315 lines
9.7 KiB
C++
Executable File
315 lines
9.7 KiB
C++
Executable File
/**
|
|
* @file TopicManager.h
|
|
* @author jinchao
|
|
* @brief 主题管理类
|
|
* @version 1.0
|
|
* @date 2025-03-10
|
|
*
|
|
* @copyright Copyright (c) 2025 COMAC
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
#include <QObject>
|
|
#include <QMap>
|
|
#include <QMutex>
|
|
#include <QMutexLocker>
|
|
#include <QScopedPointer>
|
|
#include "DataReaderListenerImpl.h"
|
|
#include "../TypeDefine.h"
|
|
#include <fastdds/dds/core/status/StatusMask.hpp>
|
|
|
|
/**
|
|
* @brief 主题管理类
|
|
*/
|
|
class TopicManager : public QObject
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
/**
|
|
* @brief 删除拷贝构造
|
|
*/
|
|
TopicManager(const TopicManager &) = delete;
|
|
/**
|
|
* @brief 删除赋值操作
|
|
*/
|
|
TopicManager &operator=(const TopicManager &) = delete;
|
|
|
|
/**
|
|
* @brief 获取单例
|
|
* @return TopicManager*: 主题管理类实例
|
|
*/
|
|
static TopicManager *Instance()
|
|
{
|
|
if (instance == nullptr) {
|
|
QMutexLocker locker(&instanceMutex);
|
|
if (instance == nullptr) { // 双重检查锁定
|
|
instance = new TopicManager();
|
|
}
|
|
}
|
|
return instance;
|
|
}
|
|
|
|
/**
|
|
* @brief 清理参与者
|
|
*/
|
|
static void cleanupParticipant()
|
|
{
|
|
QMutexLocker locker(&instanceMutex);
|
|
if (instance != nullptr) {
|
|
instance->clearAllTopic(); // 清理所有主题
|
|
if (instance->m_Participant != nullptr) {
|
|
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()
|
|
->delete_participant(instance->m_Participant); // 删除参与者
|
|
instance->m_Participant = nullptr; // 设置参与者为空
|
|
}
|
|
delete instance; // 删除单例
|
|
instance = nullptr; // 设置单例为空
|
|
}
|
|
}
|
|
|
|
private:
|
|
/**
|
|
* @brief 显式构造函数
|
|
* @param parent: 父对象
|
|
*/
|
|
explicit TopicManager(QObject *parent = nullptr) : QObject(parent)
|
|
{
|
|
XNParticipantQos participantQos;
|
|
participantQos.name("XNMonitor"); // 设置参与者名称
|
|
m_Participant =
|
|
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_participant(
|
|
10, participantQos); // 创建参与者
|
|
}
|
|
|
|
/**
|
|
* @brief 析构函数
|
|
*/
|
|
virtual ~TopicManager() {}
|
|
|
|
signals:
|
|
/**
|
|
* @brief 发送调试信息信号
|
|
* @param type: 类型
|
|
* @param message: 信息
|
|
*/
|
|
void sendDebugMessage(int type, const QString &message);
|
|
|
|
public:
|
|
/**
|
|
* @brief 注册发布者模板函数
|
|
* @tparam T: 类型
|
|
* @param topicName: 主题名称
|
|
* @return XNDataWriter*: 数据写入器
|
|
*/
|
|
template <typename T>
|
|
XNDataWriter *registerPublisher(const QString &topicName)
|
|
{
|
|
QMutexLocker locker(&m_Mutex);
|
|
if (!topics_.contains(topicName)) {
|
|
topics_[topicName] = TopicInfo(); // 创建主题信息
|
|
TopicInfo &tmp = topics_[topicName]; // 获取主题信息
|
|
XNTypeSupport typeSupport(new T()); // 创建类型支持
|
|
typeSupport.register_type(m_Participant); // 注册类型
|
|
tmp.topic = m_Participant->create_topic(
|
|
topicName.toStdString().c_str(), typeSupport.get_type_name(),
|
|
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT); // 创建主题
|
|
if (tmp.topic == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create topic %1").arg(topicName)); // 发送调试信息
|
|
topics_.remove(topicName); // 移除主题
|
|
return nullptr; // 返回空
|
|
}
|
|
}
|
|
TopicInfo &topicInfo = topics_[topicName]; // 获取主题信息
|
|
if (topicInfo.publisher == nullptr) {
|
|
topicInfo.publisher = m_Participant->create_publisher(
|
|
eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT); // 创建发布者
|
|
if (topicInfo.publisher == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create publisher %1").arg(topicName)); // 发送调试信息
|
|
return nullptr; // 返回空
|
|
}
|
|
}
|
|
|
|
if (topicInfo.dataWriter == nullptr) {
|
|
XNDataWriterQos dataWriterQos;
|
|
// 设置数据写入器的持久性策略, 使用瞬态本地持久性
|
|
dataWriterQos.durability().kind = eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
|
|
// 设置数据写入器的生命周期策略, 设置为5秒
|
|
dataWriterQos.lifespan().duration = eprosima::fastdds::dds::Duration_t(5, 0);
|
|
topicInfo.dataWriter = topicInfo.publisher->create_datawriter(
|
|
topicInfo.topic, dataWriterQos); // 创建数据写入器
|
|
if (topicInfo.dataWriter == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create data writer %1").arg(topicName)); // 发送调试信息
|
|
topics_.remove(topicName); // 移除主题
|
|
return nullptr; // 返回空
|
|
}
|
|
}
|
|
return topicInfo.dataWriter; // 返回数据写入器
|
|
}
|
|
|
|
/**
|
|
* @brief 注销发布者
|
|
* @param topicName: 主题名称
|
|
*/
|
|
void unregisterPublisher(const QString &topicName)
|
|
{
|
|
QMutexLocker locker(&m_Mutex);
|
|
if (topics_.contains(topicName)) {
|
|
TopicInfo &topicInfo = topics_[topicName]; // 获取主题信息
|
|
if (topicInfo.dataWriter != nullptr) {
|
|
topicInfo.publisher->delete_datawriter(topicInfo.dataWriter); // 删除数据写入器
|
|
topicInfo.dataWriter = nullptr; // 设置数据写入器为空
|
|
}
|
|
if (topicInfo.publisher != nullptr) {
|
|
m_Participant->delete_publisher(topicInfo.publisher); // 删除发布者
|
|
topicInfo.publisher = nullptr; // 设置发布者为空
|
|
}
|
|
if (topicInfo.publisher == nullptr && topicInfo.subscriber == nullptr
|
|
&& topicInfo.topic != nullptr) {
|
|
m_Participant->delete_topic(topicInfo.topic); // 删除主题
|
|
topicInfo.topic = nullptr; // 设置主题为空
|
|
topics_.remove(topicName); // 移除主题
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief 注册订阅者模板函数
|
|
* @tparam T: 类型
|
|
* @param topicName: 主题名称
|
|
* @param fun: 回调函数
|
|
*/
|
|
template <typename T>
|
|
void registerSubscriber(const QString &topicName,
|
|
std::function<void(const typename T::type &)> fun)
|
|
{
|
|
QMutexLocker locker(&m_Mutex);
|
|
if (!topics_.contains(topicName)) {
|
|
topics_[topicName] = TopicInfo(); // 创建主题信息
|
|
TopicInfo &tmp = topics_[topicName]; // 获取主题信息
|
|
XNTypeSupport typeSupport(new T()); // 创建类型支持
|
|
typeSupport.register_type(m_Participant); // 注册类型
|
|
tmp.topic = m_Participant->create_topic(
|
|
topicName.toStdString().c_str(), typeSupport.get_type_name(),
|
|
eprosima::fastdds::dds::TOPIC_QOS_DEFAULT); // 创建主题
|
|
if (tmp.topic == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create topic %1").arg(topicName)); // 发送调试信息
|
|
topics_.remove(topicName); // 移除主题
|
|
return; // 返回
|
|
}
|
|
}
|
|
TopicInfo &topicInfo = topics_[topicName]; // 获取主题信息
|
|
if (topicInfo.subscriber == nullptr) {
|
|
topicInfo.subscriber = m_Participant->create_subscriber(
|
|
eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT); // 创建订阅者
|
|
if (topicInfo.subscriber == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create subscriber %1").arg(topicName)); // 发送调试信息
|
|
return; // 返回
|
|
}
|
|
}
|
|
if (topicInfo.dataReader == nullptr) {
|
|
XNDataReaderQos dataReaderQos;
|
|
dataReaderQos.durability().kind =
|
|
eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS; // 设置数据读取器的持久性策略
|
|
topicInfo.listener =
|
|
new DataReaderListenerImpl<typename T::type>(fun); // 创建数据读取器监听器
|
|
topicInfo.dataReader = topicInfo.subscriber->create_datareader(
|
|
topicInfo.topic, dataReaderQos, topicInfo.listener); // 创建数据读取器
|
|
if (topicInfo.dataReader == nullptr) {
|
|
emit sendDebugMessage(
|
|
1, QString("Failed to create data reader %1").arg(topicName)); // 发送调试信息
|
|
return; // 返回
|
|
}
|
|
} else {
|
|
auto oldListener = topicInfo.dataReader->get_listener(); // 获取旧的监听器
|
|
topicInfo.listener =
|
|
new DataReaderListenerImpl<typename T::type>(fun); // 创建新的监听器
|
|
topicInfo.dataReader->set_listener(
|
|
topicInfo.listener,
|
|
eprosima::fastdds::dds::StatusMask::all()); // 设置新的监听器
|
|
delete oldListener; // 删除旧的监听器
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief 注销订阅者
|
|
* @param topicName: 主题名称
|
|
*/
|
|
void unregisterSubscriber(const QString &topicName)
|
|
{
|
|
QMutexLocker locker(&m_Mutex);
|
|
if (topics_.contains(topicName)) {
|
|
TopicInfo &topicInfo = topics_[topicName]; // 获取主题信息
|
|
if (topicInfo.dataReader != nullptr) {
|
|
topicInfo.subscriber->delete_datareader(topicInfo.dataReader); // 删除数据读取器
|
|
topicInfo.dataReader = nullptr; // 设置数据读取器为空
|
|
}
|
|
if (topicInfo.listener != nullptr) {
|
|
delete topicInfo.listener; // 删除监听器
|
|
topicInfo.listener = nullptr; // 设置监听器为空
|
|
}
|
|
if (topicInfo.subscriber != nullptr) {
|
|
m_Participant->delete_subscriber(topicInfo.subscriber); // 删除订阅者
|
|
topicInfo.subscriber = nullptr; // 设置订阅者为空
|
|
}
|
|
if (topicInfo.subscriber == nullptr && topicInfo.publisher == nullptr
|
|
&& topicInfo.topic != nullptr) {
|
|
m_Participant->delete_topic(topicInfo.topic); // 删除主题
|
|
topicInfo.topic = nullptr; // 设置主题为空
|
|
topics_.remove(topicName); // 移除主题
|
|
emit sendDebugMessage(
|
|
0, QString("unregisterSubscriber %1").arg(topicName)); // 发送调试信息
|
|
}
|
|
}
|
|
}
|
|
|
|
private:
|
|
/**
|
|
* @brief 清除所有主题
|
|
*/
|
|
void clearAllTopic()
|
|
{
|
|
QMutexLocker locker(&m_Mutex);
|
|
if (m_Participant != nullptr) {
|
|
while (topics_.size() > 0) {
|
|
emit sendDebugMessage(
|
|
0, QString("clearAllTopic %1").arg(topics_.begin().key())); // 发送调试信息
|
|
unregisterPublisher(topics_.begin().key()); // 注销发布者
|
|
unregisterSubscriber(topics_.begin().key()); // 注销订阅者
|
|
}
|
|
}
|
|
}
|
|
|
|
private:
|
|
/**
|
|
* @brief 单例指针
|
|
*/
|
|
static TopicManager *instance;
|
|
|
|
/**
|
|
* @brief 单例互斥锁
|
|
*/
|
|
static QMutex instanceMutex;
|
|
|
|
/**
|
|
* @brief 参与者
|
|
*/
|
|
XNParticipant *m_Participant = nullptr;
|
|
|
|
/**
|
|
* @brief 主题映射
|
|
*/
|
|
QMap<QString, TopicInfo> topics_;
|
|
|
|
/**
|
|
* @brief 主题访问互斥锁
|
|
*/
|
|
QMutex m_Mutex;
|
|
};
|