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// -*- 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_ */
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