Continues migration with DDS, Common

2026-07-17 12:41:42 +02:00
1 parent 9b15cee841
commit fa48db111e
@@ -0,0 +1,97 @@
+
+
+#include "initialisation.h"
+
+#include <NGLLogger/NGLLoggerBootstrap.h>
+
+#include <DDS/QosProfile/DDS_DefaultQos.h>
+#include <Common/ProjectConfig/project_defines.h>
+
+
+Initialisation::Initialisation()
+  : m_domainParticipant(nullptr)
+  , m_domainParticipantSub(nullptr)
+  , m_domainId(0)
+  , m_exerciseId(-1)
+  , m_ddsPublisher(nullptr)
+  , m_ddsSubscriber(nullptr)
+  , m_subListener(new DDSGeneric::SubscriberListener)
+  , m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.Initialisation"))
+{
+  if (!DDS::QosProfile::setDefault())
+    ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";
+
+}
+
+Initialisation::~Initialisation()
+{
+  cleanupSubscriberListener();
+  m_ddsSubscriber = nullptr;
+  m_ddsPublisher = nullptr;
+}
+
+void Initialisation::cleanupSubscriberListener()
+{
+  if (m_ddsSubscriber != nullptr && m_subListener != nullptr)
+  {
+    m_ddsSubscriber.listener(nullptr, dds::core::status::StatusMask::none());
+    delete m_subListener;
+    m_subListener = nullptr;
+   }
+}
+
+
+bool Initialisation::initDDS(int domainId, int exerciseId, PubSub pubsub)
+{
+  if (m_domainParticipant == nullptr)
+    m_domainParticipant = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
+
+  
+
+  if (pubsub == USE_PUBLISHER || pubsub == USE_PUB_SUB)
+  {
+    dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
+
+    DEBUG_LOG(m_logger) << "Publish on partition " << IDL::exercisePartition(exerciseId);
+
+    
+    dds::core::policy::Partition partitionQos;
+    partitionQos.name( { IDL::exercisePartition(exerciseId) } );
+    publisherQos << partitionQos;
+
+    m_ddsPublisher = dds::pub::Publisher(m_domainParticipant,
+                                         publisherQos);
+  }
+
+  if (pubsub == USE_SUBSCRIBER || pubsub == USE_PUB_SUB)
+  {
+    dds::domain::DomainParticipant domainPart = m_domainParticipant;
+    if ( domainPart == nullptr || m_domainParticipantSub == nullptr)
+    {
+      m_domainParticipantSub = dds::domain::DomainParticipant(domainId, DDS::QosProfile::domainParticipantShm());
+      domainPart = m_domainParticipantSub;
+    }
+
+    dds::sub::qos::SubscriberQos subscriberQos = domainPart.default_subscriber_qos();
+
+    DEBUG_LOG(m_logger) << "Subsribing on partition " << IDL::exercisePartition(exerciseId);
+
+    
+    dds::core::policy::Partition partitionQos;
+    partitionQos.name( { IDL::exercisePartition(exerciseId) } );
+    subscriberQos << partitionQos;
+
+    m_ddsSubscriber = dds::sub::Subscriber(domainPart,
+                                           subscriberQos,
+                                           m_subListener,
+                                           m_subListener->mask());
+  }
+
+  if (m_domainId == 0)
+    m_domainId = domainId;
+
+  if (m_exerciseId < 0)
+    m_exerciseId = exerciseId;
+
+  return true;
+}