diff options
Diffstat (limited to 'TAO/orbsvcs/orbsvcs/LWFT/DDSStateUpdate_T.cpp')
| -rw-r--r-- | TAO/orbsvcs/orbsvcs/LWFT/DDSStateUpdate_T.cpp | 262 |
1 files changed, 262 insertions, 0 deletions
diff --git a/TAO/orbsvcs/orbsvcs/LWFT/DDSStateUpdate_T.cpp b/TAO/orbsvcs/orbsvcs/LWFT/DDSStateUpdate_T.cpp new file mode 100644 index 00000000000..cdaf465c2d5 --- /dev/null +++ b/TAO/orbsvcs/orbsvcs/LWFT/DDSStateUpdate_T.cpp @@ -0,0 +1,262 @@ +// -*- C++ -*- + +//============================================================================= +/** + * @file DDSStateUpdate_T.cpp + * + * $Id$ + * + * @author Friedhelm Wolf (fwolf@dre.vanderbilt.edu) + */ +//============================================================================= + +#ifndef _DDS_STATE_UPDATE_T_CPP_ +#define _DDS_STATE_UPDATE_T_CPP_ + +#include "ccpp_dds_dcps.h" +#include "DDSStateReaderListener_T.h" +#include "DDSFailure.h" + +template <typename DATA_TYPE> +DDSStateUpdate_T<DATA_TYPE>::DDSStateUpdate_T ( + const std::string & topic_name, + const std::string & id, + DDS::DomainParticipant_ptr participant, + DDS::Publisher_ptr publisher, + DDS::Subscriber_ptr subscriber, + ReplicatedApplication_ptr application) + : topic_name_ (topic_name), + id_ (id), + participant_ (DDS::DomainParticipant::_duplicate (participant)), + pub_ (DDS::Publisher::_duplicate (publisher)), + sub_ (DDS::Subscriber::_duplicate (subscriber)), + topic_ (DDS::Topic::_nil ()), + datawriter_ (DATA_TYPE::_data_writer_type::_nil ()), + datareader_ (DATA_TYPE::_data_reader_type::_nil ()), + listener_ (new DDSStateReaderListener_T <DATA_TYPE> (id, application)) +{ + id_ = id.c_str (); + this->init (); +} + +template <typename DATA_TYPE> +DDSStateUpdate_T<DATA_TYPE>::~DDSStateUpdate_T (void) +{ + this->fini (); +} + +template <typename DATA_TYPE> +bool +DDSStateUpdate_T<DATA_TYPE>::init (void) +{ + if (!this->create_topic ()) + { + throw (DDSFailure ("Could not create topic\n")); + } + + if (!this->create_datawriter ()) + { + throw (DDSFailure ("Could not create datawriter\n")); + } + + if (!this->create_datareader ()) + { + throw (DDSFailure ("Could not create datareader\n")); + } + + return true; +} + +template <typename DATA_TYPE> +bool +DDSStateUpdate_T<DATA_TYPE>::fini (void) +{ + DDS::ReturnCode_t status = + this->pub_->delete_datawriter (this->datawriter_.in ()); + + if (status != DDS::RETCODE_OK) + { + return false; + } + + status = this->participant_->delete_topic (this->topic_.in ()); + + if (status != DDS::RETCODE_OK) + { + return false; + } + + return true; +} + +template <typename DATA_TYPE> +void +DDSStateUpdate_T<DATA_TYPE>::set_state ( + const CORBA::Any & state_value) +{ + // Extract value from any. + const DATA_TYPE * value = 0; + + // Update value on state topic sample, but make sure to + // set the 'id' field with our unique string, since the + // extracted value of this member will be the empty string. + if (state_value >>= value) + { + state_ = *value; + state_.id = id_.c_str (); + } +/* + ACE_DEBUG ((LM_TRACE, + ACE_TEXT ("DDSStateUpdate_T::set_state writes sample " + "with id %s\n"), + state_.id.in ())); +*/ + // Publish value. + DDS::ReturnCode_t ret = + this->datawriter_->write (this->state_, + this->instance_handle_); + + if (ret == DDS::RETCODE_ALREADY_DELETED) + { + ACE_DEBUG ((LM_ERROR, + ACE_TEXT ("DDSStateUpdate_T::set_state () " + ": write returned " + "RETCODE_ALREADY_DELETED.\n"), + ret)); + } + else if (ret != DDS::RETCODE_OK) + { + ACE_DEBUG ((LM_ERROR, + ACE_TEXT ("DDSStateUpdate_T::set_state () " + ": write returned %d.\n"), + ret)); + } + +} + +template <typename DATA_TYPE> +bool +DDSStateUpdate_T<DATA_TYPE>::create_topic (void) +{ + DDS::TypeSupport_var ts = new typename DATA_TYPE::_type_support_type (); + CORBA::String_var data_type_name = ts->get_type_name (); + + DDS::ReturnCode_t status = + ts->register_type (this->participant_.in (), + data_type_name.in ()); + + if (status != DDS::RETCODE_OK) + { + return false; + } + + DDS::TopicQos default_topic_qos; + status = + this->participant_->get_default_topic_qos (default_topic_qos); + + if (status != DDS::RETCODE_OK) + { + return false; + } + + this->topic_ = + this->participant_->create_topic (topic_name_.c_str (), + data_type_name.in (), + default_topic_qos, + DDS::TopicListener::_nil (), + DDS::ANY_STATUS); + + if (CORBA::is_nil (this->topic_.in ())) + { + return false; + } + + return true; +} + +template <typename DATA_TYPE> +bool +DDSStateUpdate_T<DATA_TYPE>::create_datawriter (void) +{ + DDS::DataWriterQos dw_qos; + DDS::ReturnCode_t status = + pub_->get_default_datawriter_qos (dw_qos); + + // State synchronization should be reliable. + dw_qos.reliability.kind = DDS::RELIABLE_RELIABILITY_QOS; + + if (status != DDS::RETCODE_OK) + { + return false; + } + + DDS::DataWriter_var datawriter_base = + pub_->create_datawriter (this->topic_.in (), + dw_qos, + DDS::DataWriterListener::_nil (), + DDS::ANY_STATUS); + + if (CORBA::is_nil (datawriter_base.in ())) + { + return false; + } + + datawriter_ = + DATA_TYPE::_data_writer_type::_narrow (datawriter_base.in ()); + + if (CORBA::is_nil (datawriter_.in ())) + { + return false; + } + + // Since there is no key, we need only one + // instance handle for all writes. + instance_handle_ = + datawriter_->register_instance (state_); + + return true; +} + +template <typename DATA_TYPE> +bool +DDSStateUpdate_T<DATA_TYPE>::create_datareader (void) +{ + DDS::DataReaderQos dr_qos; + DDS::ReturnCode_t status = + sub_->get_default_datareader_qos (dr_qos); + + // State synchronization should be reliable. + dr_qos.reliability.kind = DDS::RELIABLE_RELIABILITY_QOS; + + if (status != DDS::RETCODE_OK) + { + return false; + } + + DDS::DataReader_var datareader_base = + sub_->create_datareader (topic_.in (), + dr_qos, + listener_.in (), + DDS::ANY_STATUS); + + if (CORBA::is_nil (datareader_base.in ())) + { + return false; + } + + datareader_ = + DATA_TYPE::_data_reader_type::_narrow (datareader_base.in ()); + + if (CORBA::is_nil (datareader_.in ())) + { + return false; + } +/* + ACE_DEBUG ((LM_TRACE, + ACE_TEXT ("created DataReader for %s\n"), + topic_name_.c_str ())); +*/ + return true; +} + +#endif /* _DDS_STATE_UPDATE_T_CPP_ */ |