Continues migration with DDS, Common
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#include "DDS_DefaultQos.h"
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#include <QUrl>
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#include <ngltools/ngltools_filesystem.h>
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#include <NGLLogger/NGLLoggerBootstrap.h>
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namespace DDS
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{
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namespace QosProfile
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{
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static void printPolicyMap(const std::map<std::string, std::string> &policyMap, NGL::INGLLogger &logger);
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QString defaultProfileXml()
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{
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return NGL::findFile(NGL::FileType::ConfigFile, QStringLiteral("default_profile.xml"));
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}
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bool setDefault(const QStringList &qosFileList)
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{
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NGL::INGLLogger &logger = NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("DDS.DefaultQos");
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const QStringList qosStr = qosFileList.isEmpty() ?
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QStringList(defaultProfileXml()) :
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qosFileList;
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if (logger.isDebugEnabled())
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{
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DEBUG_LOG(logger) << "findFile - m_qosFileList = ";
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for (const QString &file : qosStr)
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DEBUG_LOG(logger) << "# profile: " << file;
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}
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try
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{
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dds::core::StringSeq urls;
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urls.reserve(qosStr.size());
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for (const QString &file : qosStr)
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{
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const QString url = QUrl::fromLocalFile(file).toString();
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DEBUG_LOG(logger) << "Using qosFile: " << file << " - " << url;
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urls.emplace_back(url.toStdString());
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}
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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rti::core::QosProviderParams qosProviderParams = defaultProvider->default_provider_params();
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qosProviderParams.url_profile(urls);
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defaultProvider->default_provider_params(qosProviderParams);
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print(defaultProvider, logger);
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}
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catch (const dds::core::Exception &ex)
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{
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ERROR_LOG(logger) << ex.what();
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return false;
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}
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return true;
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}
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static QString fixupSchemeName(const QUrl &url)
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{
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QString str = url.toString();
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str = str.replace(QLatin1String("tcpv4lan"), QLatin1String("tcpv4_lan"));
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return QStringLiteral("0@") + str;
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmUdp()
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{
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return domainParticipantDefault(ConnectionType::ShmUdp, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmUdpLocalhost()
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{
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return domainParticipantDefault(ConnectionType::ShmUdpLocalhost, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShm()
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{
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return domainParticipantDefault(ConnectionType::Shm, QUrl());
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}
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dds::domain::qos::DomainParticipantQos domainParticipantShmTcp(const QUrl &tcpConnectionUrl)
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{
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return domainParticipantDefault(ConnectionType::Tcp, tcpConnectionUrl);
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}
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dds::domain::qos::DomainParticipantQos domainParticipantDefault(ConnectionType type, const QUrl &tcpConnectionUrl)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::domain::qos::DomainParticipantQos dpQos = defaultProvider.participant_qos();
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switch (type)
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{
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case ConnectionType::Tcp:
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{
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Tcp");
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if (tcpConnectionUrl.scheme() == QLatin1String("tcpv4lan"))
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{
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rti::core::policy::Discovery discovery;
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dpQos >> discovery;
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const dds::core::StringSeq seq({fixupSchemeName(tcpConnectionUrl).toStdString()});
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discovery.initial_peers(seq);
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dpQos << discovery;
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}
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else
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{
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rti::core::policy::Property props;
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dpQos >> props;
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props.set({"dds.transport.TCPv4.tcp1.server_bind_port", std::to_string(tcpConnectionUrl.port(7400))});
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dpQos << props;
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}
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break;
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}
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case ConnectionType::Shm:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Shm");
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break;
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case ConnectionType::ShmUdp:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.ShmUdp");
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break;
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case ConnectionType::ShmUdpLocalhost:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.ShmUdpLocalhost");
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break;
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case ConnectionType::Server:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Server");
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break;
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case ConnectionType::Client:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Client");
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break;
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case ConnectionType::Tablet:
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dpQos = defaultProvider.participant_qos("LtsProfiles::DomainParticipant.Tablet");
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break;
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}
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return dpQos;
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}
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dds::pub::qos::DataWriterQos dataWriterDefault(TopicType type)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::pub::qos::DataWriterQos dwQos = defaultProvider.datawriter_qos();
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switch (type)
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{
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case TopicType::DataTopic:
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break;
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case TopicType::FunctionTopic:
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dwQos = defaultProvider.datawriter_qos("LtsProfiles::DataReaderWriter.FT");
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break;
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}
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return dwQos;
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}
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dds::sub::qos::DataReaderQos dataReaderDefault(TopicType type)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::sub::qos::DataReaderQos drQos = defaultProvider.datareader_qos();
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switch (type)
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{
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case TopicType::DataTopic:
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break;
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case TopicType::FunctionTopic:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DataReaderWriter.FT");
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break;
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}
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return drQos;
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}
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dds::sub::qos::DataReaderQos dataReaderDefault( ConnectionType conType)
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{
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dds::core::QosProvider defaultProvider = dds::core::QosProvider::Default();
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dds::sub::qos::DataReaderQos drQos = defaultProvider.datareader_qos();
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switch (conType)
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{
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case ConnectionType::Shm:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Shm");
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break;
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case ConnectionType::ShmUdp:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.ShmUdp");
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break;
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case ConnectionType::ShmUdpLocalhost:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.ShmUdpLocalhost");
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break;
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case ConnectionType::Server:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Server");
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break;
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case ConnectionType::Client:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Client");
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break;
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case ConnectionType::Tablet:
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drQos = defaultProvider.datareader_qos("LtsProfiles::DomainParticipant.Tablet");
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break;
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default:
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break;
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}
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return drQos;
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}
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void print(dds::core::QosProvider provider, NGL::INGLLogger &logger)
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{
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print(provider.participant_qos(), logger);
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print(provider.datawriter_qos(), logger);
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print(provider.datareader_qos(), logger);
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}
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void print(const dds::domain::qos::DomainParticipantQos &qos, NGL::INGLLogger &logger)
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{
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DEBUG_LOG(logger) << "Qos for DomainParticipant: ";
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printPolicyMap(qos->property.get_all(), logger);
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}
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void print(const dds::sub::qos::DataReaderQos &readerQos, NGL::INGLLogger &logger)
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{
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DEBUG_LOG(logger) << "Qos for dataReader: ";
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DEBUG_LOG(logger) << "resourceLimit.max_samples " << readerQos->resource_limits.max_samples();
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printPolicyMap(readerQos->property.get_all(), logger);
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}
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void print(const dds::pub::qos::DataWriterQos &writerQos, NGL::INGLLogger &logger)
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{
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DEBUG_LOG(logger) << "Default Qos for dataWriter: ";
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DEBUG_LOG(logger) << "ReliabilityKind: " << writerQos->reliability->kind();
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DEBUG_LOG(logger) << "Publish mode: " << writerQos->publish_mode.kind();
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printPolicyMap(writerQos->property.get_all(), logger);
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}
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void printPolicyMap(const std::map<std::string, std::string> &policyMap, NGL::INGLLogger &logger)
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{
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for (const auto &it : policyMap)
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{
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const std::string &policyName = it.first;
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const std::string &policyContent = it.second;
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DEBUG_LOG(logger) << "policy " << policyName << ": " << policyContent ;
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}
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}
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}
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}
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