Simplify the DdsPipe's constructor

Signed-off-by: tempate <[email protected]>

ddsrouter_core/include/ddsrouter_core/configuration/DdsRouterConfiguration.hpp

@@ -23,7 +23,6 @@
 #include <ddspipe_participants/configuration/ParticipantConfiguration.hpp>
 #include <ddspipe_participants/xml/XmlHandlerConfiguration.hpp>
 
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/configuration/SpecsConfiguration.hpp>
 #include <ddsrouter_core/types/ParticipantKind.hpp>
 
@@ -39,7 +38,7 @@ namespace core {
  * - Participant configurations.
  * - Advanced configurations.
  */
-struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
+struct DdsRouterConfiguration : public ddspipe::core::IConfiguration
 {
 
     /////////////////////////
@@ -53,10 +52,6 @@ struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
     // METHODS
     /////////////////////////
 
-    //! Set internal values with the values reloaded
-    DDSROUTER_CORE_DllAPI void reload(
-            const DdsRouterReloadConfiguration& new_configuration);
-
     //! Override \c is_valid method.
     DDSROUTER_CORE_DllAPI bool is_valid(
             utils::Formatter& error_msg) const noexcept override;
@@ -65,9 +60,6 @@ struct DdsRouterConfiguration : public DdsRouterReloadConfiguration
     // VARIABLES
     /////////////////////////
 
-    //! Builtin topics to create at the beggining of the execution
-    std::set<utils::Heritable<ddspipe::core::types::DistributedTopic>> builtin_topics {};
-
     //! Participant configurations
     std::set<
         std::pair<

ddsrouter_core/include/ddsrouter_core/core/DdsRouter.hpp

@@ -26,7 +26,6 @@
 
 #include <ddsrouter_core/core/ParticipantFactory.hpp>
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/library/library_dll.h>
 
 namespace eprosima {
@@ -78,7 +77,7 @@ class DdsRouter
      * @throw \c ConfigurationException in case the new yaml is not well-formed
      */
     DDSROUTER_CORE_DllAPI utils::ReturnCode reload_configuration(
-            const DdsRouterReloadConfiguration& configuration);
+            const DdsRouterConfiguration& configuration);
 
     /**
      * @brief Start communication in DDS Router
@@ -104,13 +103,6 @@ class DdsRouter
 
 protected:
 
-    /**
-     * @brief Load allowed topics from configuration
-     *
-     * @throw \c ConfigurationException in case the yaml inside allowlist is not well-formed
-     */
-    void init_allowed_topics_();
-
     /**
      * @brief  Create participants and add them to the participants database
      *

ddsrouter_core/src/cpp/configuration/DdsRouterConfiguration.cpp

@@ -25,29 +25,15 @@
 #include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/types/ParticipantKind.hpp>
 
 namespace eprosima {
 namespace ddsrouter {
 namespace core {
 
-void DdsRouterConfiguration::reload(
-        const DdsRouterReloadConfiguration& new_configuration)
-{
-    this->allowlist = new_configuration.allowlist;
-    this->blocklist = new_configuration.blocklist;
-}
-
 bool DdsRouterConfiguration::is_valid(
         utils::Formatter& error_msg) const noexcept
 {
-    // Check Allow list topics
-    if (!DdsRouterReloadConfiguration::is_valid(error_msg))
-    {
-        return false;
-    }
-
     // Check there are at least two participants
     if (participants_configurations.size() < 1)
     {

ddsrouter_core/src/cpp/core/DdsRouter.cpp

@@ -27,7 +27,6 @@
 #include <ddspipe_core/types/dds/TopicQoS.hpp>
 
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
-#include <ddsrouter_core/configuration/DdsRouterReloadConfiguration.hpp>
 #include <ddsrouter_core/core/DdsRouter.hpp>
 
 namespace eprosima {
@@ -53,39 +52,20 @@ DdsRouter::DdsRouter(
                       "Configuration for DDS Router is invalid: " << error_msg);
     }
 
-    // Set default value for history
-    ddspipe::core::types::TopicQoS::default_history_depth.store(
-        configuration_.advanced_options.max_history_depth);
-
-    // Init topic allowed
-    init_allowed_topics_();
-
     // Load Participants
     init_participants_();
 
     // Initialize the DdsPipe
     ddspipe_ = std::unique_ptr<ddspipe::core::DdsPipe>(new ddspipe::core::DdsPipe(
                         configuration_.ddspipe_configuration,
-                        allowed_topics_,
                         discovery_database_,
                         payload_pool_,
                         participants_database_,
-                        thread_pool_,
-                        configuration_.builtin_topics,
-                        false));
+                        thread_pool_));
 
     logDebug(DDSROUTER, "DDS Router created.");
 }
 
-void DdsRouter::init_allowed_topics_()
-{
-    allowed_topics_ = std::make_shared<ddspipe::core::AllowedTopicList>(
-        configuration_.allowlist,
-        configuration_.blocklist);
-
-    logInfo(DDSROUTER, "DDS Router configured with allowed topics: " << *allowed_topics_);
-}
-
 void DdsRouter::init_participants_()
 {
     for (std::pair<types::ParticipantKind,
@@ -126,7 +106,7 @@ void DdsRouter::init_participants_()
 }
 
 utils::ReturnCode DdsRouter::reload_configuration(
-        const DdsRouterReloadConfiguration& new_configuration)
+        const DdsRouterConfiguration& new_configuration)
 {
     // Check that the configuration is correct
     utils::Formatter error_msg;
@@ -137,11 +117,7 @@ utils::ReturnCode DdsRouter::reload_configuration(
                       "Configuration for Reload DDS Router is invalid: " << error_msg);
     }
 
-    allowed_topics_ = std::make_shared<ddspipe::core::AllowedTopicList>(
-        new_configuration.allowlist,
-        new_configuration.blocklist);
-
-    return ddspipe_->reload_allowed_topics(allowed_topics_);
+    return ddspipe_->reload_configuration(new_configuration.ddspipe_configuration);
 }
 
 utils::ReturnCode DdsRouter::start() noexcept

ddsrouter_core/test/blackbox/ddsrouter_core/dds/WAN/DDSTestWAN.cpp

@@ -236,7 +236,7 @@ DdsRouterConfiguration router_configuration(
     // One topic
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two participants, one custom and other simple. If server, simple will work in 0, if not in 1

ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp

@@ -55,7 +55,7 @@ DdsRouterConfiguration dds_test_simple_configuration(
     // Always filter the test topics by topic name
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     if (disable_dynamic_discovery)
@@ -81,8 +81,8 @@ DdsRouterConfiguration dds_test_simple_configuration(
         topic_keyed.type_name = "HelloWorldKeyed";
         topic_keyed.topic_qos.keyed = true;
 
-        conf.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
-        conf.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic_keyed));
+        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
+        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic_keyed));
     }
 
     // Two simple participants

ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp

@@ -54,7 +54,7 @@ DdsRouterConfiguration dds_test_simple_configuration()
     // Always filter the test topics by topic name
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two simple participants

ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/DDSTestRepeater.cpp

@@ -129,7 +129,7 @@ DdsRouterConfiguration router_configuration(
     // One topic
     core::types::WildcardDdsFilterTopic topic;
     topic.topic_name.set_value(TOPIC_NAME);
-    conf.allowlist.insert(
+    conf.ddspipe_configuration.allowlist.insert(
         utils::Heritable<core::types::WildcardDdsFilterTopic>::make_heritable(topic));
 
     // Two participants, one custom and other simple. If server, simple will work in 0, if not in 1

ddsrouter_core/test/blackbox/implementations/ImplementationsTest.cpp

@@ -124,7 +124,7 @@ TEST(ImplementationsTest, pair_implementation_with_topic)
         eprosima::ddspipe::core::types::DdsTopic topic;
         topic.m_topic_name = "rt/chatter";
         topic.type_name = "std_msgs::msg::dds_::String_";
-        configuration.builtin_topics.insert(
+        configuration.ddspipe_configuration.builtin_topics.insert(
             utils::Heritable<eprosima::ddspipe::core::types::DdsTopic>::make_heritable(topic));
 
         // Create DdsRouter entity