomainParticipant() const { return m_domainParticipant; }
+  void setDomainParticipant(const dds::domain::DomainParticipant &participant);
+
+  Publisher *getPublisher() { return m_publisher; }
+  dds::pub::Publisher getDdsPublisher() const;
+  void setPublisher(Publisher *publisher);  
+  void enableBatchedWriter(bool bEnable);
+
+  Subscriber *getSubscriber() { return m_subscriber; }
+  dds::sub::Subscriber getDdsSubscriber() const;
+  void setSubscriber(Subscriber *subscriber);  
+  DDSGeneric::SubscriberListener *getSubscriberListener();
+
+  const DDSGeneric::WaitSetHandler *getWaitSetHandler() const { return m_wsHandler; }
+
+  int getDomainId() const { return m_domainId; }
+  IDL::PartitionType getPartitionType() const { return m_defaultPartitionType; }
+  int getPartitionId() const { return m_partitionId; }
+  int getExerciseId() const { return m_exerciseId; }
+  std::string getDefaultPartition() const;
+  QUrl getTcpConnectionUrl() const;
+  static std::string getPartitionString(IDL::PartitionType pt, int partitionId = -1);
+
+  
+
+  void initPublisherSubscriber();
+  void initPublisher();
+  void initSubscriber();
+  void initDomainParticipant();
+
+  template<typename T>
+  T *createDTS(const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
+  {
+    if (getDomainParticipant() == nullptr ||
+        getDdsPublisher() == nullptr)
+      return nullptr;
+    T *dts = new T(getDomainParticipant(),
+                   getDdsPublisher(),
+                   topicName);
+    return dts;
+  }
+
+  template<typename T>
+  T *createDTC(const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
+  {
+    if (getDomainParticipant() == nullptr ||
+        getDdsSubscriber() == nullptr)
+      return nullptr;
+    T *dtc = new T(getDomainParticipant(),
+                   getDdsSubscriber(),
+                   getSubscriberListener(),
+                   topicName);
+    return dtc;
+  }
+
+  template<typename T>
+  T *createDTC(const dds::topic::Filter &filter,
+               const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
+  {
+    if (getDomainParticipant() == nullptr ||
+        getDdsSubscriber() == nullptr)
+      return nullptr;
+    T *dtc = new T(getDomainParticipant(),
+                   getDdsSubscriber(),
+                   getSubscriberListener(),
+                   filter,
+                   topicName);
+    return dtc;
+  }
+
+  template<typename T>
+  T *createFTS()
+  {
+    if (getDomainParticipant() == nullptr ||
+        getDdsPublisher() == nullptr ||
+        getDdsSubscriber() == nullptr)
+      return nullptr;
+    createWaitSetHandler();
+    T *fts =  new T(getDomainParticipant(),
+                    getDdsPublisher(),
+                    getDdsSubscriber(),
+                    m_wsHandler);
+    return fts;
+  }
+
+  template<typename T>
+  T *createFTC(QObject *objToInform)
+  {
+    if (getDomainParticipant() == nullptr ||
+        getDdsPublisher() == nullptr ||
+        getDdsSubscriber() == nullptr)
+      return nullptr;
+    T *ftc =  new T(getDomainParticipant(),
+                    getDdsPublisher(),
+                    getDdsSubscriber(),
+                    objToInform,
+                    IDL::toStdString(m_defaultPartitionType),
+                    m_partitionId);
+    return ftc;
+  }
+
+private:
+  void initInternal();
+  void createWaitSetHandler();
+private:
+  int                                m_domainId;
+  IDL::PartitionType                 m_defaultPartitionType;
+  int                                m_partitionId;
+  int                                m_exerciseId;
+
+  QUrl                               m_tcpConnectionUrl;
+  DDS::QosProfile::ConnectionType    m_connectionType;
+  dds::domain::DomainParticipant     m_domainParticipant;
+  DDSConnector::Publisher           *m_publisher;
+  DDSConnector::Subscriber          *m_subscriber;
+  DDSGeneric::WaitSetHandler        *m_wsHandler;
+  NGL::INGLLogger                   &m_logger;
+};
+
+
+
+class CoherentSet
+{
+public:
+  explicit CoherentSet(const std::shared_ptr<DdsConnector> &connector)
+    : m_coherentSet(connector->getDdsPublisher())
+  {}
+private:
+  dds::pub::CoherentSet m_coherentSet;
+};
+
+}

Lts/DDS/DDSConnector/pub_sub_base.cpp

@@ -0,0 +1,15 @@
+
+
+
+#include "pub_sub_base.h"
+
+#include <NGLLogger/NGLLoggerBootstrap.h>
+
+namespace DDSConnector
+{
+PubSubBase::PubSubBase(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition, const char *loggerName)
+  : m_domainParticipant(domainParticipant)
+  , m_partitions({partition})
+  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger(loggerName))
+{}
+} 

Lts/DDS/DDSConnector/pub_sub_base.h

@@ -0,0 +1,39 @@
+
+
+#pragma once
+
+#include <DDS/DDSConnector/ddsconnector_export.h>
+
+#include <string>
+#include <vector>
+#include <dds/domain/DomainParticipant.hpp>
+
+namespace NGL
+{
+class INGLLogger;
+}
+
+namespace DDSConnector
+{
+class DDSCONNECTOR_EXPORT PubSubBase
+{
+protected:
+  PubSubBase(const dds::domain::DomainParticipant &domainParticipant,
+                      const std::string &partition,
+                      const char *loggerName);
+public:
+  virtual ~PubSubBase() = default;
+
+  void setDomainParticipant(const dds::domain::DomainParticipant &domainParticipant) { m_domainParticipant = domainParticipant; }
+  const dds::domain::DomainParticipant &getDomainParticipant() const { return m_domainParticipant; }
+
+protected:
+  template<typename P>
+  void updatePartitionQoS(P &pubSub);
+
+protected:
+  dds::domain::DomainParticipant m_domainParticipant;
+  std::vector<std::string>       m_partitions;
+  NGL::INGLLogger  &m_logger;
+};
+} 

Lts/DDS/DDSConnector/pub_sub_base_p.h

@@ -0,0 +1,22 @@
+
+
+#pragma once
+
+namespace DDSConnector
+{
+template<typename P>
+void PubSubBase::updatePartitionQoS(P &pubSub)
+{
+  if (pubSub == nullptr)
+    return;
+
+  auto publisherQos = pubSub.qos();
+
+  
+  dds::core::policy::Partition partitionQos;
+  partitionQos.name( m_partitions );
+  publisherQos << partitionQos;
+
+  pubSub.qos(publisherQos);
+}
+} 

Lts/DDS/DDSConnector/publisher.cpp

@@ -0,0 +1,106 @@
+
+
+#include "publisher.h"
+#include "pub_sub_base_p.h"
+
+#include <dds/pub/AnyDataWriter.hpp>
+#include <DDS/QosProfile/DDS_DefaultQos.h>
+#include <NGLLogger/INGLLogger.h>
+
+namespace DDSConnector
+{
+
+Publisher::Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition)
+  : PubSubBase(domainParticipant, partition, "DDSConnector.Publisher")
+  , m_ddsPublisher(nullptr)
+{
+  Q_ASSERT(domainParticipant != nullptr);
+  initDDS();
+}
+
+
+Publisher::~Publisher()
+{
+  try
+  {
+    deleteDDS();
+  } catch (...)
+  {}
+}
+
+void Publisher::initDDS()
+{
+  if (m_partitions.empty())
+    return;
+
+  
+  if (m_logger.isDebugEnabled()) {
+    DEBUG_LOG(m_logger) << "Publisher (DataWriter) Qos: ";
+    dds::core::QosProvider qosProvider = dds::core::QosProvider::Default();
+    DDS::QosProfile::print(qosProvider.datawriter_qos(), m_logger);
+  }
+
+  dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
+
+  
+  rti::core::policy::EntityName entityName;
+  entityName.name(std::string("Pub ") + m_partitions.front());
+  publisherQos << entityName;
+
+  DEBUG_LOG(m_logger) << "Publish data on partition " << m_partitions.front();
+
+  m_ddsPublisher = dds::pub::Publisher(m_domainParticipant, publisherQos); 
+
+  enableBatchedWriter(false);
+
+  updatePartitionQoS(m_ddsPublisher);
+}
+
+void Publisher::enableBatchedWriter(bool bEnable)
+{
+  dds::pub::qos::DataWriterQos dwQos = m_ddsPublisher.default_datawriter_qos();
+  auto batch = (bEnable ? rti::core::policy::Batch::Enabled() : rti::core::policy::Batch::Disabled());
+  if (bEnable)
+  {
+    batch.max_data_bytes(64 * 1024);  
+    batch.max_flush_delay(dds::core::Duration::from_millisecs(10));
+  }
+  dwQos << batch;
+  m_ddsPublisher.default_datawriter_qos(dwQos);
+}
+
+void Publisher::deleteDDS()
+{
+  qDeleteAll(m_dtsMap);
+  qDeleteAll(m_dynamicTypeMap);
+  m_ddsPublisher = nullptr;
+}
+
+bool Publisher::write(const dds::core::xtypes::DynamicData &data, const std::string &topicName)
+{
+  DEBUG_LOG(m_logger) << "Publish dynamic data for topic (" << topicName << ")";
+
+  try
+  {
+
+    dds::pub::AnyDataWriter* anyWriter = m_dynamicTypeMap.value(topicName);
+    if (anyWriter == nullptr)
+    {
+      dds::topic::Topic<dds::core::xtypes::DynamicData> topic(m_domainParticipant, topicName, data.type());
+      auto writer = dds::pub::DataWriter<dds::core::xtypes::DynamicData>(m_ddsPublisher, topic);
+      anyWriter = new dds::pub::AnyDataWriter(writer);
+      m_dynamicTypeMap.insert(topicName, anyWriter);
+    }
+    anyWriter->get<dds::core::xtypes::DynamicData>().write(data);
+
+  }
+  catch ( ... )
+  {
+    ERROR_LOG(m_logger) << "Failed to publish data for topic (" << topicName << ")";
+    return false;
+  }
+  return true;
+}
+
+
+} 

Lts/DDS/DDSConnector/publisher.h

@@ -0,0 +1,67 @@
+
+
+#pragma once
+
+#include <QtCore/QMap>
+#include <NGLLogger/INGLLogger.h>
+#include <DDS/DTS/generic_dts_impl.h>
+#include <DDS/Generic/generic_data_writer.h>
+
+#include "pub_sub_base.h"
+
+namespace DDSConnector
+{
+class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
+{
+public:
+  Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
+  ~Publisher();
+
+  void enableBatchedWriter(bool bEnable);
+  dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }
+
+  
+  template <typename T>
+  bool write(const T &data)
+  {
+    using myDWO = DDSGeneric::GenericDataWriter<T>;
+    using myDTS = DTS::GenericDtsImpl< myDWO >;
+
+    std::string dwoType = DDS::topic_type_name<T>::value();
+    DEBUG_LOG(m_logger) << "dwoType = " << dwoType;
+
+    myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
+    if (dts == nullptr)
+    {
+      dts = new myDTS(m_domainParticipant, m_ddsPublisher);
+      m_dtsMap.insert(dwoType, dts);
+    }
+
+    return dts->write(data);
+  }
+
+  
+  bool write(const dds::core::xtypes::DynamicData &data)
+  {
+    return write(data, data.type().name());
+  }
+
+  bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);
+
+
+protected:
+  void initDDS();
+  void deleteDDS();
+
+protected:
+  dds::pub::Publisher            m_ddsPublisher;
+
+  
+  QMap<std::string, DTS::Base*> m_dtsMap;
+
+  
+  
+  QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
+};
+
+}

Lts/DDS/DDSConnector/subscriber.cpp

@@ -0,0 +1,74 @@
+
+
+
+#include "subscriber.h"
+#include "pub_sub_base_p.h"
+
+#include <DDS/QosProfile/DDS_DefaultQos.h>
+#include <NGLLogger/INGLLogger.h>
+
+namespace DDSConnector
+{
+Subscriber::Subscriber(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition, bool bUseSubscriberListener)
+  : PubSubBase(domainParticipant, partition, "DDSConnector.Subscriber")
+  , m_ddsSubscriber(nullptr)
+  , m_subscriberListener(bUseSubscriberListener ? new DDSGeneric::SubscriberListener : nullptr)
+  , m_subscriberListenerBinder(nullptr)
+{
+  Q_ASSERT(domainParticipant != nullptr);
+  initDDS();
+}
+
+Subscriber::~Subscriber()
+{
+  try
+  {
+    deleteDDS();
+  } catch (...)
+  {}
+}
+
+void Subscriber::initDDS()
+{
+  if (m_partitions.empty())
+    return;
+
+  
+  if (m_logger.isDebugEnabled()) {
+    DEBUG_LOG(m_logger) << "Subscriber (DataReader) Qos: ";
+    dds::core::QosProvider qosProvider = dds::core::QosProvider::Default();
+    DDS::QosProfile::print(qosProvider.datareader_qos(), m_logger);
+  }
+
+  dds::sub::qos::SubscriberQos subscriberQos = m_domainParticipant.default_subscriber_qos();
+
+  
+  rti::core::policy::EntityName entityName;
+  entityName.name(std::string("Sub ") + m_partitions.front());
+  subscriberQos << entityName;
+
+  DEBUG_LOG(m_logger) << "Subscribe on partition " << m_partitions.front();
+
+  m_ddsSubscriber = dds::sub::Subscriber(m_domainParticipant,
+                                         subscriberQos);
+
+  if (m_subscriberListener)
+    m_subscriberListenerBinder = rti::core::bind_and_manage_listener(m_ddsSubscriber,
+                                                                     m_subscriberListener,
+                                                                     DDSGeneric::SubscriberListener::mask());
+
+  updatePartitionQoS(m_ddsSubscriber);
+}
+
+void Subscriber::deleteDDS()
+{
+  if (m_subscriberListener)
+  {
+    m_subscriberListener->prepareShutdown();
+    m_subscriberListener = nullptr; 
+  }
+  m_subscriberListenerBinder = nullptr;
+  m_ddsSubscriber = nullptr;
+}
+
+} 

Lts/DDS/DDSConnector/subscriber.h

@@ -0,0 +1,71 @@
+
+
+#pragma once
+
+#include "pub_sub_base.h"
+
+#include <DDS/Generic/dynamic_data_reader.h>
+#include <DDS/DTC/generic_dtc_impl.h>
+#include <DDS/Generic/topic_description.h>
+#include <rti/core/ListenerBinder.hpp>
+
+namespace NGL
+{
+class INGLLogger;
+}
+
+namespace DDSConnector
+{
+class DDSCONNECTOR_EXPORT Subscriber : public PubSubBase
+{
+
+public:
+  Subscriber(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition, bool bUseSubscriberListener = true);
+  virtual ~Subscriber();
+
+  dds::sub::Subscriber getDdsSubscriber() const { return m_ddsSubscriber; }
+  DDSGeneric::SubscriberListener *getSubscriberListener() { return m_subscriberListener; }
+
+  template <typename DTC_TYPE>
+  DTC_TYPE *create(std::function<void(const typename DTC_TYPE::TopicTypeRead &, DataModification modType)> cb)
+  {
+    DTC_TYPE* dtc = new DTC_TYPE;
+    if (!dtc->create(m_domainParticipant, m_ddsSubscriber, m_subscriberListener))
+    {
+      delete dtc;
+      return nullptr;
+    }
+    dtc->setSubscriberCallback(cb);
+    return dtc;
+  }
+
+  
+  DTC::Ddtc<DDSGeneric::DynamicDataReader> *create(const std::function<void(const DDSGeneric::DynamicData &, const std::string &, DataModification modType)> &cb,
+                                                   const dds::core::xtypes::StructType &structType,
+                                                   DDSGeneric::SubscriberListener *listener = nullptr,
+                                                   const std::string &specialTopicName = std::string())
+  {
+    if (!listener)
+      listener = getSubscriberListener();
+
+    DTC::DdtcImpl<DDSGeneric::DynamicDataReader> *ddtc =
+        new DTC::DdtcImpl<DDSGeneric::DynamicDataReader>(getDomainParticipant(),
+                                                         getDdsSubscriber(),
+                                                         listener,
+                                                         structType,
+                                                         specialTopicName);
+    ddtc->setSubscriberCallback(cb);
+    return ddtc;
+  }
+
+protected:
+  void initDDS();
+  void deleteDDS();
+
+protected:
+  dds::sub::Subscriber            m_ddsSubscriber;
+  DDSGeneric::SubscriberListener *m_subscriberListener;
+  rti::core::ListenerBinder< dds::sub::Subscriber, dds::sub::SubscriberListener> m_subscriberListenerBinder;
+};
+
+}