75 lines
2.0 KiB
C++
Executable File
75 lines
2.0 KiB
C++
Executable File
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#include "subscriber.h"
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#include "pub_sub_base_p.h"
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <NGLLogger/INGLLogger.h>
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namespace DDSConnector
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{
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Subscriber::Subscriber(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition, bool bUseSubscriberListener)
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: PubSubBase(domainParticipant, partition, "DDSConnector.Subscriber")
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, m_ddsSubscriber(nullptr)
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, m_subscriberListener(bUseSubscriberListener ? new DDSGeneric::SubscriberListener : nullptr)
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, m_subscriberListenerBinder(nullptr)
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{
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Q_ASSERT(domainParticipant != nullptr);
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initDDS();
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}
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Subscriber::~Subscriber()
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{
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try
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{
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deleteDDS();
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} catch (...)
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{}
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}
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void Subscriber::initDDS()
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{
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if (m_partitions.empty())
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return;
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if (m_logger.isDebugEnabled()) {
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DEBUG_LOG(m_logger) << "Subscriber (DataReader) Qos: ";
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dds::core::QosProvider qosProvider = dds::core::QosProvider::Default();
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DDS::QosProfile::print(qosProvider.datareader_qos(), m_logger);
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}
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dds::sub::qos::SubscriberQos subscriberQos = m_domainParticipant.default_subscriber_qos();
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rti::core::policy::EntityName entityName;
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entityName.name(std::string("Sub ") + m_partitions.front());
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subscriberQos << entityName;
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DEBUG_LOG(m_logger) << "Subscribe on partition " << m_partitions.front();
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m_ddsSubscriber = dds::sub::Subscriber(m_domainParticipant,
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subscriberQos);
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if (m_subscriberListener)
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m_subscriberListenerBinder = rti::core::bind_and_manage_listener(m_ddsSubscriber,
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m_subscriberListener,
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DDSGeneric::SubscriberListener::mask());
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updatePartitionQoS(m_ddsSubscriber);
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}
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void Subscriber::deleteDDS()
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{
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if (m_subscriberListener)
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{
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m_subscriberListener->prepareShutdown();
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m_subscriberListener = nullptr;
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}
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m_subscriberListenerBinder = nullptr;
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m_ddsSubscriber = nullptr;
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}
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}
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