Continues migration with DDS, Common

Lts/DDS/DTS/generic_dts_impl.h

@@ -0,0 +1,88 @@
+
+
+#pragma once
+
+#include "generic_dts.h"
+#include <DDS/Generic/generic_data_writer.h>
+#include <DDS/Generic/generic_logger.h>
+
+namespace DTS
+{
+  template<typename DWO_OBJECT>
+  class GenericDtsImpl final : public GenericDts<typename DWO_OBJECT::TopicType>
+  {
+  public:
+    using DataWriterObject = DWO_OBJECT;
+    using TopicType        = typename DWO_OBJECT::TopicType;
+    using DataWriter       = typename dds::pub::DataWriter<TopicType>;
+
+    GenericDtsImpl(const dds::domain::DomainParticipant &domainParticipant,
+                   const dds::pub::Publisher &ddsPublisher,
+                   const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<TopicType>::value()))
+      : m_dataWriterObject(new DataWriterObject())
+      , m_logger(DDS::getLogger(DDS::topic_type_name<TopicType>::value(), DDS::DataType::DATA_TOPIC_SERVER))
+    {
+      Q_ASSERT(domainParticipant != nullptr);
+      Q_ASSERT(ddsPublisher != nullptr);
+
+      m_dataWriterObject->create(domainParticipant, ddsPublisher, topicName);
+    }
+
+    ~GenericDtsImpl()
+    {
+      delete m_dataWriterObject;
+    }
+
+    bool write(const TopicType &data,
+               const dds::core::optional<dds::sub::SampleInfo> &si = dds::core::optional<dds::sub::SampleInfo>())  override final
+    {
+      DEBUG_LOG(m_logger) << "IN write ("
+                          << DDS::topic_type_name<TopicType>::value()
+                          << ")";
+
+      if (!m_dataWriterObject)
+        return false;
+
+      if (!m_dataWriterObject->write(data, si))
+      {
+        ERROR_LOG(m_logger) << "Error writing for "
+                            << DDS::topic_type_name<TopicType>::value();
+        return false;
+      }
+      DEBUG_LOG(m_logger) << "TopicData ("
+                          << DDS::topic_type_name<TopicType>::value()
+                          << ") written";
+
+      return true;
+    }
+
+    bool remove(const TopicType &data, bool errorMsgIfNotExists = true) override final
+    {
+      DEBUG_LOG(m_logger) << "IN remove ("
+                          << DDS::topic_type_name<TopicType>::value()
+                          << ")";
+
+      if (!m_dataWriterObject)
+        return false;
+
+      if (!m_dataWriterObject->remove(data, errorMsgIfNotExists))
+      {
+        if (errorMsgIfNotExists)
+          ERROR_LOG(m_logger) << "Error removing for "
+                              << DDS::topic_type_name<TopicType>::value();
+        return false;
+      }
+      DEBUG_LOG(m_logger) << "TopicData ("
+                          << DDS::topic_type_name<TopicType>::value()
+                          << ") removed";
+
+      return true;
+    }
+
+  private:
+    
+    DataWriterObject *m_dataWriterObject;
+    NGL::INGLLogger  &m_logger;
+  };
+
+}