Weight/WeighUI/dds/Subscriber.cxx

#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();
}