#include "XNDDSManager.h"

XNDDSManager::XNDDSManager() : XNBaseFrameObject(new XNDDSManagerPrivate())
{
	SetUniqueId(8);
	SetObjectName("XNDDSManager");
}

XNDDSManager::~XNDDSManager()
{
}

XNDDSManager::XNDDSManager(PrivateType *p) : XNBaseFrameObject(p)
{
}

bool XNDDSManager::Initialize()
{
	T_D();
	d->_status		= XNFrameObjectStatus::Initialized;
	d->participant_ = nullptr;
	d->topics_.clear();
	LOG_INFO("DDS管理器初始化成功!");
	return true;
}

bool XNDDSManager::PrepareForExecute()
{
	T_D();
	d->_status = XNFrameObjectStatus::Ready;
	LOG_INFO("DDS管理器准备就绪!");
	return true;
}

void XNDDSManager::SetDomainID(uint32_t domainID)
{
	T_D();
	FAST_DDS_MACRO::DomainParticipantQos participantQos;
	participantQos.name("XNDDSManager");
	d->participant_ = FAST_DDS_MACRO::DomainParticipantFactory::get_instance()->create_participant(
		domainID, participantQos);
	if (d->participant_ == nullptr) {
		LOG_ERROR("0x2130 DDS管理器创建域参与者失败!");
	}
}