Continues migration with DDS, Common

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;
+};
+
+}