上传文件至 'WeighUI/dds'

Signed-off-by: 邵朱铭 <shaozm@auseft.com>
3 days ago · dfc3c5d2b1
parent 9577603f38
commit dfc3c5d2b1
3 changed files with 318 additions and 0 deletions
--- a/WeighUI/dds/Subscriber.cxx
+++ b/WeighUI/dds/Subscriber.cxx
@ -0,0 +1,238 @@
+#include "Subscriber.hpp"
+
+#include <stdexcept>
+#include <mutex>
+#include <utility>
+
+#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/subscriber/DataReader.hpp>
+#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
+#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
+#include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+
+#include <QDebug>
+#include "msg.hpp"
+
+using namespace eprosima::fastdds::dds;
+
+DdsSubscriberApp::DdsSubscriberApp(const int& domain_id)
+    : factory_(nullptr)
+    , participant_(nullptr)
+    , subscriber_(nullptr)
+    , weightinfook_topic_(nullptr)
+    , weightinfook_reader_(nullptr)
+    , weightinfook_type_(new WeighingSystem::WeightInfoOkPubSubType())
+    , weightinfoerror_topic_(nullptr)
+    , weightinfoerror_reader_(nullptr)
+    , weightinfoerror_type_(new WeighingSystem::WeightInfoErrorPubSubType())
+    , summary_topic_(nullptr)
+    , summary_reader_(nullptr)
+    , summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
+    , scaleinfo_topic_(nullptr)
+    , scaleinfo_reader_(nullptr)
+    , scaleinfo_type_(new WeighingSystem::ScaleInfoPubSubType())
+    , stop_(false)
+{
+    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
+    pqos.name("WeighUI_sub_participant");
+    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
+    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
+    factory_ = DomainParticipantFactory::get_shared_instance();
+    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
+    if (participant_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI Participant initialization failed");
+    }
+
+    weightinfook_type_.register_type(participant_);
+    qDebug() << "[WeighUI] registered WeightInfoOk type:"
+             << weightinfook_type_.get_type_name().c_str();
+
+    SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
+    participant_->get_default_subscriber_qos(sub_qos);
+    subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
+    if (subscriber_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI Subscriber initialization failed");
+    }
+
+    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
+    participant_->get_default_topic_qos(topic_qos);
+    weightinfook_topic_ = participant_->create_topic("WeightInfoOk", weightinfook_type_.get_type_name(), topic_qos);
+    if (weightinfook_topic_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::WeightInfoOk Topic initialization failed");
+    }
+
+    DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
+    subscriber_->get_default_datareader_qos(reader_qos);
+    reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
+    reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
+    reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
+    reader_qos.history().depth = 1;
+    reader_qos.resource_limits().max_samples = 200;
+    reader_qos.resource_limits().max_instances = 1;
+    reader_qos.resource_limits().max_samples_per_instance = 100;
+    reader_qos.data_sharing().off();
+    weightinfook_reader_ = subscriber_->create_datareader(weightinfook_topic_, reader_qos, this, StatusMask::all());
+    if (weightinfook_reader_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::WeightInfoOk DataReader initialization failed");
+    }
+
+    // Register WeightInfoError type and create reader (Warning 主题, 弹窗样式与 WeightInfoOk 完全一致)
+    weightinfoerror_type_.register_type(participant_);
+    qDebug() << "[WeighUI] registered WeightInfoError type:"
+             << weightinfoerror_type_.get_type_name().c_str();
+
+    weightinfoerror_topic_ = participant_->create_topic("WeightInfoError", weightinfoerror_type_.get_type_name(), topic_qos);
+    if (weightinfoerror_topic_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::WeightInfoError Topic initialization failed");
+    }
+
+    weightinfoerror_reader_ = subscriber_->create_datareader(weightinfoerror_topic_, reader_qos, this, StatusMask::all());
+    if (weightinfoerror_reader_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::WeightInfoError DataReader initialization failed");
+    }
+
+    // Register SummaryUpdate type and create reader
+    summary_type_.register_type(participant_);
+    qDebug() << "[WeighUI] registered SummaryUpdate type:"
+             << summary_type_.get_type_name().c_str();
+
+    summary_topic_ = participant_->create_topic("SummaryUpdate", summary_type_.get_type_name(), topic_qos);
+    if (summary_topic_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::SummaryUpdate Topic initialization failed");
+    }
+
+    summary_reader_ = subscriber_->create_datareader(summary_topic_, reader_qos, this, StatusMask::all());
+    if (summary_reader_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::SummaryUpdate DataReader initialization failed");
+    }
+
+    // Register ScaleInfo type and create reader (实时重量)
+    scaleinfo_type_.register_type(participant_);
+    qDebug() << "[WeighUI] registered ScaleInfo type:"
+             << scaleinfo_type_.get_type_name().c_str();
+
+    scaleinfo_topic_ = participant_->create_topic("ScaleInfo", scaleinfo_type_.get_type_name(), topic_qos);
+    if (scaleinfo_topic_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::ScaleInfo Topic initialization failed");
+    }
+
+    scaleinfo_reader_ = subscriber_->create_datareader(scaleinfo_topic_, reader_qos, this, StatusMask::all());
+    if (scaleinfo_reader_ == nullptr)
+    {
+        throw std::runtime_error("WeighUI::ScaleInfo DataReader initialization failed");
+    }
+}
+
+DdsSubscriberApp::~DdsSubscriberApp()
+{
+    if (nullptr != participant_)
+    {
+        participant_->delete_contained_entities();
+        factory_->delete_participant(participant_);
+    }
+}
+
+void DdsSubscriberApp::on_subscription_matched(
+        DataReader* reader,
+        const SubscriptionMatchedStatus& info)
+{
+    std::string topic = reader->get_topicdescription()->get_name();
+    qDebug() << "[WeighUI] SubscriptionMatched topic=" << topic.c_str()
+             << " current_count=" << info.current_count
+             << " change=" << info.current_count_change
+             << " total_count=" << info.total_count;
+}
+
+void DdsSubscriberApp::on_data_available(DataReader* reader)
+{
+    SampleInfo info;
+    std::string topic_name = reader->get_topicdescription()->get_name();
+
+    qDebug() << "[WeighUI] on_data_available topic=" << topic_name.c_str();
+
+    if (topic_name == "WeightInfoOk")
+    {
+        WeighingSystem::WeightInfoOk sample_;
+        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
+        {
+            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
+            {
+                std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
+                DdsMsgData::WeightInfoOk_queue_.push(std::move(sample_));
+                lock.unlock();
+            }
+        }
+    }
+    else if (topic_name == "WeightInfoError")
+    {
+        WeighingSystem::WeightInfoError sample_;
+        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
+        {
+            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
+            {
+                std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
+                DdsMsgData::WeightInfoError_queue_.push(std::move(sample_));
+                lock.unlock();
+            }
+        }
+    }
+    else if (topic_name == "SummaryUpdate")
+    {
+        WeighingSystem::SummaryUpdate sample_;
+        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
+        {
+            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
+            {
+                std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
+                DdsMsgData::SummaryUpdate_queue_.push(std::move(sample_));
+                lock.unlock();
+            }
+        }
+    }
+    else if (topic_name == "ScaleInfo")
+    {
+        WeighingSystem::ScaleInfo sample_;
+        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
+        {
+            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
+            {
+                std::unique_lock<std::mutex> lock(DdsMsgData::queue_cv_mtx_);
+                DdsMsgData::ScaleInfo_queue_.push(std::move(sample_));
+                lock.unlock();
+            }
+        }
+    }
+}
+
+void DdsSubscriberApp::run()
+{
+    while (!is_stopped())
+    {
+        std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
+        terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_),
+                               [this]() { return is_stopped(); });
+    }
+}
+
+bool DdsSubscriberApp::is_stopped()
+{
+    return stop_.load();
+}
+
+void DdsSubscriberApp::stop()
+{
+    stop_.store(true);
+    terminate_cv_.notify_all();
+}
--- a/WeighUI/dds/Subscriber.hpp
+++ b/WeighUI/dds/Subscriber.hpp
@ -0,0 +1,61 @@
+#ifndef WEIGHUI_DDS_SUBSCRIBER_HPP
+#define WEIGHUI_DDS_SUBSCRIBER_HPP
+
+#include <atomic>
+#include <condition_variable>
+#include <memory>
+#include <mutex>
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
+
+#include "WeighingDDSTypePubSubTypes.hpp"
+
+class DdsSubscriberApp : public eprosima::fastdds::dds::DataReaderListener
+{
+public:
+    DdsSubscriberApp(const int& domain_id);
+    virtual ~DdsSubscriberApp();
+
+    void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
+    void on_subscription_matched(
+            eprosima::fastdds::dds::DataReader* reader,
+            const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
+
+    void run();
+    void stop();
+
+private:
+    bool is_stopped();
+
+    std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Subscriber* subscriber_;
+
+    eprosima::fastdds::dds::Topic* weightinfook_topic_;
+    eprosima::fastdds::dds::DataReader* weightinfook_reader_;
+    eprosima::fastdds::dds::TypeSupport weightinfook_type_;
+
+    // WeightInfoError 主题订阅 (Warning 主题, 弹窗样式与 WeightInfoOk 完全一致)
+    eprosima::fastdds::dds::Topic* weightinfoerror_topic_;
+    eprosima::fastdds::dds::DataReader* weightinfoerror_reader_;
+    eprosima::fastdds::dds::TypeSupport weightinfoerror_type_;
+
+    eprosima::fastdds::dds::Topic* summary_topic_;
+    eprosima::fastdds::dds::DataReader* summary_reader_;
+    eprosima::fastdds::dds::TypeSupport summary_type_;
+
+    // 实时重量 (weigh 程序发布)
+    eprosima::fastdds::dds::Topic* scaleinfo_topic_;
+    eprosima::fastdds::dds::DataReader* scaleinfo_reader_;
+    eprosima::fastdds::dds::TypeSupport scaleinfo_type_;
+
+    std::atomic<bool> stop_;
+    uint32_t period_ms_ = 100;
+    mutable std::mutex terminate_cv_mtx_;
+    std::condition_variable terminate_cv_;
+};
+
+#endif
--- a/WeighUI/dds/msg.hpp
+++ b/WeighUI/dds/msg.hpp
@ -0,0 +1,19 @@
+#ifndef WEIGHUI_DDS_MSG_HPP
+#define WEIGHUI_DDS_MSG_HPP
+
+#include <queue>
+#include <mutex>
+#include "WeighingDDSType.hpp"
+
+class DdsMsgData {
+public:
+    static std::queue<WeighingSystem::WeightInfoOk> WeightInfoOk_queue_;
+    // 称重业务异常信息 (Warning 主题, 弹窗样式与 WeightInfoOk 完全一致)
+    static std::queue<WeighingSystem::WeightInfoError> WeightInfoError_queue_;
+    static std::queue<WeighingSystem::SummaryUpdate> SummaryUpdate_queue_;
+    // 实时重量 (来自 weigh 程序的 ScaleInfo 主题)
+    static std::queue<WeighingSystem::ScaleInfo> ScaleInfo_queue_;
+    static std::mutex queue_cv_mtx_;
+};
+
+#endif