qt6-migration-pipeline/Lts/DDS/DDSConnector/dds_connector.h

#pragma once

#include <dds/pub/CoherentSet.hpp>
#include <dds/pub/Publisher.hpp>
#include <dds/sub/Subscriber.hpp>

#include <QtCore/QStringList>
#include <Common/ProjectConfig/project_defines.h>
#include <DDS/DDSConnector/ddsconnector_export.h>
#include <DDS/Generic/generic_base.h>
#include <QUrl>

class QObject;
namespace DDS
{
namespace QosProfile
{
enum class ConnectionType;
}
}
namespace NGL
{
class INGLLogger;
}
namespace DDSGeneric
{
class WaitSetHandler;
class SubscriberListener;
}
namespace DDSConnector
{
class Publisher;
class Subscriber;

class DDSCONNECTOR_EXPORT DdsConnector
{
  DdsConnector(int domainId,
               const dds::domain::DomainParticipant &domainParticipant,
               IDL::PartitionType defaultPartitionType,
               int partitionId,
               int exerciseId,
               DDS::QosProfile::ConnectionType connectionType,
               const QUrl &tcpConnectionUrl);
public:
  DdsConnector(const DdsConnector &) = delete;
  DdsConnector &operator=(const DdsConnector &) = delete;

  

  DdsConnector(int domainId,
               IDL::PartitionType defaultPartitionType,
               int partitionId = 0,
               int exerciseId = 0,
               const QUrl &tcpConnectionUrl = QUrl());
  

  DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
               IDL::PartitionType defaultPartitionType,
               int partitionId = 0,
               int exerciseId = 0,
               const QUrl &tcpConnectionUrl = QUrl());

  DdsConnector(const dds::domain::DomainParticipant &domainParticipant,
               IDL::PartitionType defaultPartitionType,
               DDS::QosProfile::ConnectionType connectionType,
               int partitionId = 0,
               int exerciseId = 0);

  DdsConnector(int domainId,
               IDL::PartitionType defaultPartitionType,
               int partitionId,
               int exerciseId,
               DDS::QosProfile::ConnectionType connectionType);

  virtual ~DdsConnector();

  

  virtual bool init(const QStringList &qosFileList = QStringList());

  dds::domain::DomainParticipant getDomainParticipant() const { return m_domainParticipant; }
  void setDomainParticipant(const dds::domain::DomainParticipant &participant);

  Publisher *getPublisher() { return m_publisher; }
  dds::pub::Publisher getDdsPublisher() const;
  void setPublisher(Publisher *publisher);  
  void enableBatchedWriter(bool bEnable);

  Subscriber *getSubscriber() { return m_subscriber; }
  dds::sub::Subscriber getDdsSubscriber() const;
  void setSubscriber(Subscriber *subscriber);  
  DDSGeneric::SubscriberListener *getSubscriberListener();

  const DDSGeneric::WaitSetHandler *getWaitSetHandler() const { return m_wsHandler; }

  int getDomainId() const { return m_domainId; }
  IDL::PartitionType getPartitionType() const { return m_defaultPartitionType; }
  int getPartitionId() const { return m_partitionId; }
  int getExerciseId() const { return m_exerciseId; }
  std::string getDefaultPartition() const;
  QUrl getTcpConnectionUrl() const;
  static std::string getPartitionString(IDL::PartitionType pt, int partitionId = -1);

  

  void initPublisherSubscriber();
  void initPublisher();
  void initSubscriber();
  void initDomainParticipant();

  template<typename T>
  T *createDTS(const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
  {
    if (getDomainParticipant() == nullptr ||
        getDdsPublisher() == nullptr)
      return nullptr;
    T *dts = new T(getDomainParticipant(),
                   getDdsPublisher(),
                   topicName);
    return dts;
  }

  template<typename T>
  T *createDTC(const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
  {
    if (getDomainParticipant() == nullptr ||
        getDdsSubscriber() == nullptr)
      return nullptr;
    T *dtc = new T(getDomainParticipant(),
                   getDdsSubscriber(),
                   getSubscriberListener(),
                   topicName);
    return dtc;
  }

  template<typename T>
  T *createDTC(const dds::topic::Filter &filter,
               const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<typename T::TopicType>::value()))
  {
    if (getDomainParticipant() == nullptr ||
        getDdsSubscriber() == nullptr)
      return nullptr;
    T *dtc = new T(getDomainParticipant(),
                   getDdsSubscriber(),
                   getSubscriberListener(),
                   filter,
                   topicName);
    return dtc;
  }

  template<typename T>
  T *createFTS()
  {
    if (getDomainParticipant() == nullptr ||
        getDdsPublisher() == nullptr ||
        getDdsSubscriber() == nullptr)
      return nullptr;
    createWaitSetHandler();
    T *fts =  new T(getDomainParticipant(),
                    getDdsPublisher(),
                    getDdsSubscriber(),
                    m_wsHandler);
    return fts;
  }

  template<typename T>
  T *createFTC(QObject *objToInform)
  {
    if (getDomainParticipant() == nullptr ||
        getDdsPublisher() == nullptr ||
        getDdsSubscriber() == nullptr)
      return nullptr;
    T *ftc =  new T(getDomainParticipant(),
                    getDdsPublisher(),
                    getDdsSubscriber(),
                    objToInform,
                    IDL::toStdString(m_defaultPartitionType),
                    m_partitionId);
    return ftc;
  }

private:
  void initInternal();
  void createWaitSetHandler();
private:
  int                                m_domainId;
  IDL::PartitionType                 m_defaultPartitionType;
  int                                m_partitionId;
  int                                m_exerciseId;

  QUrl                               m_tcpConnectionUrl;
  DDS::QosProfile::ConnectionType    m_connectionType;
  dds::domain::DomainParticipant     m_domainParticipant;
  DDSConnector::Publisher           *m_publisher;
  DDSConnector::Subscriber          *m_subscriber;
  DDSGeneric::WaitSetHandler        *m_wsHandler;
  NGL::INGLLogger                   &m_logger;
};



class CoherentSet
{
public:
  explicit CoherentSet(const std::shared_ptr<DdsConnector> &connector)
    : m_coherentSet(connector->getDdsPublisher())
  {}
private:
  dds::pub::CoherentSet m_coherentSet;
};

}