89 lines
2.7 KiB
C++
Executable File
89 lines
2.7 KiB
C++
Executable File
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#pragma once
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#include "generic_dts.h"
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#include <DDS/Generic/generic_data_writer.h>
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#include <DDS/Generic/generic_logger.h>
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namespace DTS
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{
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template<typename DWO_OBJECT>
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class GenericDtsImpl final : public GenericDts<typename DWO_OBJECT::TopicType>
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{
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public:
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using DataWriterObject = DWO_OBJECT;
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using TopicType = typename DWO_OBJECT::TopicType;
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using DataWriter = typename dds::pub::DataWriter<TopicType>;
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GenericDtsImpl(const dds::domain::DomainParticipant &domainParticipant,
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const dds::pub::Publisher &ddsPublisher,
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const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<TopicType>::value()))
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: m_dataWriterObject(new DataWriterObject())
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, m_logger(DDS::getLogger(DDS::topic_type_name<TopicType>::value(), DDS::DataType::DATA_TOPIC_SERVER))
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{
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Q_ASSERT(domainParticipant != nullptr);
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Q_ASSERT(ddsPublisher != nullptr);
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m_dataWriterObject->create(domainParticipant, ddsPublisher, topicName);
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}
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~GenericDtsImpl()
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{
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delete m_dataWriterObject;
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}
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bool write(const TopicType &data,
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const dds::core::optional<dds::sub::SampleInfo> &si = dds::core::optional<dds::sub::SampleInfo>()) override final
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{
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DEBUG_LOG(m_logger) << "IN write ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ")";
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if (!m_dataWriterObject)
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return false;
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if (!m_dataWriterObject->write(data, si))
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{
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ERROR_LOG(m_logger) << "Error writing for "
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<< DDS::topic_type_name<TopicType>::value();
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return false;
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}
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DEBUG_LOG(m_logger) << "TopicData ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ") written";
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return true;
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}
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bool remove(const TopicType &data, bool errorMsgIfNotExists = true) override final
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{
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DEBUG_LOG(m_logger) << "IN remove ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ")";
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if (!m_dataWriterObject)
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return false;
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if (!m_dataWriterObject->remove(data, errorMsgIfNotExists))
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{
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if (errorMsgIfNotExists)
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ERROR_LOG(m_logger) << "Error removing for "
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<< DDS::topic_type_name<TopicType>::value();
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return false;
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}
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DEBUG_LOG(m_logger) << "TopicData ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ") removed";
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return true;
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}
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private:
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DataWriterObject *m_dataWriterObject;
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NGL::INGLLogger &m_logger;
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};
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}
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