Added missing Heartbeat, and state ack to client

DDSSimClient.cpp

@@ -29,7 +29,7 @@ namespace NDDSClient {
 			auto& cellIn = cell.second;
 			cellIn->_sub->SwapBuffer();
 			size_t size = cellIn->_sub->GetSizeInByes();
-			if (cellIn->_size == size) {
+			if (cellIn->_size >= size) { //the raw publication can be of variable length, DDS may trim un-needed data;
 				void* ptr = cellIn->_sub->GetRaw();
 				apex::memcpy(cellIn->_target, ptr, size);
 			}
@@ -89,14 +89,32 @@ namespace NDDSClient {
 			}
 	}
 
-	void  DDSSimClient::RegisterStartup(DDSSimClient::TStartCBRef) {
+	void  DDSSimClient::RegisterStartup(DDSSimClient::TStartCBRef cb) {
+		 _StartupCBs.push_back(cb);
 	}
 
 
-	void DDSSimClient::RegisterFrameCB(DDSSimClient::TFrameCBRef) {
+	void DDSSimClient::RegisterFrameCB(DDSSimClient::TFrameCBRef ref) {
+		_FrameCBs.push_back(ref);
 	}
+
 	DDSSimClient::DDSSimClient() : NADSDDS::CState::Callback(), _currentFrame(-1), _Started(false) {}
 
+	 ////////////////////////////////////////////////////////////////////////////////////////////////////
+	 /// \fn void DDSSimClient::OnFrame(int frame)
+	 ///
+	 /// \brief Executes the frame action
+	 /// This function:		
+	 /// Read in the Frame data, copies Publication data, out to host apps varaibles
+	 /// Call back to the host App -> have it runs its frame 
+	 /// Write The Host Apps registered varaibles out as a publication
+	 /// 
+	 /// \author Simop
+	 /// \date 5/1/2019
+	 ///
+	 /// \param frame The frame.
+	 ////////////////////////////////////////////////////////////////////////////////////////////////////
+
 	 void 	DDSSimClient::OnFrame(int frame) {
 		_currentFrame = frame;
 		NADSDDS::CState cs;
@@ -109,10 +127,47 @@ namespace NDDSClient {
 			_HeartBeat->asShort()[0]++;
 			_HeartBeat->Publish();
 		}
+		for (auto& cb : _FrameCBs) {
+			bool stateOK = true;
+			if (auto frameCB = cb.lock()) {
+				if (!frameCB->Frame(*this, state, frame))
+					stateOK = false;
+			}
+			if (!stateOK)
+				_StateAck->asInt()[0] = -1;
+			else
+				_StateAck->asInt()[0] = state;
+
+			_StateAck->Publish();
+		}
+
+		
 		_omap.WriteOutputElements();
 	}
+
+	////////////////////////////////////////////////////////////////////////////////////////////////////
+	/// \fn void DDSSimClient::StartUp()
+	///
+	/// \brief Signal to connected clients its time to startup
+	/// 	   
+	/// This registration of publications and subscriptions should happen based on callbacks here
+	/// \author Simop
+	/// \date 5/1/2019
+	////////////////////////////////////////////////////////////////////////////////////////////////////
+
 	void DDSSimClient::StartUp() {
+		string stateAck = "_StateAck_" + _name;
+		string heartBeat = "_HeartBeat_" + _name;
+
+		_HeartBeat = NADSDDS::CPublication::MakePublication(stateAck, -1, 1, 's');
+		_StateAck  = NADSDDS::CPublication::MakePublication(heartBeat, -1, 1, 'i');
 
+		for (auto& cb : _StartupCBs) {
+			if (auto startCB = cb.lock()) {
+				startCB->Startup(*this);
+			}
+		}
+		_Started = true;
 	}
 
 	void  DDSSimClient::RegInputCell(const std::string& name, void* pnt, size_t size, char type) {
@@ -139,9 +194,12 @@ namespace NDDSClient {
 	/// \returns A DDSSimClient::TRef.
 	////////////////////////////////////////////////////////////////////////////////////////////////////
 
-	DDSSimClient::TRef DDSSimClient::Make(TFrameCBRef frame, TStartCBRef startup) {
+	DDSSimClient::TRef DDSSimClient::Make(TFrameCBRef frame, TStartCBRef startup, const std::string& name) {
 		//this most likely should use a proxy obj so we can use make_shared
 		auto ptr = DDSSimClient::TRef(new DDSSimClient()); 
+
+
+		ptr->_name = name;
 		ptr->RegisterFrameCB(frame);
 		ptr->RegisterStartup(startup);
 		ptr->StartUp();

include/NadsDDSLib/DDSSimClient.h

@@ -135,7 +135,7 @@ namespace NDDSClient {
 
 		void RegisterFrameCB(TFrameCBRef);
 		virtual void OnFrame(int frame);
-		static TRef Make(TFrameCBRef, TStartCBRef);
+		static TRef Make(TFrameCBRef, TStartCBRef, const std::string& name);
 
 		//char
 		void RegInputCell(const std::string& name, char* pnt, size_t cnt) {
@@ -222,11 +222,11 @@ namespace NDDSClient {
 		void StartUp();
 		void RegInputCell(const std::string& name, void* pnt, size_t size, char type);
 		void RegOutputCell(const std::string& name, void* pnt, size_t size, char type);
-		std::vector<TFrameCBRef> _FrameCBs;
+		std::vector<TFrameCBWRef> _FrameCBs;
 		std::vector<TStartCBWRef> _StartupCBs;
-		NADSDDS::CPublication::TRef _heartBeat;
 		CCellInputMap _map;
 		CCellOutputMap _omap;
+		std::string _name;
 		int _currentFrame;
 		bool _Started;
 	};