XNSim/XNRunner/MonitorThread.cpp

#include "MonitorThread.h"
#include "DataReaderListenerImpl.h"
#include <QProcess>
#include <QDebug>

MonitorThread::MonitorThread(QObject *parent) : QThread(parent)
{
	isAbort		   = false;
	int m_DomainID = 10;
	eprosima::fastdds::dds::DomainParticipantQos participantQos;
	participantQos.name("XNRunner");
	m_Participant =
		eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_participant(
			m_DomainID, participantQos);
	eprosima::fastdds::dds::TypeSupport typeSupport(
		new XNSim::XNSimStatus::XNEngineStatusPubSubType());
	typeSupport.register_type(m_Participant);
	m_EngineStatusTopic = m_Participant->create_topic("XNSim::XNSimStatus::XNEngineStatus",
													  typeSupport.get_type_name(),
													  eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
	if (m_EngineStatusTopic == nullptr) {
		qInfo() << "Failed to create engine status topic";
		return;
	}
	m_EngineStatusSubscriber =
		m_Participant->create_subscriber(eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT);
	if (m_EngineStatusSubscriber == nullptr) {
		qInfo() << "Failed to create engine status subscriber";
		return;
	}
	eprosima::fastdds::dds::DataReaderQos dataReaderQos;
	dataReaderQos.durability().kind = eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
	auto func = std::bind(&MonitorThread::OnReceiveSimStatus, this, std::placeholders::_1);
	listener  = new DataReaderListenerImpl<XNSim::XNSimStatus::XNEngineStatus>(func);
	m_EngineStatusDataReader =
		m_EngineStatusSubscriber->create_datareader(m_EngineStatusTopic, dataReaderQos, listener);
	if (m_EngineStatusDataReader == nullptr) {
		qInfo() << "Failed to create engine status datareader";
	}

	eprosima::fastdds::dds::TypeSupport typeSupport2(
		new XNSim::XNSimControl::XNRuntimeControlPubSubType());
	typeSupport2.register_type(m_Participant);
	m_ControlTopic = m_Participant->create_topic("XNSim::XNSimControl::XNRuntimeControl",
												 typeSupport2.get_type_name(),
												 eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
	if (m_ControlTopic == nullptr) {
		qInfo() << "Failed to create control topic";
		return;
	}
	m_ControlPublisher =
		m_Participant->create_publisher(eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT);
	if (m_ControlPublisher == nullptr) {
		qInfo() << "Failed to create control publisher";
		return;
	}
	eprosima::fastdds::dds::DataWriterQos dataWriterQos;
	dataWriterQos.durability().kind = eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
	m_ControlDataWriter = m_ControlPublisher->create_datawriter(m_ControlTopic, dataWriterQos);
	if (m_ControlDataWriter == nullptr) {
		qInfo() << "Failed to create control datawriter";
	}
}

MonitorThread::~MonitorThread()
{
}

void MonitorThread::OnReceiveSimStatus(const XNSim::XNSimStatus::XNEngineStatus &status)
{
	QMutexLocker locker(&m_Mutex);
	m_RunStatusUpdate = true;
	if (m_RunStatus != status.XNEngineSt()) {
		m_RunStatus = status.XNEngineSt();
		emit runStatusChanged(m_RunStatus);
	}
}

void MonitorThread::run()
{
	while (true) {
		{
			QMutexLocker locker(&m_Mutex);
			if (isAbort) {
				break;
			}
			if (!m_RunStatusUpdate) {
				QProcess process;
				process.start("pgrep", QStringList() << "XNEngine");
				process.waitForFinished();
				QString output = process.readAllStandardOutput();
				if (!output.isEmpty()) {
					m_RunStatus = 4;
					emit runStatusChanged(m_RunStatus);
				} else {
					m_RunStatus = 3;
					emit runStatusChanged(m_RunStatus);
					isAbort = true;
					emit abortProcess();
				}
			}
			m_RunStatusUpdate = false;
		}
		msleep(2000);
	}
	if (m_ControlDataWriter) {
		m_ControlPublisher->delete_datawriter(m_ControlDataWriter);
	}
	if (m_ControlTopic) {
		m_Participant->delete_topic(m_ControlTopic);
	}
	if (m_ControlPublisher) {
		m_Participant->delete_publisher(m_ControlPublisher);
	}
	if (m_EngineStatusDataReader) {
		m_EngineStatusSubscriber->delete_datareader(m_EngineStatusDataReader);
		delete listener;
	}
	if (m_EngineStatusTopic) {
		m_Participant->delete_topic(m_EngineStatusTopic);
	}
	if (m_EngineStatusSubscriber) {
		m_Participant->delete_subscriber(m_EngineStatusSubscriber);
	}

	eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(
		m_Participant);
}

void MonitorThread::OnPause()
{
	if (m_ControlDataWriter) {
		XNSim::XNSimControl::XNRuntimeControl control;
		control.XNSimCmd(1);
		control.XNThrCmd(0);
		m_ControlDataWriter->write(&control);
	}
}

void MonitorThread::OnContinue()
{
	if (m_ControlDataWriter) {
		XNSim::XNSimControl::XNRuntimeControl control;
		control.XNSimCmd(2);
		control.XNThrCmd(0);
		m_ControlDataWriter->write(&control);
	}
}

void MonitorThread::OnAbort()
{
	if (m_ControlDataWriter) {
		XNSim::XNSimControl::XNRuntimeControl control;
		control.XNSimCmd(3);
		control.XNThrCmd(0);
		m_ControlDataWriter->write(&control);
		QMutexLocker locker(&m_Mutex);
		isAbort = true;
	}
}