156 lines
4.2 KiB
C++
Executable File
156 lines
4.2 KiB
C++
Executable File
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#include "data_topic_tests.h"
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#include <NGLLogger/NGLLoggerBootstrap.h>
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#include <DDS/QosProfile/DDS_DefaultQos.h>
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#include <DDS/DTS/generic_dts_impl.h>
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#include <DDS/DTC/generic_dtc_impl.h>
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#include <Common/ProjectConfig/project_defines.h>
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#include <QtTest/QTest>
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#include <QVariant>
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#include <QThread>
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DataTopicTests::DataTopicTests()
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: m_domainParticipantPub(nullptr)
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, m_domainParticipantSub(nullptr)
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, m_domainId(0)
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, m_partitionId(1)
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, m_ddsPublisher(nullptr)
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, m_testPart(nullptr)
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, m_ddsSubscriber(nullptr)
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, m_subscriberListener(nullptr)
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, m_dtcTestPart(nullptr)
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, m_mainThreadId(QThread::currentThreadId())
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, m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger().getNGLLogger("UnitTests.DataTopicTests"))
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{
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if (!DDS::QosProfile::setDefault())
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ERROR_LOG(m_logger) << "Error setting default QoS from xml-file ";
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DEBUG_LOG(m_logger) << "Main thread ID is " << m_mainThreadId;
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}
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DataTopicTests::~DataTopicTests()
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{
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delete m_testPart;
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delete m_dtcTestPart;
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delete m_subscriberListener;
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}
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bool DataTopicTests::initPublisher()
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{
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m_domainParticipantPub =
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dds::domain::DomainParticipant(m_domainId,
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DDS::QosProfile::domainParticipantShm());
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dds::pub::qos::PublisherQos publisherQos = m_domainParticipantPub.default_publisher_qos();
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QString partition = QString::fromStdString(IDL::exercisePartition(m_partitionId));
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dds::core::policy::Partition partitionQos;
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partitionQos.name( { partition.toStdString() } );
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publisherQos << partitionQos;
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DEBUG_LOG(m_logger) << "Publish on partition " << partition;
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m_ddsPublisher = dds::pub::Publisher(m_domainParticipantPub, publisherQos);
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m_testPart = new DTS::TestParticipantImpl(m_domainParticipantPub, m_ddsPublisher);
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return true;
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}
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bool DataTopicTests::write(const DdsUnitTests::TestParticipant &data)
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{
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INFO_LOG(m_logger) << "Publish topic TestParticipant ";
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DEBUG_LOG(m_logger) << "ParticipantId: " << data.location().participantId()
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<< ", equipNo = " << data.location().equipNo();
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return m_testPart->write(data);
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}
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bool DataTopicTests::initSubscriber()
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{
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DEBUG_LOG(m_logger) << "Initialisation DDS (Subscriber/Reader)";
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m_domainParticipantSub =
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dds::domain::DomainParticipant(m_domainId,
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DDS::QosProfile::domainParticipantShm());
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dds::sub::qos::SubscriberQos subscriberQos = m_domainParticipantSub.default_subscriber_qos();
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dds::core::StringSeq partitions;
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partitions.reserve(1);
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for(int partitionId : { 1 } )
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{
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partitions.push_back(IDL::exercisePartition(partitionId));
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}
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dds::core::policy::Partition partitionQos;
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partitionQos.name( partitions );
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subscriberQos << partitionQos;
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DEBUG_LOG(m_logger) << "Initialise DTC::SubscriberListener";
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m_subscriberListener = new DDSGeneric::SubscriberListener();
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m_ddsSubscriber = dds::sub::Subscriber(m_domainParticipantSub,
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subscriberQos,
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m_subscriberListener,
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DDSGeneric::SubscriberListener::mask());
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m_dtcTestPart = new DTC::SampleInfo::TestParticipantImpl(m_domainParticipantSub,
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m_ddsSubscriber,
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m_subscriberListener);
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m_dtcTestPart->setSubscriberCallback([this](const DdsUnitTests::TestParticipant &data, const dds::sub::SampleInfo &si) { processData(data, si); } );
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return true;
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}
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void DataTopicTests::deleteDTC()
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{
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delete m_dtcTestPart;
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m_dtcTestPart = nullptr;
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}
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void DataTopicTests::deleteSubscriber()
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{
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m_ddsSubscriber = nullptr;
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delete m_subscriberListener;
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m_subscriberListener = nullptr;
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}
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void DataTopicTests::processData(const DdsUnitTests::TestParticipant &instance, const dds::sub::SampleInfo &si)
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{
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INFO_LOG(m_logger) << "process data in topic TestParticipant, Sampleinfo: " << si.source_timestamp().sec();
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DEBUG_LOG(m_logger) << "participantId: " << instance.location().participantId();
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DEBUG_LOG(m_logger) << "equipNo: " << instance.location().equipNo();
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m_receivedParticipantData = instance;
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QCOMPARE(m_mainThreadId, QThread::currentThreadId());
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emit testParticipantDataArrived();
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}
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