qt6-migration-pipeline/Lts/Common/CodeGen/svc_dtc_impl.cpp.grantlee

/**
  * {{ namespace_abbr_upper }} Data Topic Client Interface
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Christian Ehrlicher, SLSE, 2016-04-07
  */

{% autoescape off %}
// filename: {{ namespace_abbr }}_dtc_impl.cpp

#include "{{ namespace_abbr }}_dtc_impl.h"
{% if custom_dtc_procs %}
#include <{{ include_prefix }}/{{ namespace_abbr }}_dtc_impl_custom.h>
{% endif %}
#include <DDS/DTC/generic_dtc_impl.h>
#include <dds/core/cond/StatusCondition.hpp>
#include <dds/core/cond/WaitSet.hpp>
#include <unordered_map>
#include <QCoreApplication>
#include <QThread>

namespace {{ namespace }}
{
namespace Interface
{
// initializer function
std::shared_ptr<Dtc> Dtc::create(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
{
  // share only for main thread
  if (qApp->thread() != QThread::currentThread())
  {% if custom_dtc_procs %}
    return std::make_shared<DtcImplCustom>(ddsConnector);
  {% else %}
    return std::make_shared<DtcImpl>(ddsConnector);
  {% endif %}

  static std::unordered_map<DDSConnector::DdsConnector*, std::weak_ptr<Dtc>> s_availableConnectors;

  auto it = s_availableConnectors.find(ddsConnector.get());
  if (it != s_availableConnectors.end())
  {
    auto ret = it->second.lock();
    if (ret)
      return ret;
    s_availableConnectors.erase(it);
  }
  {% if custom_dtc_procs %}
  auto ret = std::make_shared<DtcImplCustom>(ddsConnector);
  {% else %}
  auto ret = std::make_shared<DtcImpl>(ddsConnector);
  {% endif %}
  s_availableConnectors.insert(std::make_pair(ddsConnector.get(), ret));
  return std::move(ret);  // c++11 defect
}

// DtcImpl
DtcImpl::DtcImpl(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
  : Dtc()
  , m_ddsConnector(ddsConnector)
  , m_logger(getLogger("Dtc"))
{}

DtcImpl::~DtcImpl()
{
  enableAll(false);
}

bool DtcImpl::enableAll(bool enable)
{ {% for dt in dataTopics.member %} {% if dt.dtcImpl %} {% if dt.autosubscribe %}
  if (!enable{{ dt.name }}(enable))
  {
    ERROR_LOG(m_logger) << "Error initializing data topic {{ dt.name }}";
    return false;
  }
  {% endif %} {% endif %} {% endfor %}
  return true;
}

{% for dt in dataTopics.member %} {% if dt.dtcImpl %} {% if dt.key.name %}
template <>
struct TopicConstraints<{{ dt.type }}>
{
  using KEY = {{ dt.key.cppType }};
};
{% endif %} {% endif %} {% endfor %}


template <typename DTC>
bool DtcImpl::checkEnabled(const DTC &dtc) const
{
  if (!dtc)
  {
    using TOPIC = typename DtcConstraints<DTC>::TOPIC ;
    WARNING_LOG(m_logger) << "Error retrieving data topic "
                          << DDS::topic_type_name<TOPIC>::value() << " - not enabled";
    Q_ASSERT(false);
    return false;
  }
  return true;
}

template <typename DTC>
bool DtcImpl::waitForHistoricalData(DTC &dtc, int timeoutMSec)
{
  if (!checkEnabled(dtc))
    return false;
  return dtc->waitForHistoricalData(timeoutMSec);
}

template <typename T, typename K = typename TopicConstraints<T>::KEY>
K getKey(const T &val);

template <typename DTC,
          typename T,
          typename K>
QMap<K, T> DtcImpl::getAll(const DTC &dtc) const
{
  if (!checkEnabled(dtc))
    return {};

  QMap<K, T> retMap;
  for (const auto &sample : dtc->readAlive())
    retMap.insert(getKey(sample.data()), sample);

  return retMap;
}

template <typename DTC, typename C, typename T, typename K>
T DtcImpl::getOne(const DTC &dtc, const C &cont, const K &key) const
{
  if (!checkEnabled(dtc))
    return {};
  const auto it = cont.find(key);
  return it == cont.end() ? T() : it.value();
}

template <typename DTC, typename C, typename T>
bool DtcImpl::iterateAll(const DTC &dtc, const C &cont, const std::function<void(const T &data)> &cb) const
{
  if (!checkEnabled(dtc))
    return false;

  for (const auto &sample : cont)
    cb(sample);

  return true;
}

template <typename DTC, typename C, typename T>
bool DtcImpl::iterateUntil(const DTC &dtc, const C &cont, const std::function<bool(const T &data)> &cb) const
{
  if (!checkEnabled(dtc))
    return false;

  for (const auto &sample : cont)
  {
    if (cb(sample))
      return true;
  }
  return false;
}

{% for dt in dataTopics.member %} {% if dt.dtcImpl %}
//
// Data Topic '{{ dt.name }}'
//
bool DtcImpl::enable{{ dt.name }}(bool enable)
{
  if (enable)
  {
    if (m_dtc{{ dt.name }})
    {
      INFO_LOG(m_logger) << "{{ dt.name }} already enabled!";
      return true;
    }
    m_dtc{{ dt.name }}.reset(m_ddsConnector->createDTC<DTC::{{ dt.name }}Impl>());
    assert(m_dtc{{ dt.name }}.get());
    m_dtc{{ dt.name }}->setSubscriberCallback([this](const {{ namespace }}::{{ dt.name }} &data, DataModification modType)
    {
      {{ dt.nameFlc }}ChangedInternal(data, modType);
    });
  }
  else
  {
    m_dtc{{ dt.name }} = nullptr;
  }

  return true;
}

bool DtcImpl::waitForHistoricalData{{ dt.name }}(int timeoutMSec)
{

  if (!is{{ dt.name }}Enabled())
  {
    enable{{ dt.name }}();
    DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
  }

  if (!waitForHistoricalData(m_dtc{{ dt.name }}, timeoutMSec))
    return false;
{% if dt.key.name %}
  m_{{ dt.nameFlc }}Cont = getAll(m_dtc{{ dt.name }});
{% else %}
  auto samples = m_dtc{{ dt.name }}->readAlive();
  if (samples.length() == 0)
    return false;
  m_{{ dt.nameFlc }} = samples[samples.length() - 1].data();
{% endif %}
  return true;
}

{% if dt.key.name %}
template <>
{{ dt.key.cppType }} getKey(const {{ dt.type }} &val)
{
  return val.{{ dt.key.name }}();
}

QMap<{{ dt.key.cppType }},{{ namespace }}::{{ dt.type }}> DtcImpl::{{ dt.nameFlc }}s()
{
  if (!is{{ dt.name }}Enabled())
  {
     enable{{ dt.name }}();
     DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
     waitForHistoricalData{{ dt.name }}(10);
  }
  return m_{{ dt.nameFlc }}Cont;
}

bool DtcImpl::{{ dt.nameFlc }}s(const std::function<void(const {{ namespace }}::{{ dt.type }} &data)> &cb)
{
  if (!is{{ dt.name }}Enabled())
  {
    enable{{ dt.name }}();
    DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
    waitForHistoricalData{{ dt.name }}(10);
  }
  return iterateAll(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, cb);
}

bool DtcImpl::{{ dt.nameFlc }}s(const std::function<bool(const {{ namespace }}::{{ dt.type }} &data)> &cb)
{
  if (!is{{ dt.name }}Enabled())
  {
    enable{{ dt.name }}();
    DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
    waitForHistoricalData{{ dt.name }}(10);
  }
  return iterateUntil(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, cb);
}

{{ namespace }}::{{ dt.type }} DtcImpl::{{ dt.nameFlc }}({{ dt.key.cppTypeCr }} {{ dt.key.nameFlc }})
{
  if (!is{{ dt.name }}Enabled())
  {
    enable{{ dt.name }}();
    DEBUG_LOG(m_logger) << "NEED TO ENABLE ! {{ dt.name }}" ;
    waitForHistoricalData{{ dt.name }}(10);
  }
  return getOne(m_dtc{{ dt.name }}, m_{{ dt.nameFlc }}Cont, {{ dt.key.nameFlc }});
}

void DtcImpl::{{ dt.nameFlc }}ChangedInternal(const {{ namespace }}::{{ dt.type }} &data, DataModification modType)
{
  switch (modType)
  {
  case DataModification::eAdded:
  case DataModification::eModified:
    m_{{ dt.nameFlc }}Cont[getKey(data)] = data;
    break;
  case DataModification::eRemoved:
    m_{{ dt.nameFlc }}Cont.remove(getKey(data));
    break;
  }
  emit {{ dt.nameFlc }}Changed(data, modType);
}

{% else %}
{{ namespace }}::{{ dt.type }} DtcImpl::{{ dt.nameFlc }}()
{
  return m_{{ dt.nameFlc }};
}
void DtcImpl::{{ dt.nameFlc }}ChangedInternal(const {{ namespace }}::{{ dt.type }} &data, DataModification modType)
{
  switch (modType)
  {
  case DataModification::eAdded:
  case DataModification::eModified:
    m_{{ dt.nameFlc }} = data;
    break;
  case DataModification::eRemoved:
    m_{{ dt.nameFlc }} = {{ namespace }}::{{ dt.type }}();
    break;
  }
  emit {{ dt.nameFlc }}Changed(data, modType);
}

{% endif %} {% endif %} {% endfor %}

} // namespace Interface
} // namespace {{ namespace }}
{% endautoescape %}