40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
#include "XNDDSManager.h"
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namespace XNSim {
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XNDDSManager::XNDDSManager() : XNBaseFrameObject(new XNDDSManagerPrivate()) {
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SetUniqueId(enumValue(XNCoreObjectID::DDSManager));
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SetObjectName("XNDDSManager");
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}
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XNDDSManager::~XNDDSManager() {}
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XNDDSManager::XNDDSManager(PrivateType *p) : XNBaseFrameObject(p) {}
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XN_BOOL XNDDSManager::Initialize() {
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T_D();
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d->_status = XNFrameObjectStatus::Initialized;
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d->participant_ = nullptr;
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d->topics_.clear();
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LOG_INFO("DDS管理器初始化成功!");
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return true;
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}
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XN_BOOL XNDDSManager::PrepareForExecute() {
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T_D();
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d->_status = XNFrameObjectStatus::Ready;
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LOG_INFO("DDS管理器准备就绪!");
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return true;
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}
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void XNDDSManager::SetDomainID(XN_UINT32 domainID) {
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T_D();
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XNDDSParticipantQos participantQos;
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participantQos.name("XNDDSManager");
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d->participant_ =
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XN_DDS::DomainParticipantFactory::get_instance()->create_participant(
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domainID, participantQos);
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if (d->participant_ == nullptr) {
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LOG_ERROR("0x2130 DDS管理器创建域参与者失败!");
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}
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}
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} // namespace XNSim
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