Continues migration with DDS, Common

Lts/DDS/DdsUnitTests/data_topic_tests.cpp

@@ -0,0 +1,155 @@
+
+
+
+#include "data_topic_tests.h"
+
+#include <NGLLogger/NGLLoggerBootstrap.h>
+
+#include <DDS/QosProfile/DDS_DefaultQos.h>
+#include <DDS/DTS/generic_dts_impl.h>
+#include <DDS/DTC/generic_dtc_impl.h>
+#include <Common/ProjectConfig/project_defines.h>
+
+#include <QtTest/QTest>
+#include <QVariant>
+#include <QThread>
+
+
+DataTopicTests::DataTopicTests()
+  : m_domainParticipantPub(nullptr)
+  , m_domainParticipantSub(nullptr)
+  , m_domainId(0)
+  , m_partitionId(1)
+  , m_ddsPublisher(nullptr)
+  , m_testPart(nullptr)
+  , m_ddsSubscriber(nullptr)
+  , m_subscriberListener(nullptr)
+  , m_dtcTestPart(nullptr)
+  , m_mainThreadId(QThread::currentThreadId())
+  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.DataTopicTests"))
+{
+  if (!DDS::QosProfile::setDefault())
+    ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";
+
+  DEBUG_LOG(m_logger) << "Main thread ID is " << m_mainThreadId;
+}
+
+DataTopicTests::~DataTopicTests()
+{
+  
+  delete m_testPart;
+
+  
+  delete m_dtcTestPart;
+
+  
+  
+  delete m_subscriberListener;
+}
+
+
+
+
+bool DataTopicTests::initPublisher()
+{
+  m_domainParticipantPub =
+      dds::domain::DomainParticipant(m_domainId,
+                                     DDS::QosProfile::domainParticipantShm());
+
+  dds::pub::qos::PublisherQos publisherQos = m_domainParticipantPub.default_publisher_qos();
+
+  
+  QString partition = QString::fromStdString(IDL::exercisePartition(m_partitionId));
+
+  dds::core::policy::Partition partitionQos;
+  partitionQos.name( { partition.toStdString() } );
+  publisherQos << partitionQos;
+
+  DEBUG_LOG(m_logger) << "Publish on partition " << partition;
+
+  m_ddsPublisher = dds::pub::Publisher(m_domainParticipantPub, publisherQos);
+  m_testPart = new DTS::TestParticipantImpl(m_domainParticipantPub, m_ddsPublisher);
+
+  return true;
+}
+
+bool DataTopicTests::write(const DdsUnitTests::TestParticipant &data)
+{
+  INFO_LOG(m_logger) << "Publish topic TestParticipant ";
+  DEBUG_LOG(m_logger) << "ParticipantId: " << data.location().participantId()
+                      << ", equipNo = " << data.location().equipNo();
+
+  return m_testPart->write(data);
+}
+
+
+
+
+
+bool DataTopicTests::initSubscriber()
+{
+  DEBUG_LOG(m_logger) << "Initialisation DDS (Subscriber/Reader)";
+
+  m_domainParticipantSub =
+      dds::domain::DomainParticipant(m_domainId,
+                                     DDS::QosProfile::domainParticipantShm());
+
+  dds::sub::qos::SubscriberQos subscriberQos = m_domainParticipantSub.default_subscriber_qos();
+
+  
+  dds::core::StringSeq partitions;
+  partitions.reserve(1);
+  for(int partitionId : { 1 } )
+  {
+    partitions.push_back(IDL::exercisePartition(partitionId));
+  }
+
+  dds::core::policy::Partition partitionQos;
+  partitionQos.name( partitions );
+  subscriberQos << partitionQos;
+
+  DEBUG_LOG(m_logger) << "Initialise DTC::SubscriberListener";
+  m_subscriberListener = new DDSGeneric::SubscriberListener();
+  m_ddsSubscriber = dds::sub::Subscriber(m_domainParticipantSub,
+                                         subscriberQos,
+                                         m_subscriberListener,
+                                         DDSGeneric::SubscriberListener::mask());
+
+  
+  m_dtcTestPart =  new DTC::SampleInfo::TestParticipantImpl(m_domainParticipantSub,
+                                                            m_ddsSubscriber,
+                                                            m_subscriberListener);
+
+  m_dtcTestPart->setSubscriberCallback([this](const DdsUnitTests::TestParticipant &data, const dds::sub::SampleInfo &si) { processData(data, si); } );
+
+  return true;
+}
+
+void DataTopicTests::deleteDTC()
+{
+  delete m_dtcTestPart;
+  m_dtcTestPart = nullptr;
+}
+
+void DataTopicTests::deleteSubscriber()
+{
+  m_ddsSubscriber = nullptr;
+  delete m_subscriberListener;
+  m_subscriberListener = nullptr;
+}
+
+
+
+void DataTopicTests::processData(const DdsUnitTests::TestParticipant &instance, const dds::sub::SampleInfo &si)
+{
+  INFO_LOG(m_logger) << "process data in topic TestParticipant, Sampleinfo: " << si.source_timestamp().sec();
+
+  DEBUG_LOG(m_logger) << "participantId: "  << instance.location().participantId();
+  DEBUG_LOG(m_logger) << "equipNo: " << instance.location().equipNo();
+
+  m_receivedParticipantData = instance;
+
+  QCOMPARE(m_mainThreadId, QThread::currentThreadId());
+
+  emit testParticipantDataArrived();
+}