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525 lines
18 KiB
C++
525 lines
18 KiB
C++
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file Publisher.cxx
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* This file contains the implementation of the publisher functions.
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*
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* This file was generated by the tool fastddsgen.
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*/
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#include "Publisher.hpp"
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#include <condition_variable>
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#include <csignal>
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#include <stdexcept>
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#include <thread>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/log/Log.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
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#include "SystemPubSubTypes.hpp"
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#include "msg.hpp"
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#include "DEBUG.hpp"
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using namespace eprosima::fastdds::dds;
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PublisherApp::PublisherApp(
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const int& domain_id)
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: factory_(nullptr)
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, participant_(nullptr)
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, publisher_(nullptr)
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, bar_topic_(nullptr)
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, bar_writer_(nullptr)
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, bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
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, light_topic_(nullptr)
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, light_writer_(nullptr)
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, light_type_(new WeighingSystem::LightsCommandUpdatePubSubType())
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, summary_topic_(nullptr)
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, summary_writer_(nullptr)
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, summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
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, print_topic_(nullptr)
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, print_writer_(nullptr)
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, print_type_(new InternalSystem::PrintReqPubSubType())
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, matched_(0)
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, samples_sent_(0)
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, stop_(false)
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{
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//
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// Create the participant
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DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
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pqos.name("Core_pub_participant");
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pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
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pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
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factory_ = DomainParticipantFactory::get_shared_instance();
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participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
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if (participant_ == nullptr)
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{
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throw std::runtime_error("Core Participant initialization failed");
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}
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// Register the type
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bar_type_.register_type(participant_);
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light_type_.register_type(participant_);
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summary_type_.register_type(participant_);
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print_type_.register_type(participant_);
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// Create the publisher
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PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
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participant_->get_default_publisher_qos(pub_qos);
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publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
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if (publisher_ == nullptr)
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{
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throw std::runtime_error("Core Publisher initialization failed");
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}
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// Create the topic
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TopicQos topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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bar_topic_ = participant_->create_topic("BarCommandUpdate", bar_type_.get_type_name(), topic_qos);
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if (bar_topic_ == nullptr)
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{
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throw std::runtime_error("BarCommandUpdate Topic initialization failed");
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}
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// Create the data writer
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DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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bar_writer_ = publisher_->create_datawriter(bar_topic_, writer_qos, this, StatusMask::all());
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if (bar_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::BarUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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light_topic_ = participant_->create_topic("LightsCommandUpdate", light_type_.get_type_name(), topic_qos);
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if (light_topic_ == nullptr)
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{
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throw std::runtime_error("LightsCommandUpdate Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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light_writer_ = publisher_->create_datawriter(light_topic_, writer_qos, this, StatusMask::all());
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if (light_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::LightsUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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summary_topic_ = participant_->create_topic("SummaryUpdate", summary_type_.get_type_name(), topic_qos);
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if (summary_topic_ == nullptr)
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{
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throw std::runtime_error("SummaryUpdate Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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summary_writer_ = publisher_->create_datawriter(summary_topic_, writer_qos, this, StatusMask::all());
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if (summary_writer_ == nullptr)
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{
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throw std::runtime_error("WeighingSystem::SummaryUpdate DataWriter initialization failed");
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}
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// Create the topic
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topic_qos = TOPIC_QOS_DEFAULT;
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participant_->get_default_topic_qos(topic_qos);
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print_topic_ = participant_->create_topic("PrintReq", print_type_.get_type_name(), topic_qos);
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if (print_topic_ == nullptr)
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{
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throw std::runtime_error("PrintReq Topic initialization failed");
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}
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// Create the data writer
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writer_qos = DATAWRITER_QOS_DEFAULT;
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publisher_->get_default_datawriter_qos(writer_qos);
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writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
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writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
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writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
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writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
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writer_qos.history().depth = 1;
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writer_qos.resource_limits().max_samples = 200;
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writer_qos.resource_limits().max_instances = 1;
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writer_qos.resource_limits().max_samples_per_instance = 100;
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writer_qos.data_sharing().off();
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print_writer_ = publisher_->create_datawriter(print_topic_, writer_qos, this, StatusMask::all());
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if (print_writer_ == nullptr)
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{
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throw std::runtime_error("InternalSystem::PrintReq DataWriter initialization failed");
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}
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}
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PublisherApp::~PublisherApp()
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{
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if (nullptr != participant_)
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{
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// Delete DDS entities contained within the DomainParticipant
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participant_->delete_contained_entities();
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// Delete DomainParticipant
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factory_->delete_participant(participant_);
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}
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}
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void PublisherApp::on_publication_matched(
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DataWriter* writer,
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const PublicationMatchedStatus& info)
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{
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if (info.current_count_change == 1)
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{
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{
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std::lock_guard<std::mutex> lock(mutex_);
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matched_ = info.current_count;
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}
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DEBUG(writer->get_topic()->get_name() << " Publisher matched.");
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cv_.notify_one();
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}
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else if (info.current_count_change == -1)
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{
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{
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std::lock_guard<std::mutex> lock(mutex_);
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matched_ = info.current_count;
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}
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DEBUG(writer->get_topic()->get_name() << " Publisher unmatched.");
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}
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else
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{
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DEBUG(info.current_count_change << " is not a valid value for PublicationMatchedStatus current count change");
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}
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}
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bool PublisherApp::bar_ctrl(const std::map<std::string, std::string>& ctrl)
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{
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WeighingSystem::BarCommandUpdate cmd;
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for (const auto &[port, opt] : ctrl)
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{
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if (port == "FrontBar")
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{
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if (opt == "up")
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{
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cmd.FrontBarSignalUp() = 1;
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cmd.FrontBarSignalDown() = 0;
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}
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else
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{
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cmd.FrontBarSignalUp() = 0;
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cmd.FrontBarSignalDown() = 1;
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}
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cmd.FrontBarEnable() = 1;
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}
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else if (port == "BackBar")
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{
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if (opt == "up")
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{
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cmd.BackBarSignalUp() = 1;
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cmd.BackBarSignalDown() = 0;
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}
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else
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{
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cmd.BackBarSignalUp() = 0;
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cmd.BackBarSignalDown() = 1;
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}
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cmd.BackBarEnable() = 1;
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}
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}
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DEBUG("send bar ctrl cmd");
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bar_writer_->write(&cmd);
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return true;
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}
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bool PublisherApp::light_ctrl(const std::map<std::string, std::string>& ctrl)
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{
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WeighingSystem::LightsCommandUpdate cmd;
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for (const auto &[port, opt] : ctrl)
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{
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if (port == "FrontLED")
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{
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if (opt == "red")
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{
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cmd.FrontLEDSignal() = 1;
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}
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else
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{
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cmd.FrontLEDSignal() = 2;
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}
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cmd.FrontLEDEnable() = 1;
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}
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else if (port == "BackLED")
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{
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if (opt == "red")
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{
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cmd.BackLEDSignal() = 1;
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}
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else
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{
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cmd.BackLEDSignal() = 2;
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}
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cmd.BackLEDEnable() = 1;
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}
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}
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DEBUG("send light ctrl cmd");
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light_writer_->write(&cmd);
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return true;
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}
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bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
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{
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InternalSystem::PrintReq req;
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req.msg() = msg;
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for (auto &m : req.msg())
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{
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DEBUG("first: " << m.first << " second: " << m.second);
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}
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print_writer_->write(&req);
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return true;
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}
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void PublisherApp::run()
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{
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uint8_t send_sum = 0;
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std::string license_no = "";
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float stable_weight = 0;
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while (!is_stopped())
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{
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std::unique_lock<std::mutex> dds_lock(DdsMsgData::queue_cv_mtx_, std::try_to_lock);
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if (dds_lock.owns_lock())
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{
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if (!DdsMsgData::LicenseSnapUpdate_queue_.empty())
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{
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WeighingSystem::LicenseSnapUpdate info = std::move(DdsMsgData::LicenseSnapUpdate_queue_.front());
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DdsMsgData::LicenseSnapUpdate_queue_.pop();
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dds_lock.unlock();
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DEBUG("车牌: " << info.License());
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DEBUG("类型: " << info.NewTag());
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if (license_no == "")
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{
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license_no = info.NewTag();
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}
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}
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else if (!DdsMsgData::ScaleInfo_queue_.empty())
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{
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WeighingSystem::ScaleInfo info = std::move(DdsMsgData::ScaleInfo_queue_.front());
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DdsMsgData::ScaleInfo_queue_.pop();
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dds_lock.unlock();
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DEBUG("有车: " << info.HasVehicle());
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DEBUG("稳定: " << info.WeightOK());
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DEBUG("设备状态: " << info.State());
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DEBUG("实时重量: " << info.Value());
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DEBUG("稳定重量: " << info.StableValue());
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if (info.WeightOK() == 1)
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{
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stable_weight = info.StableValue();
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}
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else
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{
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stable_weight = 0;
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send_sum = 0;
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}
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if (info.HasVehicle() == 0)
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{
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license_no = "";
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}
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}
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else if (!DdsMsgData::BarUpdate_queue_.empty())
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{
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WeighingSystem::BarUpdate info = std::move(DdsMsgData::BarUpdate_queue_.front());
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DdsMsgData::BarUpdate_queue_.pop();
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dds_lock.unlock();
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DEBUG("前拦车器状态: " << info.FrontBarState());
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DEBUG("后拦车器状态: " << info.BackBarState());
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}
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else if (!DdsMsgData::LightsUpdate_queue_.empty())
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{
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WeighingSystem::LightsUpdate info = std::move(DdsMsgData::LightsUpdate_queue_.front());
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DdsMsgData::LightsUpdate_queue_.pop();
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dds_lock.unlock();
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DEBUG("前红绿灯状态: " << info.FrontLEDState());
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DEBUG("后红绿灯状态: " << info.BackLEDState());
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}
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else if (!DdsMsgData::InfraredUpdate_queue_.empty())
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{
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WeighingSystem::InfraredUpdate info = std::move(DdsMsgData::InfraredUpdate_queue_.front());
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DdsMsgData::InfraredUpdate_queue_.pop();
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dds_lock.unlock();
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DEBUG("前红外对射状态: " << info.FrontResistanceSignal());
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DEBUG("后红外对射状态: " << info.BackResistanceSignal());
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}
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else if (!DdsMsgData::WeightInfoOk_queue_.empty())
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{
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WeighingSystem::WeightInfoOk info = std::move(DdsMsgData::WeightInfoOk_queue_.front());
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DdsMsgData::WeightInfoOk_queue_.pop();
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dds_lock.unlock();
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auto formatFloat = [](float value) -> std::string
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{
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std::ostringstream oss;
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oss << std::fixed << std::setprecision(2) << value;
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return oss.str();
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};
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if (info.IsPrintTicker() == true)
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{
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std::map<std::string, std::string> print_msg;
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print_msg["Title"] = "过衡单";
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print_msg["DeviceID"] = std::to_string(info.DeviceID());
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print_msg["DeviceName"] = info.DeviceName();
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print_msg["TitleCorp"] = info.EnterpriseName();
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print_msg["CoalNumber"] = info.BillNumber();
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print_msg["CarNumber"] = info.CarNumber();
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print_msg["Supplier"] = info.Supplier();
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print_msg["GoodsType"] = info.GoodsType();
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print_msg["GrossWeight"] = formatFloat(info.GrossWeight());
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print_msg["GrossTime"] = info.GrossTime();
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print_msg["GrossOperater"] = info.GrossOperater();
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print_msg["TareWeight"] = formatFloat(info.Tare());
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print_msg["TareTime"] = info.TareTime();
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print_msg["TareOperater"] = info.TareOperater();
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print_msg["SuttleWeight"] = formatFloat(info.Suttle());
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print_msg["duduction1"] = formatFloat(info.duduction1());
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print_msg["duduction2"] = formatFloat(info.duduction2());
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print_msg["duduction3"] = formatFloat(info.duduction3());
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print_msg["INCoalYard"] = info.INCoalYard();
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print_msg["OUTCoalYard"] = info.OutCoalYard();
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print_msg["BatchNumber"] = info.BatchNumber();
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print_msg["Warning"] = info.Warning();
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print_receipt(print_msg);
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}
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}
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else if (!DdsMsgData::WeightInfoError_queue_.empty())
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{
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WeighingSystem::WeightInfoError info = std::move(DdsMsgData::WeightInfoError_queue_.front());
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DdsMsgData::WeightInfoError_queue_.pop();
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dds_lock.unlock();
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send_sum = 0;
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}
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else
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{
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dds_lock.unlock();
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}
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}
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// logic
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if (send_sum == 0)
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{
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if ((stable_weight != 0) && (license_no != ""))
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{
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DEBUG("send summary");
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WeighingSystem::SummaryUpdate info;
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info.License() = license_no;
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info.StableValue() = stable_weight;
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summary_writer_->write(&info);
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send_sum = 1;
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}
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}
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|
|
|
// Wait for period or stop event
|
|
std::unique_lock<std::mutex> period_lock(mutex_);
|
|
cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
|
|
{
|
|
return is_stopped();
|
|
});
|
|
}
|
|
}
|
|
|
|
|
|
bool PublisherApp::publish()
|
|
{
|
|
bool ret = false;
|
|
// Wait for the data endpoints discovery
|
|
std::unique_lock<std::mutex> matched_lock(mutex_);
|
|
cv_.wait(matched_lock, [&]()
|
|
{
|
|
// at least one has been discovered
|
|
return ((matched_ > 0) || is_stopped());
|
|
});
|
|
|
|
if (!is_stopped())
|
|
{
|
|
/* Initialize your structure here */
|
|
WeighingSystem::BarCommandUpdate sample_;
|
|
ret = (RETCODE_OK == bar_writer_->write(&sample_));
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
bool PublisherApp::is_stopped()
|
|
{
|
|
return stop_.load();
|
|
}
|
|
|
|
void PublisherApp::stop()
|
|
{
|
|
stop_.store(true);
|
|
cv_.notify_one();
|
|
} |