115 lines
2.9 KiB
Plaintext
Executable File
115 lines
2.9 KiB
Plaintext
Executable File
/**
|
|
* {{ namespace }} Function Topic Server implementation
|
|
* $Id$
|
|
* $HeadURL$
|
|
* $Author$
|
|
*/
|
|
|
|
{% autoescape off %}
|
|
// filename: {{ namespace_abbr }}_fts_impl.cpp
|
|
#include "{{ namespace_abbr }}_fts_impl.h"
|
|
#include <DDS/FTS/generic_fts_impl.h>
|
|
|
|
namespace {{ namespace }}
|
|
{
|
|
namespace Interface
|
|
{
|
|
// initializer function
|
|
std::shared_ptr<Fts> Fts::create(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
|
|
{
|
|
return std::make_shared<FtsImpl>(ddsConnector);
|
|
}
|
|
|
|
// FtsImpl
|
|
FtsImpl::FtsImpl(const std::shared_ptr<DDSConnector::DdsConnector> &ddsConnector)
|
|
: Fts()
|
|
, m_ddsConnector(ddsConnector)
|
|
, m_logger(getLogger("Fts"))
|
|
{}
|
|
|
|
FtsImpl::~FtsImpl()
|
|
{
|
|
enableAll(false);
|
|
}
|
|
|
|
bool FtsImpl::enableAll(bool enable)
|
|
{
|
|
DEBUG_LOG(m_logger) << "FtsImpl::enableAll(" << (enable ? "true" : "false") << ")";
|
|
{% for ft in functionTopics.member %}
|
|
if (!enable{{ ft.name }}(enable))
|
|
{
|
|
ERROR_LOG(m_logger) << "Error initializing function topic {{ ft.name }}";
|
|
return false;
|
|
}
|
|
{% endfor %}
|
|
return true;
|
|
}
|
|
|
|
{% for ft in functionTopics.member %}
|
|
//
|
|
// Function Topic '{{ ft.name }}'
|
|
//
|
|
bool FtsImpl::enable{{ ft.name }}(bool enable)
|
|
{
|
|
if (enable)
|
|
{
|
|
if (m_fts{{ ft.name }})
|
|
{
|
|
INFO_LOG(m_logger) << "{{ ft.name }} already enabled!";
|
|
return true;
|
|
}
|
|
m_fts{{ ft.name }}.reset(m_ddsConnector->createFTS<FTS::{{ ft.name }}>());
|
|
assert(m_fts{{ ft.name }}.get());
|
|
m_fts{{ ft.name }}->setSubscriberCallback([this] (const rti::core::SampleIdentity &identity, const {{ namespace }}::{{ ft.request }} &request) { this->{{ ft.onRequest }}(identity, request); });
|
|
}
|
|
else
|
|
{
|
|
m_fts{{ ft.name }}.reset();
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool FtsImpl::{{ ft.replyFlc }}(const rti::core::SampleIdentity &cookie, const {{ ft.replyType }} &reply)
|
|
{
|
|
if (!m_fts{{ ft.name }})
|
|
{
|
|
WARNING_LOG(m_logger) << "Error publishing function topic {{ dt.name }} - not enabled";
|
|
Q_ASSERT(false);
|
|
return false;
|
|
}
|
|
|
|
return m_fts{{ ft.name }}->sendReply(cookie, reply);
|
|
}
|
|
{% if ft.isCoreFt %}
|
|
bool FtsImpl::{{ ft.replyFlc }}(const rti::core::SampleIdentity &cookie, const Core::FunctionReplyObject &replyObject)
|
|
{
|
|
return {{ ft.replyFlc }}(cookie, {{ ft.replyType }}(replyObject.id(), replyObject.str(), replyObject.args(), replyObject.additionalInfo()));
|
|
}
|
|
{% endif %}
|
|
|
|
|
|
void FtsImpl::set{{ ft.requestHandler }}({{ ft.requestHandler }} *handler)
|
|
{
|
|
m_{{ ft.requestHandlerFlc }} = handler;
|
|
}
|
|
|
|
void FtsImpl::{{ ft.onRequest }}(const rti::core::SampleIdentity &cookie,
|
|
const {{ namespace }}::{{ ft.request }} &request)
|
|
{
|
|
DEBUG_LOG(m_logger) << "{{ ft.onRequest }}";
|
|
if (!m_{{ ft.requestHandlerFlc }})
|
|
{
|
|
WARNING_LOG(m_logger) << "Incoming {{ ft.request }} without registered handler!";
|
|
Q_ASSERT(false);
|
|
return;
|
|
}
|
|
|
|
m_{{ ft.requestHandlerFlc }}->{{ ft.onRequest }}(cookie, request);
|
|
}
|
|
|
|
{% endfor %}
|
|
|
|
} // namespace Interface
|
|
} // namespace {{ namespace }}
|
|
{% endautoescape %}
|