107 lines
2.6 KiB
C++
Executable File
107 lines
2.6 KiB
C++
Executable File
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#include "publisher.h"
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#include "pub_sub_base_p.h"
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#include <dds/pub/AnyDataWriter.hpp>
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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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Publisher::Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition)
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: PubSubBase(domainParticipant, partition, "DDSConnector.Publisher")
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, m_ddsPublisher(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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Publisher::~Publisher()
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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 Publisher::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) << "Publisher (DataWriter) Qos: ";
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dds::core::QosProvider qosProvider = dds::core::QosProvider::Default();
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DDS::QosProfile::print(qosProvider.datawriter_qos(), m_logger);
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}
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dds::pub::qos::PublisherQos publisherQos = m_domainParticipant.default_publisher_qos();
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rti::core::policy::EntityName entityName;
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entityName.name(std::string("Pub ") + m_partitions.front());
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publisherQos << entityName;
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DEBUG_LOG(m_logger) << "Publish data on partition " << m_partitions.front();
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m_ddsPublisher = dds::pub::Publisher(m_domainParticipant, publisherQos);
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enableBatchedWriter(false);
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updatePartitionQoS(m_ddsPublisher);
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}
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void Publisher::enableBatchedWriter(bool bEnable)
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{
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dds::pub::qos::DataWriterQos dwQos = m_ddsPublisher.default_datawriter_qos();
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auto batch = (bEnable ? rti::core::policy::Batch::Enabled() : rti::core::policy::Batch::Disabled());
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if (bEnable)
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{
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batch.max_data_bytes(64 * 1024);
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batch.max_flush_delay(dds::core::Duration::from_millisecs(10));
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}
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dwQos << batch;
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m_ddsPublisher.default_datawriter_qos(dwQos);
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}
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void Publisher::deleteDDS()
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{
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qDeleteAll(m_dtsMap);
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qDeleteAll(m_dynamicTypeMap);
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m_ddsPublisher = nullptr;
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}
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bool Publisher::write(const dds::core::xtypes::DynamicData &data, const std::string &topicName)
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{
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DEBUG_LOG(m_logger) << "Publish dynamic data for topic (" << topicName << ")";
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try
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{
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dds::pub::AnyDataWriter* anyWriter = m_dynamicTypeMap.value(topicName);
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if (anyWriter == nullptr)
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{
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dds::topic::Topic<dds::core::xtypes::DynamicData> topic(m_domainParticipant, topicName, data.type());
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auto writer = dds::pub::DataWriter<dds::core::xtypes::DynamicData>(m_ddsPublisher, topic);
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anyWriter = new dds::pub::AnyDataWriter(writer);
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m_dynamicTypeMap.insert(topicName, anyWriter);
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}
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anyWriter->get<dds::core::xtypes::DynamicData>().write(data);
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}
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catch ( ... )
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{
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ERROR_LOG(m_logger) << "Failed to publish data for topic (" << topicName << ")";
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return false;
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}
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return true;
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}
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}
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