Continues migration with DDS, Common

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;
+}
+
+
+}