Continues migration with DDS, Common
This commit is contained in:
torsten committed
1 parent
9b15cee841
commit
fa48db111e
668 files changed
+111841
-2
No files matched your search
Executable
+283
@@ -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;
|
||||
}
|
||||
|
||||
}
|
||||
Reference in new issue
Block a user