From d56a17122e2344e0fda9107dfdda6c901183cc4f Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Mon, 14 Oct 2024 08:54:52 +0200
Subject: [PATCH 1/3] Bump to Fast DDS 3.0 (#375)
* Remove deprecated Fast RTPS
* Bump Fast DDS to 3.0.1
* Initial fastdds updates
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
* Update FastDDS middleware headers
* Add Fast DDS 3.0 middleware
* Fix UAGENT TESTS
* Remove coverage
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
* Fix Windows warnings
* Remove Cov
* Remove last references to fastrtps
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
* Bump fastdds version
---------
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
---
CMakeLists.txt | 17 +-
ci/linux/CMakeLists.txt | 1 -
cmake/SuperBuild.cmake | 6 +-
colcon.pkg | 2 +-
include/uxr/agent/middleware/Middleware.hpp | 1 -
.../agent/middleware/fast/FastEntities.hpp | 334 ------
.../agent/middleware/fast/FastMiddleware.hpp | 297 ------
.../middleware/fastdds/FastDDSEntities.hpp | 72 +-
.../middleware/fastdds/FastDDSMiddleware.hpp | 8 -
.../uxr/agent/middleware/utils/Callbacks.hpp | 392 +------
.../agent/transport/custom/CustomAgent.hpp | 2 +-
include/uxr/agent/types/TopicPubSubType.hpp | 33 +-
src/cpp/Agent.cpp | 16 -
src/cpp/AgentInstance.cpp | 18 +-
src/cpp/Root.cpp | 9 +-
src/cpp/client/ProxyClient.cpp | 6 -
src/cpp/middleware/fast/FastEntities.cpp | 579 -----------
src/cpp/middleware/fast/FastMiddleware.cpp | 977 ------------------
.../middleware/fastdds/FastDDSEntities.cpp | 674 +++++-------
.../middleware/fastdds/FastDDSMiddleware.cpp | 316 +++---
src/cpp/types/TopicPubSubType.cpp | 74 +-
src/cpp/utils/ArgumentParser.cpp | 4 -
src/cpp/xmlobjects/xmlobjects.cpp | 150 ---
src/cpp/xmlobjects/xmlobjects.h | 68 --
test/blackbox/tree/CMakeLists.txt | 7 +-
test/blackbox/tree/TreeTests.cpp | 8 +-
test/cmake/CMakeLists.txt | 2 +-
test/unittest/CMakeLists.txt | 4 +-
test/unittest/agent/AgentUnitTests.cpp | 29 +-
test/unittest/agent/CMakeLists.txt | 4 +-
test/unittest/root/DataReaderTests.cpp | 12 -
31 files changed, 587 insertions(+), 3535 deletions(-)
delete mode 100644 include/uxr/agent/middleware/fast/FastEntities.hpp
delete mode 100644 include/uxr/agent/middleware/fast/FastMiddleware.hpp
delete mode 100644 src/cpp/middleware/fast/FastEntities.cpp
delete mode 100644 src/cpp/middleware/fast/FastMiddleware.cpp
delete mode 100644 src/cpp/xmlobjects/xmlobjects.cpp
delete mode 100644 src/cpp/xmlobjects/xmlobjects.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 10f9c591c..d185fdf77 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,7 +80,7 @@ set(_deps "")
if(UAGENT_USE_SYSTEM_FASTCDR)
set(_fastcdr_version 2)
else()
- set(_fastcdr_version 2.2.0)
+ set(_fastcdr_version 2.2.4)
set(_fastcdr_tag 2.2.x)
endif()
list(APPEND _deps "fastcdr\;${_fastcdr_version}")
@@ -93,13 +93,13 @@ endif()
if(UAGENT_FAST_PROFILE)
if(UAGENT_USE_SYSTEM_FASTDDS)
- set(_fastdds_version 2)
+ set(_fastdds_version 3)
else()
- set(_fastdds_version 2.14)
- set(_fastdds_tag 2.14.x)
+ set(_fastdds_version 3.1)
+ set(_fastdds_tag 3.x)
set(_foonathan_memory_tag v0.7-3) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
endif()
- list(APPEND _deps "fastrtps\;${_fastdds_version}")
+ list(APPEND _deps "fastdds\;${_fastdds_version}")
endif()
if(UAGENT_LOGGER_PROFILE)
@@ -210,9 +210,6 @@ set(SRCS
${TRANSPORT_SRCS}
$<$<BOOL:${UAGENT_DISCOVERY_PROFILE}>:src/cpp/transport/discovery/DiscoveryServer.cpp>
$<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/types/TopicPubSubType.cpp>
- $<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/xmlobjects/xmlobjects.cpp>
- $<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/middleware/fast/FastEntities.cpp>
- $<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/middleware/fast/FastMiddleware.cpp>
$<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/middleware/fastdds/FastDDSEntities.cpp>
$<$<BOOL:${UAGENT_FAST_PROFILE}>:src/cpp/middleware/fastdds/FastDDSMiddleware.cpp>
$<$<BOOL:${UAGENT_CED_PROFILE}>:src/cpp/middleware/ced/CedEntities.cpp>
@@ -300,7 +297,7 @@ target_link_libraries(${PROJECT_NAME}
$<$<PLATFORM_ID:Windows>:iphlpapi>
$<$<BOOL:${UAGENT_LOGGER_PROFILE}>:spdlog::spdlog>
PRIVATE
- $<$<BOOL:${UAGENT_FAST_PROFILE}>:fastrtps>
+ $<$<BOOL:${UAGENT_FAST_PROFILE}>:fastdds>
$<$<BOOL:${UAGENT_P2P_PROFILE}>:microxrcedds_client>
$<$<BOOL:${UAGENT_P2P_PROFILE}>:microcdr>
$<$<PLATFORM_ID:Linux>:pthread>
@@ -314,7 +311,7 @@ target_include_directories(${PROJECT_NAME} BEFORE
$<TARGET_PROPERTY:fastcdr,INTERFACE_INCLUDE_DIRECTORIES>
PRIVATE
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/cpp>
- $<$<BOOL:${UAGENT_FAST_PROFILE}>:$<TARGET_PROPERTY:fastrtps,INTERFACE_INCLUDE_DIRECTORIES>>
+ $<$<BOOL:${UAGENT_FAST_PROFILE}>:$<TARGET_PROPERTY:fastdds,INTERFACE_INCLUDE_DIRECTORIES>>
$<$<BOOL:${UAGENT_LOGGER_PROFILE}>:$<TARGET_PROPERTY:spdlog::spdlog,INTERFACE_INCLUDE_DIRECTORIES>>
$<$<BOOL:${UAGENT_P2P_PROFILE}>:$<TARGET_PROPERTY:microxrcedds_client,INTERFACE_INCLUDE_DIRECTORIES>>
$<$<BOOL:${UAGENT_P2P_PROFILE}>:$<TARGET_PROPERTY:microcdr,INTERFACE_INCLUDE_DIRECTORIES>>
diff --git a/ci/linux/CMakeLists.txt b/ci/linux/CMakeLists.txt
index 262959f75..dad2799f0 100644
--- a/ci/linux/CMakeLists.txt
+++ b/ci/linux/CMakeLists.txt
@@ -50,7 +50,6 @@ ExternalProject_Add(microxrcedds_agent_isolated
TEST_COMMAND
COMMAND ${CMAKE_CTEST_COMMAND} -VV -T Test
COMMAND ${CMAKE_CTEST_COMMAND} -VV -T MemCheck -E "test-case*"
- COMMAND ${CMAKE_CTEST_COMMAND} -VV -T Coverage -E "test-case*"
CMAKE_CACHE_ARGS
-DCMAKE_CXX_COMPILER:FILEPATH=${CMAKE_CXX_COMPILER}
-DCMAKE_C_COMPILER:FILEPATH=${CMAKE_C_COMPILER}
diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
index 0d4c86299..f6aaddbf2 100644
--- a/cmake/SuperBuild.cmake
+++ b/cmake/SuperBuild.cmake
@@ -117,8 +117,8 @@ if(UAGENT_FAST_PROFILE AND NOT UAGENT_USE_SYSTEM_FASTDDS)
# Fast DDS.
unset(fastdds_DIR CACHE)
- find_package(fastrtps ${_fastdds_version} EXACT QUIET)
- if(NOT fastrtps_FOUND)
+ find_package(fastdds ${_fastdds_version} EXACT QUIET)
+ if(NOT fastdds_FOUND)
ExternalProject_Add(fastdds
GIT_REPOSITORY
https://github.com/eProsima/Fast-DDS.git
@@ -127,7 +127,7 @@ if(UAGENT_FAST_PROFILE AND NOT UAGENT_USE_SYSTEM_FASTDDS)
PREFIX
${PROJECT_BINARY_DIR}/fastdds
INSTALL_DIR
- ${PROJECT_BINARY_DIR}/temp_install/fastrtps-${_fastdds_version}
+ ${PROJECT_BINARY_DIR}/temp_install/fastdds-${_fastdds_version}
CMAKE_CACHE_ARGS
-DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
-DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH};${PROJECT_BINARY_DIR}/temp_install
diff --git a/colcon.pkg b/colcon.pkg
index 62843e442..06f55d015 100644
--- a/colcon.pkg
+++ b/colcon.pkg
@@ -3,7 +3,7 @@
"type": "cmake",
"dependencies":[
"fastcdr",
- "fastrtps"
+ "fastdds"
],
"cmake-args":[
"-DUAGENT_ISOLATED_INSTALL=OFF",
diff --git a/include/uxr/agent/middleware/Middleware.hpp b/include/uxr/agent/middleware/Middleware.hpp
index d3b89786e..6f2fd3b55 100644
--- a/include/uxr/agent/middleware/Middleware.hpp
+++ b/include/uxr/agent/middleware/Middleware.hpp
@@ -38,7 +38,6 @@ class Middleware
{
NONE,
#ifdef UAGENT_FAST_PROFILE
- FASTRTPS,
FASTDDS,
#endif
diff --git a/include/uxr/agent/middleware/fast/FastEntities.hpp b/include/uxr/agent/middleware/fast/FastEntities.hpp
deleted file mode 100644
index c1b3e2b7a..000000000
--- a/include/uxr/agent/middleware/fast/FastEntities.hpp
+++ /dev/null
@@ -1,334 +0,0 @@
-// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef UXR_AGENT_MIDDLEWARE_FAST_FAST_ENTITIES_HPP_
-#define UXR_AGENT_MIDDLEWARE_FAST_FAST_ENTITIES_HPP_
-
-#include <fastrtps/participant/ParticipantListener.h>
-#include <fastrtps/publisher/PublisherListener.h>
-#include <fastrtps/subscriber/SubscriberListener.h>
-#include <uxr/agent/types/TopicPubSubType.hpp>
-#include <uxr/agent/middleware/Middleware.hpp>
-#include <uxr/agent/types/XRCETypes.hpp>
-
-#include <unordered_map>
-#include <condition_variable>
-#include <atomic>
-
-namespace eprosima {
-namespace fastrtps {
-
-class ParticipantAttributes;
-class PublisherAttributes;
-class SubscriberAttributes;
-class RequesterAttributes;
-class ReplierAttributes;
-class SampleInfo_t;
-
-} // namespace fastrtps
-} // namespace eprosima
-
-namespace eprosima {
-namespace uxr {
-
-class FastType;
-class FastTopic;
-
-/**********************************************************************************************************************
- * Listeners
- **********************************************************************************************************************/
-class FastListener : public fastrtps::ParticipantListener
- , public fastrtps::PublisherListener
- , public fastrtps::SubscriberListener
-{
-public:
- void onParticipantDiscovery(
- fastrtps::Participant*,
- fastrtps::rtps::ParticipantDiscoveryInfo&& info) final;
-
- void onPublicationMatched(
- fastrtps::Publisher*,
- fastrtps::rtps::MatchingInfo& info) final;
-
- void onSubscriptionMatched(
- fastrtps::Subscriber*,
- fastrtps::rtps::MatchingInfo& info) final;
-};
-
-/**********************************************************************************************************************
- * FastParticipant
- **********************************************************************************************************************/
-class FastParticipant
-{
-public:
- FastParticipant(fastrtps::Participant* impl);
-
- ~FastParticipant();
-
- bool match(
- const fastrtps::ParticipantAttributes& attrs) const;
-
- fastrtps::Participant* get_ptr() const { return impl_; }
-
- bool register_type(
- const std::shared_ptr<FastType>& type);
-
- bool unregister_type(
- const std::string& type_name);
-
- std::shared_ptr<FastType> find_type(
- const std::string& type_name) const;
-
- bool register_topic(
- const std::shared_ptr<FastTopic>& topic);
-
- bool unregister_topic(
- const std::string& topic_name);
-
- std::shared_ptr<FastTopic> find_topic(
- const std::string& topic_name) const;
-
- int16_t domain_id() const;
-
- const fastrtps::rtps::GUID_t& get_guid() const;
-
-private:
- fastrtps::Participant* impl_;
- std::unordered_map<std::string, std::weak_ptr<FastType>> type_register_;
- std::unordered_map<std::string, std::weak_ptr<FastTopic>> topic_register_;
-};
-
-/**********************************************************************************************************************
- * FastTopic
- **********************************************************************************************************************/
-class FastType : public TopicPubSubType
-{
-public:
- FastType(
- const std::shared_ptr<FastParticipant>& participant);
-
- ~FastType();
-
-private:
- std::shared_ptr<FastParticipant> participant_;
-};
-
-class FastTopic
-{
-public:
- FastTopic(
- const std::string& name,
- const std::shared_ptr<FastType>& type,
- const std::shared_ptr<FastParticipant>& participant);
-
- ~FastTopic();
-
- const std::string& get_name() const { return name_; }
-
- const std::shared_ptr<FastType>& get_type() const { return type_; }
-
- bool match(
- const fastrtps::TopicAttributes& attrs) const;
-
-private:
- std::string name_;
- std::shared_ptr<FastType> type_;
- std::shared_ptr<FastParticipant> participant_;
-};
-
-/**********************************************************************************************************************
- * FastPublisher
- **********************************************************************************************************************/
-class FastPublisher
-{
-public:
- FastPublisher(
- const std::shared_ptr<FastParticipant>& participant)
- : participant_(participant)
- {}
-
- ~FastPublisher() = default;
-
- const std::shared_ptr<FastParticipant>& get_participant() const { return participant_; }
-
-private:
- std::shared_ptr<FastParticipant> participant_;
-};
-
-/**********************************************************************************************************************
- * FastSubscriber
- **********************************************************************************************************************/
-class FastSubscriber
-{
-public:
- FastSubscriber(
- const std::shared_ptr<FastParticipant>& participant)
- : participant_(participant)
- {}
-
- ~FastSubscriber() = default;
-
- const std::shared_ptr<FastParticipant>& get_participant() const { return participant_; }
-
-private:
- std::shared_ptr<FastParticipant> participant_;
-};
-
-/**********************************************************************************************************************
- * FastDataWriter
- **********************************************************************************************************************/
-class FastDataWriter
-{
-public:
- FastDataWriter(
- fastrtps::Publisher* impl_,
- const std::shared_ptr<FastTopic>& topic,
- const std::shared_ptr<FastPublisher>& publisher);
-
- ~FastDataWriter();
-
- bool match(
- const fastrtps::PublisherAttributes& attrs) const;
-
- bool write(
- const std::vector<uint8_t>& data);
-
- bool write(
- const std::vector<uint8_t>& data,
- fastrtps::rtps::WriteParams& wparams);
-
- const fastrtps::rtps::GUID_t& get_guid() const;
-
- const fastrtps::Participant* get_participant() const;
-
- const fastrtps::Publisher* get_ptr() const;
-
-private:
- fastrtps::Publisher* impl_;
- std::shared_ptr<FastTopic> topic_;
- std::shared_ptr<FastPublisher> publisher_;
-};
-
-/**********************************************************************************************************************
- * FastDataReader
- **********************************************************************************************************************/
-class FastDataReader
-{
-public:
- FastDataReader(
- fastrtps::Subscriber* impl_,
- const std::shared_ptr<FastTopic>& topic,
- const std::shared_ptr<FastSubscriber>& Subscriber);
-
- ~FastDataReader();
-
- bool match(
- const fastrtps::SubscriberAttributes& attrs) const;
-
- bool read(
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout);
-
- bool read(
- std::vector<uint8_t>& data,
- fastrtps::SampleInfo_t& info,
- std::chrono::milliseconds timeout);
-
- const fastrtps::rtps::GUID_t& get_guid() const;
-
- const fastrtps::Participant* get_participant() const;
-
- const fastrtps::Subscriber* get_ptr() const;
-
-private:
- fastrtps::Subscriber* impl_;
- std::shared_ptr<FastTopic> topic_;
- std::shared_ptr<FastSubscriber> subscriber_;
-};
-
-
-/**********************************************************************************************************************
- * FastRequester
- **********************************************************************************************************************/
-class FastRequester
-{
-public:
- FastRequester(
- const std::shared_ptr<FastDataWriter>& datawriter,
- const std::shared_ptr<FastDataReader>& datareader);
-
- ~FastRequester() = default;
-
- bool match(
- const fastrtps::RequesterAttributes& attrs) const;
-
- bool write(
- uint32_t sequence_number,
- const std::vector<uint8_t>& data);
-
- bool read(
- uint32_t& sequence_number,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout);
-
- const fastrtps::Participant* get_participant() const;
-
- const fastrtps::Publisher* get_request_datawriter() const;
-
- const fastrtps::Subscriber* get_reply_datareader() const;
-
-private:
- std::shared_ptr<FastDataWriter> datawriter_;
- std::shared_ptr<FastDataReader> datareader_;
- dds::GUID_t publisher_id_;
- std::map<int64_t, uint32_t> sequence_to_sequence_;
-};
-
-/**********************************************************************************************************************
- * FastReplier
- **********************************************************************************************************************/
-class FastReplier
-{
-public:
- FastReplier(
- const std::shared_ptr<FastDataWriter>& datawriter,
- const std::shared_ptr<FastDataReader>& datareader);
-
- ~FastReplier() = default;
-
- bool match(
- const fastrtps::ReplierAttributes& attrs) const;
-
- bool write(
- const std::vector<uint8_t>& data);
-
- bool read(
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout);
-
- const fastrtps::Participant* get_participant() const;
-
- const fastrtps::Subscriber* get_request_datareader() const;
-
- const fastrtps::Publisher* get_reply_datawriter() const;
-
-private:
- std::shared_ptr<FastDataWriter> datawriter_;
- std::shared_ptr<FastDataReader> datareader_;
-};
-
-} // namespace uxr
-} // namespace eprosima
-
-#endif // UXR_AGENT_MIDDLEWARE_FAST_FAST_ENTITIES_HPP_
diff --git a/include/uxr/agent/middleware/fast/FastMiddleware.hpp b/include/uxr/agent/middleware/fast/FastMiddleware.hpp
deleted file mode 100644
index e9e221f54..000000000
--- a/include/uxr/agent/middleware/fast/FastMiddleware.hpp
+++ /dev/null
@@ -1,297 +0,0 @@
-// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-
-#ifndef UXR_AGENT_MIDDLEWARE_FAST_FAST_MIDDLEWARE_HPP_
-#define UXR_AGENT_MIDDLEWARE_FAST_FAST_MIDDLEWARE_HPP_
-
-#include <uxr/agent/middleware/Middleware.hpp>
-#include <uxr/agent/middleware/fast/FastEntities.hpp>
-#include <uxr/agent/types/TopicPubSubType.hpp>
-
-#include <cstdint>
-#include <cstddef>
-#include <unordered_map>
-#include <memory>
-
-namespace eprosima {
-namespace uxr {
-namespace middleware {
-class CallbackFactory;
-} // namespace middleware
-
-class FastMiddleware : public Middleware
-{
-public:
- FastMiddleware();
- ~FastMiddleware() final = default;
-
-/**********************************************************************************************************************
- * Create functions.
- **********************************************************************************************************************/
- bool create_participant_by_ref(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& ref) override;
-
- bool create_participant_by_xml(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& xml) override;
-
- bool create_participant_by_bin(
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_DomainParticipant_Binary& /* participant_xrce */) override { return false; };
-
- bool create_topic_by_ref(
- uint16_t topic_id,
- uint16_t participant_id,
- const std::string& ref) override;
-
- bool create_topic_by_xml(
- uint16_t topic_id,
- uint16_t participant_id,
- const std::string& xml) override;
-
- bool create_topic_by_bin(
- uint16_t /* topic_id */,
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_Topic_Binary& /* topic_xrce */) override { return false; };
-
- bool create_publisher_by_xml(
- uint16_t publisher_id,
- uint16_t participant_id,
- const std::string&) override;
-
- bool create_publisher_by_bin(
- uint16_t /* publisher_id */,
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_Publisher_Binary& /* publisher_xrce */) override { return false; };
-
- bool create_subscriber_by_xml(
- uint16_t subscirber_id,
- uint16_t participant_id,
- const std::string&) override;
-
- bool create_subscriber_by_bin(
- uint16_t /* subscriber_id */,
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_Subscriber_Binary& /* subscriber_xrce */) override { return false; };
-
- bool create_datawriter_by_ref(
- uint16_t datawriter_id,
- uint16_t publisher_id,
- const std::string& ref) override;
-
- bool create_datawriter_by_xml(
- uint16_t datawriter_id,
- uint16_t publisher_id,
- const std::string& xml) override;
-
- bool create_datawriter_by_bin(
- uint16_t /* datawriter_id */,
- uint16_t /* publisher_id */,
- const dds::xrce::OBJK_DataWriter_Binary& /* datawriter_xrce */) override { return false; };
-
- bool create_datareader_by_ref(
- uint16_t datareader_id,
- uint16_t subscriber_id,
- const std::string& ref) override;
-
- bool create_datareader_by_xml(
- uint16_t datareader_id,
- uint16_t subscriber_id,
- const std::string& xml) override;
-
- bool create_datareader_by_bin(
- uint16_t /* datareader_id */,
- uint16_t /* subscriber_id */,
- const dds::xrce::OBJK_DataReader_Binary& /* datareader_xrce */) override { return false; };
-
- bool create_requester_by_ref(
- uint16_t requester_id,
- uint16_t participant_id,
- const std::string& ref) override;
-
- bool create_requester_by_xml(
- uint16_t requester_id,
- uint16_t participant_id,
- const std::string& xml) override;
-
- bool create_requester_by_bin(
- uint16_t /* requester_id */,
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_Requester_Binary& /* requester_xrce */) override { return false; };
-
- bool create_replier_by_ref(
- uint16_t replier_id,
- uint16_t participant_id,
- const std::string& ref) override;
-
- bool create_replier_by_xml(
- uint16_t replier_id,
- uint16_t participant_id,
- const std::string& xml) override;
-
- bool create_replier_by_bin(
- uint16_t /* replier_id */,
- uint16_t /* participant_id */,
- const dds::xrce::OBJK_Replier_Binary& /* replier_xrce */) override { return false; };
-
-/**********************************************************************************************************************
- * Delete functions.
- **********************************************************************************************************************/
- bool delete_participant(uint16_t participant_id) override;
-
- bool delete_topic(uint16_t topic_id) override;
-
- bool delete_publisher(uint16_t publisher_id) override;
-
- bool delete_subscriber(uint16_t subscriber_id) override;
-
- bool delete_datawriter(uint16_t datawriter_id) override;
-
- bool delete_datareader(uint16_t datareader_id) override;
-
- bool delete_requester(uint16_t requester_id) override;
-
- bool delete_replier(uint16_t replier_id) override;
-
-/**********************************************************************************************************************
- * Write/Read functions.
- **********************************************************************************************************************/
- bool write_data(
- uint16_t datawriter_id,
- const std::vector<uint8_t>& data) override;
-
- bool write_request(
- uint16_t requester_id,
- uint32_t sequence_number,
- const std::vector<uint8_t>& data) override;
-
- bool write_reply(
- uint16_t replier_id,
- const std::vector<uint8_t>& data) override;
-
- bool read_data(
- uint16_t datareader_id,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout) override;
-
- bool read_request(
- uint16_t replier_id,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout) override;
-
- bool read_reply(
- uint16_t reply_id,
- uint32_t& sequence_number,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout) override;
-
-/**********************************************************************************************************************
- * Matched functions.
- **********************************************************************************************************************/
- bool matched_participant_from_ref(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& ref) const override;
-
- bool matched_participant_from_xml(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& xml) const override;
-
- bool matched_participant_from_bin(
- uint16_t /* participant_id */,
- int16_t /* domain_id */,
- const dds::xrce::OBJK_DomainParticipant_Binary& /* participant_xrce */) const override { return false; };
-
- bool matched_topic_from_ref(
- uint16_t topic_id,
- const std::string& ref) const override;
-
- bool matched_topic_from_xml(
- uint16_t topic_id,
- const std::string& xml) const override;
-
- bool matched_topic_from_bin(
- uint16_t /* topic_id */,
- const dds::xrce::OBJK_Topic_Binary& /* topic_xrce */) const override { return false; };
-
- bool matched_datawriter_from_ref(
- uint16_t datawriter_id,
- const std::string& ref) const override;
-
- bool matched_datawriter_from_xml(
- uint16_t datawriter_id,
- const std::string& xml) const override;
-
- bool matched_datawriter_from_bin(
- uint16_t /* datawriter_id */,
- const dds::xrce::OBJK_DataWriter_Binary& /* datawriter_xrce */) const override { return false; };
-
- bool matched_datareader_from_ref(
- uint16_t datareader_id,
- const std::string& ref) const override;
-
- bool matched_datareader_from_xml(
- uint16_t datareader_id,
- const std::string& xml) const override;
-
- bool matched_datareader_from_bin(
- uint16_t /* datareader_id */,
- const dds::xrce::OBJK_DataReader_Binary& /* datareader_xrce */) const override { return false; };
-
- bool matched_requester_from_ref(
- uint16_t participant_id,
- const std::string& ref) const override;
-
- bool matched_requester_from_xml(
- uint16_t participant_id,
- const std::string& xml) const override;
-
- bool matched_requester_from_bin(
- uint16_t /* requester_id */,
- const dds::xrce::OBJK_Requester_Binary& /* requester_xrce */) const override { return false; };
-
- bool matched_replier_from_ref(
- uint16_t participant_id,
- const std::string& ref) const override;
-
- bool matched_replier_from_xml(
- uint16_t participant_id,
- const std::string& xml) const override;
-
- bool matched_replier_from_bin(
- uint16_t /* replier_id */,
- const dds::xrce::OBJK_Replier_Binary& /* replier_xrce */) const override { return false; };
-private:
- FastListener listener_;
- std::unordered_map<uint16_t, std::shared_ptr<FastParticipant>> participants_;
- std::unordered_map<uint16_t, std::shared_ptr<FastTopic>> topics_;
- std::unordered_map<uint16_t, std::shared_ptr<FastPublisher>> publishers_;
- std::unordered_map<uint16_t, std::shared_ptr<FastSubscriber>> subscribers_;
- std::unordered_map<uint16_t, std::shared_ptr<FastDataWriter>> datawriters_;
- std::unordered_map<uint16_t, std::shared_ptr<FastDataReader>> datareaders_;
- std::unordered_map<uint16_t, std::shared_ptr<FastRequester>> requesters_;
- std::unordered_map<uint16_t, std::shared_ptr<FastReplier>> repliers_;
-
- middleware::CallbackFactory& callback_factory_;
-};
-
-} // namespace uxr
-} // namespace eprosima
-
-#endif // UXR_AGENT_MIDDLEWARE_FAST_FAST_MIDDLEWARE_HPP_
diff --git a/include/uxr/agent/middleware/fastdds/FastDDSEntities.hpp b/include/uxr/agent/middleware/fastdds/FastDDSEntities.hpp
index cc55d0a89..98e93ab04 100644
--- a/include/uxr/agent/middleware/fastdds/FastDDSEntities.hpp
+++ b/include/uxr/agent/middleware/fastdds/FastDDSEntities.hpp
@@ -15,14 +15,13 @@
#ifndef UXR__AGENT__MIDDLEWARE__FASTDDS__ENTITIES_HPP_
#define UXR__AGENT__MIDDLEWARE__FASTDDS__ENTITIES_HPP_
-//#include <dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/core/detail/DDSReturnCode.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
-#include <fastrtps/attributes/all_attributes.h>
#include <uxr/agent/types/TopicPubSubType.hpp>
#include <uxr/agent/types/XRCETypes.hpp>
@@ -61,10 +60,10 @@ class FastDDSParticipant
// Proxy methods
int16_t domain_id() const { return domain_id_; }
- fastrtps::rtps::GUID_t guid() const { return ptr_->guid(); }
+ fastdds::rtps::GUID_t guid() const { return ptr_->guid(); }
fastdds::dds::DomainParticipant* get_ptr() const { return ptr_; }
- ReturnCode_t unregister_type(
+ fastdds::dds::ReturnCode_t unregister_type(
const std::string& typeName);
fastdds::dds::Topic* create_topic(
@@ -74,7 +73,7 @@ class FastDDSParticipant
fastdds::dds::TopicListener* listener = nullptr,
const fastdds::dds::StatusMask& mask = fastdds::dds::StatusMask::all());
- ReturnCode_t delete_topic(
+ fastdds::dds::ReturnCode_t delete_topic(
fastdds::dds::Topic* topic);
fastdds::dds::Publisher* create_publisher(
@@ -82,7 +81,7 @@ class FastDDSParticipant
fastdds::dds::PublisherListener* listener = nullptr,
const fastdds::dds::StatusMask& mask = fastdds::dds::StatusMask::all());
- ReturnCode_t delete_publisher(
+ fastdds::dds::ReturnCode_t delete_publisher(
fastdds::dds::Publisher* publisher);
fastdds::dds::Subscriber* create_subscriber(
@@ -90,7 +89,7 @@ class FastDDSParticipant
fastdds::dds::SubscriberListener* listener = nullptr,
const fastdds::dds::StatusMask& mask = fastdds::dds::StatusMask::all());
- ReturnCode_t delete_subscriber(
+ fastdds::dds::ReturnCode_t delete_subscriber(
fastdds::dds::Subscriber* subscriber);
// Types and topics registration
@@ -159,22 +158,17 @@ class FastDDSTopic
~FastDDSTopic();
- bool create_by_ref(const std::string& ref);
- bool create_by_xml(const std::string& xml);
bool create_by_name_type(const std::string& name,
- const std::shared_ptr<FastDDSType>& type);
+ const std::shared_ptr<FastDDSType>& type,
+ const fastdds::dds::TopicQos& qos);
bool match_from_ref(const std::string& ref) const;
bool match_from_xml(const std::string& xml) const;
bool match_from_bin(const dds::xrce::OBJK_Topic_Binary& topic_xrce) const;
- bool match(const fastrtps::TopicAttributes& attrs) const;
const std::string& get_name() const { return ptr_->get_name(); }
const std::shared_ptr<FastDDSType>& get_type() const { return type_; }
fastdds::dds::Topic* get_ptr() const { return ptr_; }
-private:
- bool create_by_attributes(const fastrtps::TopicAttributes& attrs);
-
private:
std::shared_ptr<FastDDSParticipant> participant_;
std::shared_ptr<FastDDSType> type_;
@@ -198,13 +192,19 @@ class FastDDSPublisher
bool create_by_xml(const std::string& xml);
bool create_by_bin(const dds::xrce::OBJK_Publisher_Binary& publisher_xrce);
+ fastdds::dds::Publisher* get_ptr() const { return ptr_; }
+
fastdds::dds::DataWriter* create_datawriter(
fastdds::dds::Topic* topic,
const fastdds::dds::DataWriterQos& qos = fastdds::dds::DATAWRITER_QOS_DEFAULT,
fastdds::dds::DataWriterListener* listener = nullptr,
const fastdds::dds::StatusMask& mask = fastdds::dds::StatusMask::all());
- ReturnCode_t delete_datawriter(
+ fastdds::dds::DataWriter* create_datawriter_with_profile(
+ fastdds::dds::Topic* topic,
+ const std::string& profile_name);
+
+ fastdds::dds::ReturnCode_t delete_datawriter(
fastdds::dds::DataWriter* writer);
std::shared_ptr<FastDDSParticipant> get_participant() const { return participant_; }
@@ -231,13 +231,19 @@ class FastDDSSubscriber
bool create_by_xml(const std::string& xml);
bool create_by_bin(const dds::xrce::OBJK_Subscriber_Binary& subscriber_xrce);
+ fastdds::dds::Subscriber* get_ptr() const { return ptr_; }
+
fastdds::dds::DataReader* create_datareader(
fastdds::dds::TopicDescription* topic,
const fastdds::dds::DataReaderQos& reader_qos,
fastdds::dds::DataReaderListener* listener = nullptr,
const fastdds::dds::StatusMask& mask = fastdds::dds::StatusMask::all());
- ReturnCode_t delete_datareader(
+ fastdds::dds::DataReader* create_datareader_with_profile(
+ fastdds::dds::TopicDescription* topic,
+ const std::string& profile_name);
+
+ fastdds::dds::ReturnCode_t delete_datareader(
fastdds::dds::DataReader* reader);
@@ -263,14 +269,15 @@ class FastDDSDataWriter
~FastDDSDataWriter();
- fastrtps::rtps::GUID_t guid() const { return ptr_->guid(); }
+ fastdds::rtps::GUID_t guid() const { return ptr_->guid(); }
bool create_by_ref(const std::string& ref);
bool create_by_xml(const std::string& xml);
bool create_by_bin(
const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce,
std::shared_ptr<eprosima::uxr::FastDDSTopic> topic);
- bool match(const fastrtps::PublisherAttributes& attrs) const;
+ bool match_from_ref(const std::string& ref) const;
+ bool match_from_xml(const std::string& xml) const;
bool match_from_bin(const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce) const;
bool write(const std::vector<uint8_t>& data);
const fastdds::dds::DataWriter* ptr() const;
@@ -295,7 +302,7 @@ class FastDDSDataReader
~FastDDSDataReader();
- fastrtps::rtps::GUID_t guid() const { return ptr_->guid(); }
+ fastdds::rtps::GUID_t guid() const { return ptr_->guid(); }
bool create_by_ref(const std::string& ref);
bool create_by_xml(const std::string& xml);
@@ -339,11 +346,12 @@ class FastDDSRequester
~FastDDSRequester();
- fastrtps::rtps::GUID_t guid_datareader() const { return datareader_ptr_->guid(); }
- fastrtps::rtps::GUID_t guid_datawriter() const { return datawriter_ptr_->guid(); }
+ bool create_by_qos(
+ const fastdds::dds::RequesterQos& qos);
+
+ fastdds::rtps::GUID_t guid_datareader() const { return datareader_ptr_->guid(); }
+ fastdds::rtps::GUID_t guid_datawriter() const { return datawriter_ptr_->guid(); }
- bool create_by_attributes(
- const fastrtps::RequesterAttributes& attrs);
bool match_from_ref(const std::string& ref) const;
bool match_from_xml(const std::string& xml) const;
bool match_from_bin(const dds::xrce::OBJK_Requester_Binary& requester_xrce) const;
@@ -364,9 +372,6 @@ class FastDDSRequester
const fastdds::dds::DataReader* get_reply_datareader() const;
-private:
- bool match(const fastrtps::RequesterAttributes& attrs) const;
-
private:
std::shared_ptr<FastDDSParticipant> participant_;
@@ -405,11 +410,13 @@ class FastDDSReplier
~FastDDSReplier();
- fastrtps::rtps::GUID_t guid_datareader() const { return datareader_ptr_->guid(); }
- fastrtps::rtps::GUID_t guid_datawriter() const { return datawriter_ptr_->guid(); }
- bool create_by_attributes(
- const fastrtps::ReplierAttributes& attrs);
+ bool create_by_qos(
+ const fastdds::dds::ReplierQos& qos);
+
+ fastdds::rtps::GUID_t guid_datareader() const { return datareader_ptr_->guid(); }
+ fastdds::rtps::GUID_t guid_datawriter() const { return datawriter_ptr_->guid(); }
+
bool match_from_ref(const std::string& ref) const;
bool match_from_xml(const std::string& xml) const;
bool match_from_bin(const dds::xrce::OBJK_Replier_Binary& replier_xrce) const;
@@ -426,13 +433,12 @@ class FastDDSReplier
const fastdds::dds::DataWriter* get_reply_datawriter() const;
private:
- bool match(const fastrtps::ReplierAttributes& attrs) const;
void transform_sample_identity(
- const fastrtps::rtps::SampleIdentity& fast_identity,
+ const fastdds::rtps::SampleIdentity& fast_identity,
dds::SampleIdentity& dds_identity);
void transport_sample_identity(
const dds::SampleIdentity& dds_identity,
- fastrtps::rtps::SampleIdentity& fast_identity);
+ fastdds::rtps::SampleIdentity& fast_identity);
private:
std::shared_ptr<FastDDSParticipant> participant_;
diff --git a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
index e69519378..9ee11c2d3 100644
--- a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
+++ b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
@@ -276,14 +276,6 @@ class FastDDSMiddleware : public Middleware
uint16_t replier_id,
const dds::xrce::OBJK_Replier_Binary& replier_xrce) const override;
private:
- std::shared_ptr<FastDDSRequester> create_requester(
- std::shared_ptr<FastDDSParticipant>& participant,
- const fastrtps::RequesterAttributes& attrs);
-
- std::shared_ptr<FastDDSReplier> create_replier(
- std::shared_ptr<FastDDSParticipant>& participant,
- const fastrtps::ReplierAttributes& attrs);
-
int16_t get_domain_id_from_env();
int16_t agent_domain_id_ = 0;
diff --git a/include/uxr/agent/middleware/utils/Callbacks.hpp b/include/uxr/agent/middleware/utils/Callbacks.hpp
index 4ac0f1bc1..046c677a8 100644
--- a/include/uxr/agent/middleware/utils/Callbacks.hpp
+++ b/include/uxr/agent/middleware/utils/Callbacks.hpp
@@ -18,9 +18,10 @@
#include <uxr/agent/middleware/Middleware.hpp>
#ifdef UAGENT_FAST_PROFILE
-#include <uxr/agent/middleware/fast/FastMiddleware.hpp>
#include <uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp>
-
+#include <fastdds/dds/domain/DomainParticipantListener.hpp>
+#include <fastdds/dds/publisher/PublisherListener.hpp>
+#include <fastdds/dds/subscriber/SubscriberListener.hpp>
#endif // UAGENT_FAST_PROFILE
#ifdef UAGENT_CED_PROFILE
#include <uxr/agent/middleware/ced/CedMiddleware.hpp>
@@ -145,11 +146,6 @@ class CallbackFactory
switch (middleware_kind)
{
#ifdef UAGENT_FAST_PROFILE
- case Middleware::Kind::FASTRTPS:
- {
- fast_callback_factory_.add_callback(callback_kind, std::move(callback_function));
- break;
- }
case Middleware::Kind::FASTDDS:
{
fast_dds_callback_factory_.add_callback(callback_kind, std::move(callback_function));
@@ -185,11 +181,6 @@ class CallbackFactory
switch (middleware_kind)
{
#ifdef UAGENT_FAST_PROFILE
- case Middleware::Kind::FASTRTPS:
- {
- fast_callback_factory_.execute_callbacks(callback_kind, std::forward<Args>(args)...);
- break;
- }
case Middleware::Kind::FASTDDS:
{
fast_dds_callback_factory_.execute_callbacks(callback_kind, std::forward<Args>(args)...);
@@ -232,251 +223,6 @@ class CallbackFactory
CallbackFactory &&) = delete;
#ifdef UAGENT_FAST_PROFILE
- /**********************************************************************************************************************
- * FastCallbackFactory
- **********************************************************************************************************************/
- class FastCallbackFactory
- {
- public:
- /**
- * @brief Default constructor.
- */
- FastCallbackFactory() = default;
-
- /**
- * @brief Default destructor.
- */
- ~FastCallbackFactory() = default;
-
- /**
- * @brief FastCallbackFactory shall not be copy constructible.
- */
- FastCallbackFactory(
- const FastCallbackFactory &) = delete;
-
- FastCallbackFactory(
- FastCallbackFactory &&) = delete;
-
- /**
- * @brief FastCallbackFactory shall not be copy assignable.
- */
- FastCallbackFactory& operator = (
- const FastCallbackFactory &) = delete;
-
- FastCallbackFactory& operator = (
- FastCallbackFactory &&) = delete;
-
- /**
- * @brief Adds a callback function to the database.
- * @param callback_kind Enumerated element from class CallbackKind indicating which callback
- * functions need to be executed.
- * @param callback_function std::function rvalue variable implementing the callback method logic to be
- * included in the callback database.
- */
- template <typename ... Args>
- void add_callback(
- const CallbackKind& callback_kind,
- std::function<void (Args ...)>&& callback_function)
- {
- switch (callback_kind)
- {
- case CallbackKind::CREATE_PARTICIPANT:
- {
- on_create_participant_callbacks_.emplace_back(Callback<Args ...>(std::move(callback_function)));
- break;
- }
- case CallbackKind::CREATE_DATAWRITER:
- case CallbackKind::DELETE_DATAWRITER:
- case CallbackKind::CREATE_DATAREADER:
- case CallbackKind::DELETE_DATAREADER:
- case CallbackKind::CREATE_REQUESTER:
- case CallbackKind::DELETE_REQUESTER:
- case CallbackKind::CREATE_REPLIER:
- case CallbackKind::DELETE_REPLIER:
- {
- // Only implemented in template specialization
- break;
- }
- case CallbackKind::DELETE_PARTICIPANT:
- {
- on_delete_participant_callbacks_.emplace_back(Callback<Args ...>(std::move(callback_function)));
- break;
- }
- }
- }
-
- /**
- * @brief Executes a certain kind of callback functions.
- * @param callback_kind Kind of callback functions to be executed.
- */
- void execute_callbacks(
- const CallbackKind callback_kind ...) const
- {
- va_list args;
- va_start(args, callback_kind);
-
- switch (callback_kind)
- {
- case CallbackKind::CREATE_PARTICIPANT:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- for (const auto& on_create_participant_callback : on_create_participant_callbacks_)
- {
- on_create_participant_callback(participant);
- }
- break;
- }
- case CallbackKind::CREATE_DATAWRITER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* datawriter = va_arg(args, fastrtps::Publisher*);
- for (const auto& on_create_datawriter_callback : on_create_datawriter_callbacks_)
- {
- on_create_datawriter_callback(participant, datawriter);
- }
- break;
- }
- case CallbackKind::CREATE_DATAREADER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Subscriber* datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_create_datareader_callback : on_create_datareader_callbacks_)
- {
- on_create_datareader_callback(participant, datareader);
- }
- break;
- }
- case CallbackKind::CREATE_REQUESTER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* req_datawriter = va_arg(args, fastrtps::Publisher*);
- fastrtps::Subscriber* repl_datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_create_requester_callback : on_create_requester_callbacks_)
- {
- on_create_requester_callback(participant, req_datawriter, repl_datareader);
- }
- break;
- }
- case CallbackKind::CREATE_REPLIER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* repl_datawriter = va_arg(args, fastrtps::Publisher*);
- fastrtps::Subscriber* req_datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_create_replier_callback : on_create_replier_callbacks_)
- {
- on_create_replier_callback(participant, repl_datawriter, req_datareader);
- }
- break;
- }
- case CallbackKind::DELETE_PARTICIPANT:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- for (const auto& on_delete_participant_callback : on_delete_participant_callbacks_)
- {
- on_delete_participant_callback(participant);
- }
- break;
- }
- case CallbackKind::DELETE_DATAWRITER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* datawriter = va_arg(args, fastrtps::Publisher*);
- for (const auto& on_delete_datawriter_callback : on_delete_datawriter_callbacks_)
- {
- on_delete_datawriter_callback(participant, datawriter);
- }
- break;
- }
- case CallbackKind::DELETE_DATAREADER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Subscriber* datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_delete_datareader_callback : on_delete_datareader_callbacks_)
- {
- on_delete_datareader_callback(participant, datareader);
- }
- break;
- }
- case CallbackKind::DELETE_REQUESTER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* req_datawriter = va_arg(args, fastrtps::Publisher*);
- fastrtps::Subscriber* repl_datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_delete_requester_callback : on_delete_requester_callbacks_)
- {
- on_delete_requester_callback(participant, req_datawriter, repl_datareader);
- }
- break;
- }
- case CallbackKind::DELETE_REPLIER:
- {
- fastrtps::Participant* participant = va_arg(args, fastrtps::Participant*);
- fastrtps::Publisher* repl_datawriter = va_arg(args, fastrtps::Publisher*);
- fastrtps::Subscriber* req_datareader = va_arg(args, fastrtps::Subscriber*);
- for (const auto& on_delete_replier_callback : on_delete_replier_callbacks_)
- {
- on_delete_replier_callback(participant, repl_datawriter, req_datareader);
- }
- break;
- }
- }
- va_end(args);
- }
-
- private:
-
- using CreateParticipantCallback = Callback<
- const fastrtps::Participant*>;
- using DeleteParticipantCallback = Callback<
- const fastrtps::Participant*>;
- using CreateDataWriterCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*>;
-
- using DeleteDataWriterCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*>;
-
- using CreateDataReaderCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Subscriber*>;
-
- using DeleteDataReaderCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Subscriber*>;
-
- using CreateRequesterCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>;
-
- using DeleteRequesterCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>;
-
- using CreateReplierCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>;
-
- using DeleteReplierCallback = Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>;
-
- std::vector<CreateParticipantCallback> on_create_participant_callbacks_;
- std::vector<DeleteParticipantCallback> on_delete_participant_callbacks_;
- std::vector<CreateDataWriterCallback> on_create_datawriter_callbacks_;
- std::vector<DeleteDataWriterCallback> on_delete_datawriter_callbacks_;
- std::vector<CreateDataReaderCallback> on_create_datareader_callbacks_;
- std::vector<DeleteDataReaderCallback> on_delete_datareader_callbacks_;
- std::vector<CreateRequesterCallback> on_create_requester_callbacks_;
- std::vector<DeleteRequesterCallback> on_delete_requester_callbacks_;
- std::vector<CreateReplierCallback> on_create_replier_callbacks_;
- std::vector<DeleteReplierCallback> on_delete_replier_callbacks_;
- };
- FastCallbackFactory fast_callback_factory_;
/**********************************************************************************************************************
* FastDDSCallbackFactory
@@ -768,119 +514,6 @@ class CallbackFactory
* Template specializations for callback methods
**********************************************************************************************************************/
#ifdef UAGENT_FAST_PROFILE
-template <>
-inline void CallbackFactory::FastCallbackFactory::add_callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*>(
- const CallbackKind& callback_kind,
- std::function<void (const fastrtps::Participant*,
- const fastrtps::Publisher*)>&& callback_function)
-{
- switch (callback_kind)
- {
- case CallbackKind::CREATE_DATAWRITER:
- {
- on_create_datawriter_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*>(std::move(callback_function)));
- break;
- }
- case CallbackKind::DELETE_DATAWRITER:
- {
- on_delete_datawriter_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*>(std::move(callback_function)));
- break;
- }
- default:
- {
- break;
- }
- }
-}
-
-template <>
-inline void CallbackFactory::FastCallbackFactory::add_callback<
- const fastrtps::Participant*,
- const fastrtps::Subscriber*>(
- const CallbackKind& callback_kind,
- std::function<void (const fastrtps::Participant*,
- const fastrtps::Subscriber*)>&& callback_function)
-{
- switch (callback_kind)
- {
- case CallbackKind::CREATE_DATAREADER:
- {
- on_create_datareader_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- case CallbackKind::DELETE_DATAREADER:
- {
- on_delete_datareader_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- default:
- {
- break;
- }
- }
-}
-
-template <>
-inline void CallbackFactory::FastCallbackFactory::add_callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>(
- const CallbackKind& callback_kind,
- std::function<void (const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*)>&& callback_function)
-{
- switch (callback_kind)
- {
- case CallbackKind::CREATE_REQUESTER:
- {
- on_create_requester_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- case CallbackKind::CREATE_REPLIER:
- {
- on_create_replier_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- case CallbackKind::DELETE_REQUESTER:
- {
- on_delete_requester_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- case CallbackKind::DELETE_REPLIER:
- {
- on_delete_replier_callbacks_.emplace_back(Callback<
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*>(std::move(callback_function)));
- break;
- }
- default:
- {
- break;
- }
- }
-}
-
template <>
inline void CallbackFactory::FastDDSCallbackFactory::add_callback<
const fastdds::dds::DomainParticipant*,
@@ -1017,25 +650,6 @@ inline void CallbackFactory::add_callback<__VA_ARGS__>( \
}
#ifdef UAGENT_FAST_PROFILE
-#define CALLBACK_FACTORY_ADD_FASTRTPS_CALLBACK(...) \
- CALLBACK_FACTORY_ADD_CALLBACK(Middleware::Kind::FASTRTPS, fast_callback_factory_, __VA_ARGS__)
-
-CALLBACK_FACTORY_ADD_FASTRTPS_CALLBACK(
- const fastrtps::Participant*)
-
-CALLBACK_FACTORY_ADD_FASTRTPS_CALLBACK(
- const fastrtps::Participant*,
- const fastrtps::Publisher*)
-
-CALLBACK_FACTORY_ADD_FASTRTPS_CALLBACK(
- const fastrtps::Participant*,
- const fastrtps::Subscriber*)
-
-CALLBACK_FACTORY_ADD_FASTRTPS_CALLBACK(
- const fastrtps::Participant*,
- const fastrtps::Publisher*,
- const fastrtps::Subscriber*)
-
#define CALLBACK_FACTORY_ADD_FASTDDS_CALLBACK(...) \
CALLBACK_FACTORY_ADD_CALLBACK(Middleware::Kind::FASTDDS, fast_dds_callback_factory_, __VA_ARGS__)
diff --git a/include/uxr/agent/transport/custom/CustomAgent.hpp b/include/uxr/agent/transport/custom/CustomAgent.hpp
index 14e33c2a8..b889f389b 100644
--- a/include/uxr/agent/transport/custom/CustomAgent.hpp
+++ b/include/uxr/agent/transport/custom/CustomAgent.hpp
@@ -89,7 +89,7 @@ class CustomAgent : public Server<CustomEndPoint>
* @brief Constructor.
* @param name Name of the middleware to be implemented by this CustomAgent.
* @param middleware_kind The middleware selected to represent the XRCE entities
- * in the DDS world (FastDDS, FastRTPS, CED...)
+ * in the DDS world (FastDDS, CED...)
* @param framing Whether this agent transport shall use framing or not.
* @param init_function Custom user-defined function, called during initialization.
* @param fini_function Custom user-defined function, called upon agent's destruction.
diff --git a/include/uxr/agent/types/TopicPubSubType.hpp b/include/uxr/agent/types/TopicPubSubType.hpp
index bdf519fee..cc784a6ec 100644
--- a/include/uxr/agent/types/TopicPubSubType.hpp
+++ b/include/uxr/agent/types/TopicPubSubType.hpp
@@ -15,27 +15,40 @@
#ifndef _UXR_AGENT_TYPES_TOPICPUBSUBTYPES_HPP_
#define _UXR_AGENT_TYPES_TOPICPUBSUBTYPES_HPP_
-#include <fastrtps/TopicDataType.h>
-
+#include <fastdds/dds/topic/TopicDataType.hpp>
#include <vector>
-using namespace eprosima::fastrtps;
namespace eprosima {
namespace uxr {
-class TopicPubSubType: public TopicDataType
+class TopicPubSubType: public fastdds::dds::TopicDataType
{
public:
typedef std::vector<unsigned char> type;
explicit TopicPubSubType(bool with_key);
~TopicPubSubType() override = default;
- bool serialize(void* data, rtps::SerializedPayload_t* payload) override;
- bool deserialize(rtps::SerializedPayload_t* payload, void* data) override;
- std::function<uint32_t()> getSerializedSizeProvider(void* data) override;
- bool getKey(void* data, rtps::InstanceHandle_t* ihandle, bool force_md5 = false) override;
- void* createData() override;
- void deleteData(void* data) override;
+ bool serialize(const void* const data, fastdds::rtps::SerializedPayload_t& payload, fastdds::dds::DataRepresentationId_t data_representation) override;
+ bool deserialize(fastdds::rtps::SerializedPayload_t& payload, void* data) override;
+
+ uint32_t calculate_serialized_size(
+ const void* const data,
+ eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+ void* create_data() override;
+
+ void delete_data(
+ void* data) override;
+
+ bool compute_key(
+ fastdds::rtps::SerializedPayload_t& payload,
+ fastdds::rtps::InstanceHandle_t& ihandle,
+ bool force_md5) override;
+
+ bool compute_key(
+ const void* const data,
+ fastdds::rtps::InstanceHandle_t& ihandle,
+ bool force_md5) override;
};
} // namespace uxr
diff --git a/src/cpp/Agent.cpp b/src/cpp/Agent.cpp
index 575d4e36b..cc612de28 100644
--- a/src/cpp/Agent.cpp
+++ b/src/cpp/Agent.cpp
@@ -657,22 +657,6 @@ UXR_AGENT_EXPORT void Agent::add_middleware_callback<__VA_ARGS__>( \
std::function<void (__VA_ARGS__)> &&);
#ifdef UAGENT_FAST_PROFILE
-AGENT_ADD_MW_CB(
- const eprosima::fastrtps::Participant *)
-
-AGENT_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Publisher *)
-
-AGENT_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Subscriber *)
-
-AGENT_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Publisher *,
- const eprosima::fastrtps::Subscriber *)
-
AGENT_ADD_MW_CB(
const eprosima::fastdds::dds::DomainParticipant *)
diff --git a/src/cpp/AgentInstance.cpp b/src/cpp/AgentInstance.cpp
index df551dca8..52342ef06 100644
--- a/src/cpp/AgentInstance.cpp
+++ b/src/cpp/AgentInstance.cpp
@@ -117,7 +117,7 @@ void AgentInstance::stop()
{
exit_signal.notify_all();
agent_thread_.join();
- }
+ }
}
#endif
@@ -139,22 +139,6 @@ UXR_AGENT_EXPORT void AgentInstance::add_middleware_callback<__VA_ARGS__>( \
std::function<void(__VA_ARGS__)> &&);
#ifdef UAGENT_FAST_PROFILE
-AGENTINSTANCE_ADD_MW_CB(
- const eprosima::fastrtps::Participant *)
-
-AGENTINSTANCE_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Publisher *)
-
-AGENTINSTANCE_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Subscriber *)
-
-AGENTINSTANCE_ADD_MW_CB(
- const eprosima::fastrtps::Participant *,
- const eprosima::fastrtps::Publisher *,
- const eprosima::fastrtps::Subscriber *)
-
AGENTINSTANCE_ADD_MW_CB(
const eprosima::fastdds::dds::DomainParticipant *)
diff --git a/src/cpp/Root.cpp b/src/cpp/Root.cpp
index 23d07f216..a0292467c 100644
--- a/src/cpp/Root.cpp
+++ b/src/cpp/Root.cpp
@@ -17,10 +17,7 @@
#include <uxr/agent/utils/Conversion.hpp>
#include <uxr/agent/logger/Logger.hpp>
-#ifdef UAGENT_FAST_PROFILE
-// TODO (#5047): replace Fast RTPS dependency by XML parser library.
-#include <fastrtps/xmlparser/XMLProfileManager.h>
-#endif
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <memory>
#include <chrono>
@@ -86,7 +83,7 @@ dds::xrce::ResultStatus Root::create_client(
std::unordered_map<std::string, std::string> client_properties;
if (client_representation.properties())
- {
+ {
auto v = *client_representation.properties();
for (auto it_props = v.begin(); it_props != v.end(); ++it_props)
{
@@ -238,7 +235,7 @@ bool Root::get_next_client(std::shared_ptr<ProxyClient>& next_client)
bool Root::load_config_file(const std::string& file_path)
{
#ifdef UAGENT_FAST_PROFILE
- return fastrtps::xmlparser::XMLP_ret::XML_OK == fastrtps::xmlparser::XMLProfileManager::loadXMLFile(file_path);
+ return fastdds::dds::RETCODE_OK == fastdds::dds::DomainParticipantFactory::get_instance()->load_XML_profiles_file(file_path.c_str());
#else
(void) file_path;
return false;
diff --git a/src/cpp/client/ProxyClient.cpp b/src/cpp/client/ProxyClient.cpp
index 1d77ce09e..0fdad100b 100644
--- a/src/cpp/client/ProxyClient.cpp
+++ b/src/cpp/client/ProxyClient.cpp
@@ -23,7 +23,6 @@
#include <uxr/agent/logger/Logger.hpp>
#ifdef UAGENT_FAST_PROFILE
-#include <uxr/agent/middleware/fast/FastMiddleware.hpp>
#include <uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp>
#endif
@@ -57,11 +56,6 @@ ProxyClient::ProxyClient(
conversion::clientkey_to_raw(representation.client_key()));
}
#ifdef UAGENT_FAST_PROFILE
- case Middleware::Kind::FASTRTPS:
- {
- middleware_.reset(new FastMiddleware());
- break;
- }
case Middleware::Kind::FASTDDS:
{
bool intraprocess_enabled =
diff --git a/src/cpp/middleware/fast/FastEntities.cpp b/src/cpp/middleware/fast/FastEntities.cpp
deleted file mode 100644
index b3c14b3e1..000000000
--- a/src/cpp/middleware/fast/FastEntities.cpp
+++ /dev/null
@@ -1,579 +0,0 @@
-// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <uxr/agent/middleware/fast/FastEntities.hpp>
-#include <uxr/agent/logger/Logger.hpp>
-
-#include <fastrtps/Domain.h>
-#include <fastrtps/participant/Participant.h>
-#include <fastrtps/publisher/Publisher.h>
-#include <fastrtps/subscriber/Subscriber.h>
-#include <fastrtps/subscriber/SampleInfo.h>
-#include <fastrtps/xmlparser/XMLProfileManager.h>
-#include <fastcdr/FastBuffer.h>
-#include <fastcdr/Cdr.h>
-#include "../../xmlobjects/xmlobjects.h"
-
-namespace eprosima {
-namespace uxr {
-
-/**********************************************************************************************************************
- * FastListener
- **********************************************************************************************************************/
-void FastListener::onParticipantDiscovery(
- fastrtps::Participant*,
- fastrtps::rtps::ParticipantDiscoveryInfo&& info)
-{
- if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("matched"),
- "entity_id: {}, guid_prefix: {}",
- info.info.m_guid.entityId,
- info.info.m_guid.guidPrefix);
- }
- else
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("unmatched"),
- "entity_id: {}, guid_prefix: {}",
- info.info.m_guid.entityId,
- info.info.m_guid.guidPrefix);
- }
-}
-
-void FastListener::onPublicationMatched(
- fastrtps::Publisher*,
- fastrtps::rtps::MatchingInfo& info)
-{
- if (info.status == fastrtps::rtps::MATCHED_MATCHING)
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("matched"),
- "entity_id: {}, guid_prefix: {}",
- info.remoteEndpointGuid.entityId,
- info.remoteEndpointGuid.guidPrefix);
- }
- else
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("unmatched"),
- "entity_id: {}, guid_prefix: {}",
- info.remoteEndpointGuid.entityId,
- info.remoteEndpointGuid.guidPrefix);
- }
-}
-
-void FastListener::onSubscriptionMatched(
- fastrtps::Subscriber*,
- fastrtps::rtps::MatchingInfo& info)
-{
- if (info.status == fastrtps::rtps::MATCHED_MATCHING)
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("matched"),
- "entity_id: {}, guid_prefix: {}",
- info.remoteEndpointGuid.entityId,
- info.remoteEndpointGuid.guidPrefix);
- }
- else
- {
- UXR_AGENT_LOG_TRACE(
- UXR_DECORATE_WHITE("unmatched"),
- "entity_id: {}, guid_prefix: {}",
- info.remoteEndpointGuid.entityId,
- info.remoteEndpointGuid.guidPrefix);
- }
-}
-
-/**********************************************************************************************************************
- * FastParticipant
- **********************************************************************************************************************/
-FastParticipant::FastParticipant(
- fastrtps::Participant* impl)
- : impl_{impl}
- , type_register_{}
- , topic_register_{}
-{}
-
-FastParticipant::~FastParticipant()
-{
- fastrtps::Domain::removeParticipant(impl_);
-}
-
-bool FastParticipant::match(
- const fastrtps::ParticipantAttributes& attrs) const
-{
- return attrs == impl_->getAttributes();
-}
-
-bool FastParticipant::register_type(
- const std::shared_ptr<FastType>& type)
-{
- return fastrtps::Domain::registerType(impl_, type.get())
- && type_register_.emplace(type->getName(), type).second;
-}
-
-bool FastParticipant::unregister_type(
- const std::string& type_name)
-{
- return (1 == type_register_.erase(type_name))
- && fastrtps::Domain::unregisterType(impl_, type_name.c_str());
-}
-
-std::shared_ptr<FastType> FastParticipant::find_type(
- const std::string& type_name) const
-{
- std::shared_ptr<FastType> type;
- auto it = type_register_.find(type_name);
- if (it != type_register_.end())
- {
- type = it->second.lock();
- }
- return type;
-}
-
-bool FastParticipant::register_topic(
- const std::shared_ptr<FastTopic>& topic)
-{
- return topic_register_.emplace(topic->get_name(), topic).second;
-}
-
-bool FastParticipant::unregister_topic(
- const std::string& topic_name)
-{
- return (1 == topic_register_.erase(topic_name));
-}
-
-std::shared_ptr<FastTopic> FastParticipant::find_topic(
- const std::string& topic_name) const
-{
- std::shared_ptr<FastTopic> topic;
- auto it = topic_register_.find(topic_name);
- if (it != topic_register_.end())
- {
- topic = it->second.lock();
- }
- return topic;
-}
-
-int16_t FastParticipant::domain_id() const
-{
- return (int16_t) impl_->getAttributes().domainId;
-}
-
-const fastrtps::rtps::GUID_t& FastParticipant::get_guid() const
-{
- return impl_->getGuid();
-}
-
-/**********************************************************************************************************************
- * FastTopic
- **********************************************************************************************************************/
-FastType::FastType(
- const std::shared_ptr<FastParticipant>& participant)
- : TopicPubSubType{false}
- , participant_{participant}
-{}
-
-FastType::~FastType()
-{
- participant_->unregister_type(getName());
-}
-
-FastTopic::FastTopic(
- const std::string& name,
- const std::shared_ptr<FastType>& type,
- const std::shared_ptr<FastParticipant>& participant)
- : name_{name}
- , type_{type}
- , participant_(participant)
-{}
-
-FastTopic::~FastTopic()
-{
- participant_->unregister_topic(name_);
-}
-
-bool FastTopic::match(const fastrtps::TopicAttributes& attrs) const
-{
- return (attrs.getTopicName() == name_)
- && (0 == std::strcmp(type_->getName(), attrs.getTopicDataType().c_str()))
- && (type_->m_isGetKeyDefined == (attrs.getTopicKind() == fastrtps::rtps::TopicKind_t::WITH_KEY));
-}
-
-/**********************************************************************************************************************
- * FastDataWriter
- **********************************************************************************************************************/
-FastDataWriter::FastDataWriter(
- fastrtps::Publisher* impl,
- const std::shared_ptr<FastTopic>& topic,
- const std::shared_ptr<FastPublisher>& publisher)
- : impl_{impl}
- , topic_{topic}
- , publisher_{publisher}
-{}
-
-FastDataWriter::~FastDataWriter()
-{
- fastrtps::Domain::removePublisher(impl_);
-}
-
-bool FastDataWriter::match(
- const fastrtps::PublisherAttributes& attrs) const
-{
- return (attrs == impl_->getAttributes());
-}
-
-bool FastDataWriter::write(
- const std::vector<uint8_t>& data)
-{
- return impl_->write(&const_cast<std::vector<uint8_t>&>(data));
-}
-
-bool FastDataWriter::write(
- const std::vector<uint8_t>& data,
- fastrtps::rtps::WriteParams& wparams)
-{
- return impl_->write(&const_cast<std::vector<uint8_t>&>(data), wparams);
-}
-
-const fastrtps::rtps::GUID_t& FastDataWriter::get_guid() const
-{
- return impl_->getGuid();
-}
-
-const fastrtps::Participant* FastDataWriter::get_participant() const
-{
- return publisher_->get_participant()->get_ptr();
-}
-
-const fastrtps::Publisher* FastDataWriter::get_ptr() const
-{
- return impl_;
-}
-
-/**********************************************************************************************************************
- * FastDataReader
- **********************************************************************************************************************/
-FastDataReader::FastDataReader(
- fastrtps::Subscriber* impl,
- const std::shared_ptr<FastTopic>& topic,
- const std::shared_ptr<FastSubscriber>& subscriber)
- : impl_{impl}
- , topic_{topic}
- , subscriber_{subscriber}
-{}
-
-FastDataReader::~FastDataReader()
-{
- fastrtps::Domain::removeSubscriber(impl_);
-}
-
-bool FastDataReader::match(
- const fastrtps::SubscriberAttributes& attrs) const
-{
- return (attrs == impl_->getAttributes());
-}
-
-bool FastDataReader::read(
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- eprosima::fastrtps::Duration_t tm =
- {int32_t(timeout.count() / 1000), uint32_t(timeout.count() * 1000000)};
- if (impl_->wait_for_unread_samples(tm))
- {
- fastrtps::SampleInfo_t info;
- rv = impl_->takeNextData(&data, &info);
- }
- return rv;
-}
-
-bool FastDataReader::read(
- std::vector<uint8_t>& data,
- fastrtps::SampleInfo_t& info,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- eprosima::fastrtps::Duration_t tm =
- {int32_t(timeout.count() / 1000), uint32_t(timeout.count() * 1000000)};
- if (impl_->wait_for_unread_samples(tm))
- {
- rv = impl_->takeNextData(&data, &info);
- }
- return rv;
-}
-
-const fastrtps::rtps::GUID_t& FastDataReader::get_guid() const
-{
- return impl_->getGuid();
-}
-
-const fastrtps::Participant* FastDataReader::get_participant() const
-{
- return subscriber_->get_participant()->get_ptr();
-}
-
-const fastrtps::Subscriber* FastDataReader::get_ptr() const
-{
- return impl_;
-}
-
-/**********************************************************************************************************************
- * FastRequester
- **********************************************************************************************************************/
-FastRequester::FastRequester(
- const std::shared_ptr<FastDataWriter>& datawriter,
- const std::shared_ptr<FastDataReader>& datareader)
- : datawriter_{datawriter}
- , datareader_{datareader}
- , publisher_id_{}
- , sequence_to_sequence_{}
-{
- std::copy(
- std::begin(datawriter_->get_guid().guidPrefix.value),
- std::end(datawriter_->get_guid().guidPrefix.value),
- publisher_id_.guidPrefix().begin());
- std::copy(
- std::begin(datawriter_->get_guid().entityId.value),
- std::begin(datawriter_->get_guid().entityId.value) + 3,
- publisher_id_.entityId().entityKey().begin());
- publisher_id_.entityId().entityKind() = datawriter_->get_guid().entityId.value[3];
-}
-
-bool FastRequester::match(
- const fastrtps::RequesterAttributes& attrs) const
-{
- return datawriter_->match(attrs.publisher)
- && datareader_->match(attrs.subscriber);
-}
-
-bool FastRequester::write(
- uint32_t sequence_number,
- const std::vector<uint8_t>& data)
-{
- bool rv = true;
- try
- {
- fastrtps::rtps::WriteParams wparams;
- rv = datawriter_->write(data, wparams);
- if (rv)
- {
- int64_t sequence = (int64_t)wparams.sample_identity().sequence_number().high << 32;
- sequence += wparams.sample_identity().sequence_number().low;
- sequence_to_sequence_.emplace(sequence, sequence_number);
- }
- }
- catch(const std::exception&)
- {
- rv = false;
- }
- return rv;
-}
-
-bool FastRequester::read(
- uint32_t& sequence_number,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- fastrtps::SampleInfo_t info;
- datareader_->read(data, info, timeout);
-
- if (rv)
- {
- try
- {
- if (info.related_sample_identity.writer_guid() == datawriter_->get_guid())
- {
- int64_t sequence = (int64_t)info.related_sample_identity.sequence_number().high << 32;
- sequence += info.related_sample_identity.sequence_number().low;
- auto it = sequence_to_sequence_.find(sequence);
- if (it != sequence_to_sequence_.end())
- {
- sequence_number = it->second;
- sequence_to_sequence_.erase(it);
- }
- else
- {
- rv = false;
- }
- }
- else
- {
- rv = false;
- }
- }
- catch(const std::exception&)
- {
- rv = false;
- }
- }
-
- return rv;
-}
-
-const fastrtps::Participant* FastRequester::get_participant() const
-{
- const fastrtps::Participant* participant = datawriter_->get_participant();
- if (participant != datareader_->get_participant())
- {
- participant = nullptr;
- }
-
- return participant;
-}
-
-const fastrtps::Publisher* FastRequester::get_request_datawriter() const
-{
- return datawriter_->get_ptr();
-}
-
-const fastrtps::Subscriber* FastRequester::get_reply_datareader() const
-{
- return datareader_->get_ptr();
-}
-
-/**********************************************************************************************************************
- * FastReplier
- **********************************************************************************************************************/
-FastReplier::FastReplier(
- const std::shared_ptr<FastDataWriter>& datawriter,
- const std::shared_ptr<FastDataReader>& datareader)
- : datawriter_{datawriter}
- , datareader_{datareader}
-{}
-
-bool FastReplier::match(
- const fastrtps::ReplierAttributes& attrs) const
-{
- return datawriter_->match(attrs.publisher)
- && datareader_->match(attrs.subscriber);
-}
-
-inline
-void transform_sample_identity(
- const fastrtps::rtps::SampleIdentity& fast_identity,
- dds::SampleIdentity& dds_identity)
-{
- std::copy(
- std::begin(fast_identity.writer_guid().guidPrefix.value),
- std::end(fast_identity.writer_guid().guidPrefix.value),
- dds_identity.writer_guid().guidPrefix().begin());
- std::copy(
- std::begin(fast_identity.writer_guid().entityId.value),
- std::begin(fast_identity.writer_guid().entityId.value) + 3,
- dds_identity.writer_guid().entityId().entityKey().begin());
- dds_identity.writer_guid().entityId().entityKind() = fast_identity.writer_guid().entityId.value[3];
-
- dds_identity.sequence_number().high() = fast_identity.sequence_number().high;
- dds_identity.sequence_number().low() = fast_identity.sequence_number().low;
-}
-
-inline
-void transport_sample_identity(
- const dds::SampleIdentity& dds_identity,
- fastrtps::rtps::SampleIdentity& fast_identity)
-{
- std::copy(
- dds_identity.writer_guid().guidPrefix().begin(),
- dds_identity.writer_guid().guidPrefix().end(),
- std::begin(fast_identity.writer_guid().guidPrefix.value));
- std::copy(
- dds_identity.writer_guid().entityId().entityKey().begin(),
- dds_identity.writer_guid().entityId().entityKey().end(),
- std::begin(fast_identity.writer_guid().entityId.value));
- fast_identity.writer_guid().entityId.value[3] = dds_identity.writer_guid().entityId().entityKind();
-
- fast_identity.sequence_number().high = dds_identity.sequence_number().high();
- fast_identity.sequence_number().low = dds_identity.sequence_number().low();
-}
-
-bool FastReplier::write(
- const std::vector<uint8_t>& data)
-{
- fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(data.data())), data.size()};
- fastcdr::Cdr deserializer(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
-
- dds::SampleIdentity sample_identity;
- sample_identity.deserialize(deserializer);
-
- fastrtps::rtps::WriteParams wparams;
- transport_sample_identity(sample_identity, wparams.related_sample_identity());
-
- std::vector<uint8_t> output_data(data.size() - deserializer.get_serialized_data_length());
- deserializer.deserialize_array(output_data.data(), output_data.size());
-
- return datawriter_->write(output_data, wparams);
-}
-
-bool FastReplier::read(
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- std::vector<uint8_t> temp_data;
- bool rv = false;
- fastrtps::SampleInfo_t info;
- datareader_->read(temp_data, info, timeout);
-
- if (rv)
- {
- dds::SampleIdentity sample_identity;
- transform_sample_identity(info.sample_identity, sample_identity);
-
- data.clear();
- data.resize(sample_identity.getCdrSerializedSize() + temp_data.size());
-
- fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(data.data()), data.size()};
- fastcdr::Cdr serializer(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
-
- try
- {
- sample_identity.serialize(serializer);
- serializer.serialize_array(temp_data.data(), temp_data.size());
- }
- catch(const std::exception&)
- {
- rv = false;
- }
- }
-
- return rv;
-}
-
-const fastrtps::Participant* FastReplier::get_participant() const
-{
- const fastrtps::Participant* participant = datawriter_->get_participant();
- if (participant != datareader_->get_participant())
- {
- participant = nullptr;
- }
-
- return participant;
-}
-
-const fastrtps::Subscriber* FastReplier::get_request_datareader() const
-{
- return datareader_->get_ptr();
-}
-
-const fastrtps::Publisher* FastReplier::get_reply_datawriter() const
-{
- return datawriter_->get_ptr();
-}
-
-} // namespace uxr
-} // namespace eprosima
diff --git a/src/cpp/middleware/fast/FastMiddleware.cpp b/src/cpp/middleware/fast/FastMiddleware.cpp
deleted file mode 100644
index e8c4afd0a..000000000
--- a/src/cpp/middleware/fast/FastMiddleware.cpp
+++ /dev/null
@@ -1,977 +0,0 @@
-// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <uxr/agent/middleware/fast/FastMiddleware.hpp>
-#include <uxr/agent/middleware/utils/Callbacks.hpp>
-
-#include <fastrtps/Domain.h>
-#include <fastrtps/xmlparser/XMLProfileManager.h>
-#include "../../xmlobjects/xmlobjects.h"
-
-namespace eprosima {
-namespace uxr {
-
-using namespace fastrtps::xmlparser;
-
-FastMiddleware::FastMiddleware()
- : participants_()
- , topics_()
- , publishers_()
- , subscribers_()
- , datawriters_()
- , datareaders_()
- , requesters_()
- , repliers_()
- , callback_factory_(callback_factory_.getInstance())
-{
-}
-
-/**********************************************************************************************************************
- * Create functions.
- **********************************************************************************************************************/
-bool FastMiddleware::create_participant_by_ref(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& ref)
-{
- bool rv = false;
- fastrtps::ParticipantAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
- {
- if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
- attrs.domainId = domain_id;
- }
- fastrtps::Participant* impl = fastrtps::Domain::createParticipant(attrs, &listener_);
- if (nullptr != impl)
- {
- std::shared_ptr<FastParticipant> participant(new FastParticipant(impl));
- auto emplace_res = participants_.emplace(participant_id, std::move(participant));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_PARTICIPANT, impl);
- }
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_participant_by_xml(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& xml)
-{
- (void) domain_id;
- bool rv = false;
- fastrtps::ParticipantAttributes attrs;
- if (xmlobjects::parse_participant(xml.data(), xml.size(), attrs))
- {
- attrs.domainId = uint32_t(domain_id);
- fastrtps::Participant* impl = fastrtps::Domain::createParticipant(attrs, &listener_);
- if (nullptr != impl)
- {
- std::shared_ptr<FastParticipant> participant(new FastParticipant(impl));
- auto emplace_res = participants_.emplace(participant_id, std::move(participant));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_PARTICIPANT, impl);
- }
- }
- }
- return rv;
-}
-
-static
-std::shared_ptr<FastTopic> create_topic(
- std::shared_ptr<FastParticipant>& participant,
- const fastrtps::TopicAttributes& attrs)
-{
- std::shared_ptr<FastTopic> topic = participant->find_topic(attrs.getTopicName().c_str());
- if (topic)
- {
- if (0 != std::strcmp(attrs.getTopicDataType().c_str(), topic->get_type()->getName()))
- {
- topic.reset();
- }
- }
- else
- {
- const char * type_name = attrs.getTopicDataType().c_str();
- std::shared_ptr<FastType> type = participant->find_type(type_name);
- if (!type)
- {
- type = std::make_shared<FastType>(participant);
- type->setName(type_name);
- type->m_isGetKeyDefined = (attrs.getTopicKind() == fastrtps::rtps::TopicKind_t::WITH_KEY);
- if (!participant->register_type(type))
- {
- type.reset();
- }
- }
-
- if (type)
- {
- topic = std::make_shared<FastTopic>(attrs.getTopicName().c_str(), type, participant);
- if (!participant->register_topic(topic))
- {
- topic.reset();
- }
- }
- }
- return topic;
-}
-
-bool FastMiddleware::create_topic_by_ref(
- uint16_t topic_id,
- uint16_t participant_id,
- const std::string& ref)
-{
- bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
- {
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastTopic> topic = create_topic(it_participant->second, attrs);
- rv = topic && topics_.emplace(topic_id, std::move(topic)).second;
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_topic_by_xml(
- uint16_t topic_id,
- uint16_t participant_id,
- const std::string& xml)
-{
- bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
- {
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastTopic> topic = create_topic(it_participant->second, attrs);
- rv = topic && topics_.emplace(topic_id, std::move(topic)).second;
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_publisher_by_xml(
- uint16_t publisher_id,
- uint16_t participant_id,
- const std::string&)
-{
- bool rv = false;
- auto it = participants_.find(participant_id);
- if (it != participants_.end())
- {
- std::shared_ptr<FastPublisher> publisher = std::make_shared<FastPublisher>(it->second);
- rv = publishers_.emplace(publisher_id, std::move(publisher)).second;
- }
- return rv;
-}
-
-bool FastMiddleware::create_subscriber_by_xml(
- uint16_t subscriber_id,
- uint16_t participant_id,
- const std::string&)
-{
- bool rv = false;
- auto it = participants_.find(participant_id);
- if (it != participants_.end())
- {
- std::shared_ptr<FastSubscriber> subscriber = std::make_shared<FastSubscriber>(it->second);
- rv = subscribers_.emplace(subscriber_id, std::move(subscriber)).second;
- }
- return rv;
-}
-
-inline
-std::shared_ptr<FastDataWriter> create_datawriter(
- const fastrtps::PublisherAttributes& attrs,
- fastrtps::PublisherListener* listener,
- const std::shared_ptr<FastPublisher>& publisher)
-{
- std::shared_ptr<FastDataWriter> datawriter;
- const std::shared_ptr<FastParticipant>& participant = publisher->get_participant();
- std::shared_ptr<FastTopic> topic =
- participant->find_topic(attrs.topic.getTopicName().to_string());
- if (topic)
- {
- fastrtps::Publisher* impl =
- fastrtps::Domain::createPublisher(participant->get_ptr(), attrs, listener);
- if (nullptr != impl)
- {
- datawriter = std::make_shared<FastDataWriter>(impl, topic, publisher);
- }
- }
- return datawriter;
-}
-
-bool FastMiddleware::create_datawriter_by_ref(
- uint16_t datawriter_id,
- uint16_t publisher_id,
- const std::string& ref)
-{
- bool rv = false;
- auto it_publisher = publishers_.find(publisher_id);
- if (publishers_.end() != it_publisher)
- {
- fastrtps::PublisherAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillPublisherAttributes(ref, attrs))
- {
- std::shared_ptr<FastDataWriter> datawriter =
- create_datawriter(attrs, &listener_, it_publisher->second);
- if (nullptr == datawriter)
- {
- return false;
- }
- auto emplace_res = datawriters_.emplace(datawriter_id, std::move(datawriter));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_DATAWRITER,
- emplace_res.first->second->get_participant(),
- emplace_res.first->second->get_ptr());
- }
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_datawriter_by_xml(
- uint16_t datawriter_id,
- uint16_t publisher_id,
- const std::string& xml)
-{
- bool rv = false;
- auto it_publisher = publishers_.find(publisher_id);
- if (publishers_.end() != it_publisher)
- {
- fastrtps::PublisherAttributes attrs;
- if (xmlobjects::parse_publisher(xml.data(), xml.size(), attrs))
- {
- std::shared_ptr<FastDataWriter> datawriter =
- create_datawriter(attrs, &listener_, it_publisher->second);
- if (nullptr == datawriter)
- {
- return false;
- }
- auto emplace_res = datawriters_.emplace(datawriter_id, std::move(datawriter));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_DATAWRITER,
- emplace_res.first->second->get_participant(),
- emplace_res.first->second->get_ptr());
- }
- }
- }
- return rv;
-}
-
-inline
-std::shared_ptr<FastDataReader> create_datareader(
- const fastrtps::SubscriberAttributes& attrs,
- fastrtps::SubscriberListener* listener,
- const std::shared_ptr<FastSubscriber>& subscriber)
-{
- std::shared_ptr<FastDataReader> datareader;
- const std::shared_ptr<FastParticipant>& participant = subscriber->get_participant();
- std::shared_ptr<FastTopic> topic =
- participant->find_topic(attrs.topic.getTopicName().to_string());
- if (topic)
- {
- fastrtps::Subscriber* impl =
- fastrtps::Domain::createSubscriber(participant->get_ptr(), attrs, listener);
- if (nullptr != impl)
- {
- datareader = std::make_shared<FastDataReader>(impl, topic, subscriber);
- }
- }
- return datareader;
-}
-
-bool FastMiddleware::create_datareader_by_ref(
- uint16_t datareader_id,
- uint16_t subscriber_id,
- const std::string& ref)
-{
- bool rv = false;
- auto it_subscriber = subscribers_.find(subscriber_id);
- if (subscribers_.end() != it_subscriber)
- {
- fastrtps::SubscriberAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillSubscriberAttributes(ref, attrs))
- {
- std::shared_ptr<FastDataReader> datareader =
- create_datareader(attrs, &listener_, it_subscriber->second);
- if (nullptr == datareader)
- {
- return false;
- }
- auto emplace_res = datareaders_.emplace(datareader_id, std::move(datareader));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_DATAREADER,
- emplace_res.first->second->get_participant(),
- emplace_res.first->second->get_ptr());
- }
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_datareader_by_xml(
- uint16_t datareader_id,
- uint16_t subscriber_id,
- const std::string& xml)
-{
- bool rv = false;
- auto it_subscriber = subscribers_.find(subscriber_id);
- if (subscribers_.end() != it_subscriber)
- {
- fastrtps::SubscriberAttributes attrs;
- if (xmlobjects::parse_subscriber(xml.data(), xml.size(), attrs))
- {
- std::shared_ptr<FastDataReader> datareader =
- create_datareader(attrs, &listener_, it_subscriber->second);
- if (nullptr == datareader)
- {
- return false;
- }
- auto emplace_res = datareaders_.emplace(datareader_id, std::move(datareader));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_DATAREADER,
- emplace_res.first->second->get_participant(),
- emplace_res.first->second->get_ptr());
- }
- }
- }
- return rv;
-}
-
-static
-std::shared_ptr<FastRequester> create_requester(
- const fastrtps::RequesterAttributes& attrs,
- FastListener* listener,
- std::shared_ptr<FastParticipant>& participant)
-{
- std::shared_ptr<FastRequester> requester{};
- std::shared_ptr<FastTopic> request_topic = create_topic(participant, attrs.publisher.topic);
- std::shared_ptr<FastTopic> reply_topic = create_topic(participant, attrs.subscriber.topic);
- std::shared_ptr<FastPublisher> publisher = std::make_shared<FastPublisher>(participant);
- std::shared_ptr<FastDataWriter> datawriter = create_datawriter(attrs.publisher, listener, publisher);
- std::shared_ptr<FastSubscriber> subscriber = std::make_shared<FastSubscriber>(participant);
- std::shared_ptr<FastDataReader> datareader = create_datareader(attrs.subscriber, listener, subscriber);
- if (datawriter && datareader)
- {
- requester = std::make_shared<FastRequester>(datawriter, datareader);
- }
- return requester;
-}
-
-bool FastMiddleware::create_requester_by_ref(
- uint16_t requester_id,
- uint16_t participant_id,
- const std::string& ref)
-{
- bool rv = false;
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastParticipant>& participant = it_participant->second;
- fastrtps::RequesterAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillRequesterAttributes(ref, attrs))
- {
- std::shared_ptr<FastRequester> requester = create_requester(attrs, &listener_, participant);
- if (nullptr == requester)
- {
- return false;
- }
- auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_REQUESTER,
- participant->get_ptr(),
- emplace_res.first->second->get_request_datawriter(),
- emplace_res.first->second->get_reply_datareader());
- }
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_requester_by_xml(
- uint16_t requester_id,
- uint16_t participant_id,
- const std::string& xml)
-{
- bool rv = false;
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastParticipant>& participant = it_participant->second;
- fastrtps::RequesterAttributes attrs;
- if (xmlobjects::parse_requester(xml.data(), xml.size(), attrs))
- {
- std::shared_ptr<FastRequester> requester = create_requester(attrs, &listener_, participant);
- if (nullptr == requester)
- {
- return false;
- }
- auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_REQUESTER,
- participant->get_ptr(),
- emplace_res.first->second->get_request_datawriter(),
- emplace_res.first->second->get_reply_datareader());
- }
- }
- }
- return rv;
-}
-
-static
-std::shared_ptr<FastReplier> create_replier(
- const fastrtps::ReplierAttributes& attrs,
- FastListener* listener,
- std::shared_ptr<FastParticipant>& participant)
-{
- std::shared_ptr<FastReplier> replier{};
- std::shared_ptr<FastTopic> request_topic = create_topic(participant, attrs.subscriber.topic);
- std::shared_ptr<FastTopic> reply_topic = create_topic(participant, attrs.publisher.topic);
- std::shared_ptr<FastPublisher> publisher = std::make_shared<FastPublisher>(participant);
- std::shared_ptr<FastDataWriter> datawriter = create_datawriter(attrs.publisher, listener, publisher);
- std::shared_ptr<FastSubscriber> subscriber = std::make_shared<FastSubscriber>(participant);
- std::shared_ptr<FastDataReader> datareader = create_datareader(attrs.subscriber, listener, subscriber);
- if (datawriter && datareader)
- {
- replier = std::make_shared<FastReplier>(datawriter, datareader);
- }
- return replier;
-}
-
-bool FastMiddleware::create_replier_by_ref(
- uint16_t replier_id,
- uint16_t participant_id,
- const std::string& ref)
-{
- bool rv = false;
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastParticipant>& participant = it_participant->second;
- fastrtps::ReplierAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillReplierAttributes(ref, attrs))
- {
- std::shared_ptr<FastReplier> replier = create_replier(attrs, &listener_, participant);
- if (nullptr == replier)
- {
- return false;
- }
- auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_REPLIER,
- participant->get_ptr(),
- emplace_res.first->second->get_reply_datawriter(),
- emplace_res.first->second->get_request_datareader());
- }
- }
- }
- return rv;
-}
-
-bool FastMiddleware::create_replier_by_xml(
- uint16_t replier_id,
- uint16_t participant_id,
- const std::string& xml)
-{
- bool rv = false;
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
- {
- std::shared_ptr<FastParticipant>& participant = it_participant->second;
- fastrtps::ReplierAttributes attrs;
- if (xmlobjects::parse_replier(xml.data(), xml.size(), attrs))
- {
- std::shared_ptr<FastReplier> replier = create_replier(attrs, &listener_, participant);
- if (nullptr == replier)
- {
- return false;
- }
- auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_REPLIER,
- participant->get_ptr(),
- emplace_res.first->second->get_reply_datawriter(),
- emplace_res.first->second->get_request_datareader());
- }
- }
- }
- return rv;
-}
-
-/**********************************************************************************************************************
- * Delete functions.
- **********************************************************************************************************************/
-bool FastMiddleware::delete_participant(
- uint16_t participant_id)
-{
- auto it = participants_.find(participant_id);
- if (it == participants_.end())
- {
- return false;
- }
- else
- {
- auto participant = it->second;
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_PARTICIPANT,
- participant->get_ptr());
-
- participants_.erase(participant_id);
- return true;
- }
-}
-
-bool FastMiddleware::delete_topic(
- uint16_t topic_id)
-{
- return (0 != topics_.erase(topic_id));
-}
-
-bool FastMiddleware::delete_publisher(
- uint16_t publisher_id)
-{
- return (0 != publishers_.erase(publisher_id));
-}
-
-bool FastMiddleware::delete_subscriber(
- uint16_t subscriber_id)
-{
- return (0 != subscribers_.erase(subscriber_id));
-}
-
-bool FastMiddleware::delete_datawriter(
- uint16_t datawriter_id)
-{
- auto it = datawriters_.find(datawriter_id);
- if (it == datawriters_.end())
- {
- return false;
- }
- else
- {
- auto datawriter = it->second;
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_DATAWRITER,
- datawriter->get_participant(),
- datawriter->get_ptr());
-
- datawriters_.erase(datawriter_id);
- return true;
- }
-}
-
-bool FastMiddleware::delete_datareader(
- uint16_t datareader_id)
-{
- auto it = datareaders_.find(datareader_id);
- if (it == datareaders_.end())
- {
- return false;
- }
- else
- {
- auto datareader = it->second;
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_DATAREADER,
- datareader->get_participant(),
- datareader->get_ptr());
-
- datareaders_.erase(datareader_id);
- return true;
- }
-}
-
-bool FastMiddleware::delete_requester(
- uint16_t requester_id)
-{
- auto it = requesters_.find(requester_id);
- if (it == requesters_.end())
- {
- return false;
- }
- else
- {
- auto requester = it->second;
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_REQUESTER,
- requester->get_participant(),
- requester->get_request_datawriter(),
- requester->get_reply_datareader());
-
- requesters_.erase(requester_id);
- return true;
- }
-}
-
-bool FastMiddleware::delete_replier(
- uint16_t replier_id)
-{
- auto it = repliers_.find(replier_id);
- if (it == repliers_.end())
- {
- return false;
- }
- else
- {
- auto replier = it->second;
- callback_factory_.execute_callbacks(Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_REPLIER,
- replier->get_participant(),
- replier->get_reply_datawriter(),
- replier->get_request_datareader());
-
- repliers_.erase(replier_id);
- return true;
- }
-}
-
-/**********************************************************************************************************************
- * Write/Read functions.
- **********************************************************************************************************************/
-bool FastMiddleware::write_data(
- uint16_t datawriter_id,
- const std::vector<uint8_t>& data)
-{
- bool rv = false;
- auto it = datawriters_.find(datawriter_id);
- if (datawriters_.end() != it)
- {
- rv = it->second->write(data);
- }
- return rv;
-}
-
-bool FastMiddleware::write_request(
- uint16_t requester_id,
- uint32_t sequence_number,
- const std::vector<uint8_t>& data)
-{
- bool rv = false;
- auto it = requesters_.find(requester_id);
- if (requesters_.end() != it)
- {
- rv = it->second->write(sequence_number, data);
- }
- return rv;
-}
-
-bool FastMiddleware::write_reply(
- uint16_t replier_id,
- const std::vector<uint8_t>& data)
-{
- bool rv = false;
- auto it = repliers_.find(replier_id);
- if (repliers_.end() != it)
- {
- rv = it->second->write(data);
- }
- return rv;
-}
-
-bool FastMiddleware::read_data(
- uint16_t datareader_id,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- auto it = datareaders_.find(datareader_id);
- if (datareaders_.end() != it)
- {
- rv = it->second->read(data, timeout);
- }
- return rv;
-}
-
-bool FastMiddleware::read_request(
- uint16_t replier_id,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- auto it = repliers_.find(replier_id);
- if (repliers_.end() != it)
- {
- rv = it->second->read(data, timeout);
- }
- return rv;
-}
-
-bool FastMiddleware::read_reply(
- uint16_t requester_id,
- uint32_t& sequence_number,
- std::vector<uint8_t>& data,
- std::chrono::milliseconds timeout)
-{
- bool rv = false;
- auto it = requesters_.find(requester_id);
- if (requesters_.end() != it)
- {
- rv = it->second->read(sequence_number, data, timeout);
- }
- return rv;
-}
-
-/**********************************************************************************************************************
- * Matched functions.
- **********************************************************************************************************************/
-bool FastMiddleware::matched_participant_from_ref(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = participants_.find(participant_id);
- if (participants_.end() != it)
- {
- fastrtps::ParticipantAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
- {
- if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
- attrs.domainId = domain_id;
- }
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_participant_from_xml(
- uint16_t participant_id,
- int16_t domain_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = participants_.find(participant_id);
- if (participants_.end() != it)
- {
- fastrtps::ParticipantAttributes attrs;
- if (xmlobjects::parse_participant(xml.data(), xml.size(), attrs))
- {
- attrs.domainId = uint32_t(domain_id);
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_topic_from_ref(
- uint16_t topic_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = topics_.find(topic_id);
- if (topics_.end() != it)
- {
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_topic_from_xml(
- uint16_t topic_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = topics_.find(topic_id);
- if (topics_.end() != it)
- {
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_datawriter_from_ref(
- uint16_t datawriter_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = datawriters_.find(datawriter_id);
- if (datawriters_.end() != it)
- {
- fastrtps::PublisherAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillPublisherAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_datawriter_from_xml(
- uint16_t datawriter_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = datawriters_.find(datawriter_id);
- if (datawriters_.end() != it)
- {
- fastrtps::PublisherAttributes attrs;
- if (xmlobjects::parse_publisher(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_datareader_from_ref(
- uint16_t datareader_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = datareaders_.find(datareader_id);
- if (datareaders_.end() != it)
- {
- fastrtps::SubscriberAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillSubscriberAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_datareader_from_xml(
- uint16_t datareader_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = datareaders_.find(datareader_id);
- if (datareaders_.end() != it)
- {
- fastrtps::SubscriberAttributes attrs;
- if (xmlobjects::parse_subscriber(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_requester_from_ref(
- uint16_t requester_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = requesters_.find(requester_id);
- if (requesters_.end() != it)
- {
- fastrtps::RequesterAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillRequesterAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_requester_from_xml(
- uint16_t requester_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = requesters_.find(requester_id);
- if (requesters_.end() != it)
- {
- fastrtps::RequesterAttributes attrs;
- if (xmlobjects::parse_requester(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_replier_from_ref(
- uint16_t requester_id,
- const std::string& ref) const
-{
- bool rv = false;
- auto it = repliers_.find(requester_id);
- if (repliers_.end() != it)
- {
- fastrtps::ReplierAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillReplierAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-bool FastMiddleware::matched_replier_from_xml(
- uint16_t requester_id,
- const std::string& xml) const
-{
- bool rv = false;
- auto it = repliers_.find(requester_id);
- if (repliers_.end() != it)
- {
- fastrtps::ReplierAttributes attrs;
- if (xmlobjects::parse_replier(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
- }
- return rv;
-}
-
-} // namespace uxr
-} // namespace eprosima
diff --git a/src/cpp/middleware/fastdds/FastDDSEntities.cpp b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
index 5a1fe7adf..652b509bd 100644
--- a/src/cpp/middleware/fastdds/FastDDSEntities.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
@@ -13,132 +13,16 @@
// limitations under the License.
#include <uxr/agent/middleware/fastdds/FastDDSEntities.hpp>
-#include <fastrtps/xmlparser/XMLProfileManager.h>
-#include <fastrtps/attributes/all_attributes.h>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
+#include <fastdds/rtps/common/WriteParams.hpp>
#include <fastcdr/FastBuffer.h>
#include <fastcdr/Cdr.h>
-#include "../../xmlobjects/xmlobjects.h"
namespace eprosima {
namespace uxr {
-using namespace fastrtps::xmlparser;
-using eprosima::fastrtps::types::ReturnCode_t;
-
-static void set_qos_from_attributes(
- fastdds::dds::DomainParticipantQos& qos,
- const fastrtps::rtps::RTPSParticipantAttributes& attr)
-{
- qos.user_data().setValue(attr.userData);
- qos.allocation() = attr.allocation;
- qos.properties() = attr.properties;
- qos.wire_protocol().prefix = attr.prefix;
- qos.wire_protocol().participant_id = attr.participantID;
- qos.wire_protocol().builtin = attr.builtin;
- qos.wire_protocol().port = attr.port;
- qos.wire_protocol().throughput_controller = attr.throughputController;
- qos.wire_protocol().default_unicast_locator_list = attr.defaultUnicastLocatorList;
- qos.wire_protocol().default_multicast_locator_list = attr.defaultMulticastLocatorList;
- qos.transport().user_transports = attr.userTransports;
- qos.transport().use_builtin_transports = attr.useBuiltinTransports;
- qos.transport().send_socket_buffer_size = attr.sendSocketBufferSize;
- qos.transport().listen_socket_buffer_size = attr.listenSocketBufferSize;
- qos.name() = attr.getName();
-}
-
-static void set_qos_from_attributes(
- fastdds::dds::TopicQos& qos,
- const fastrtps::TopicAttributes& attr)
-{
- qos.history() = attr.historyQos;
- qos.resource_limits() = attr.resourceLimitsQos;
-}
-
-static void set_qos_from_attributes(
- fastdds::dds::SubscriberQos& qos,
- const fastrtps::SubscriberAttributes& attr)
-{
- qos.group_data().setValue(attr.qos.m_groupData);
- qos.partition() = attr.qos.m_partition;
- qos.presentation() = attr.qos.m_presentation;
-}
-
-static void set_qos_from_attributes(
- fastdds::dds::PublisherQos& qos,
- const fastrtps::PublisherAttributes& attr)
-{
- qos.group_data().setValue(attr.qos.m_groupData);
- qos.partition() = attr.qos.m_partition;
- qos.presentation() = attr.qos.m_presentation;
-}
-
-static void set_qos_from_attributes(
- fastdds::dds::DataWriterQos& qos,
- const fastrtps::PublisherAttributes& attr)
-{
- qos.writer_resource_limits().matched_subscriber_allocation = attr.matched_subscriber_allocation;
- qos.properties() = attr.properties;
- qos.throughput_controller() = attr.throughputController;
- qos.endpoint().unicast_locator_list = attr.unicastLocatorList;
- qos.endpoint().multicast_locator_list = attr.multicastLocatorList;
- qos.endpoint().remote_locator_list = attr.remoteLocatorList;
- qos.endpoint().history_memory_policy = attr.historyMemoryPolicy;
- qos.endpoint().user_defined_id = attr.getUserDefinedID();
- qos.endpoint().entity_id = attr.getEntityID();
- qos.reliable_writer_qos().times = attr.times;
- qos.reliable_writer_qos().disable_positive_acks = attr.qos.m_disablePositiveACKs;
- qos.durability() = attr.qos.m_durability;
- qos.durability_service() = attr.qos.m_durabilityService;
- qos.deadline() = attr.qos.m_deadline;
- qos.latency_budget() = attr.qos.m_latencyBudget;
- qos.liveliness() = attr.qos.m_liveliness;
- qos.reliability() = attr.qos.m_reliability;
- qos.lifespan() = attr.qos.m_lifespan;
- qos.user_data().setValue(attr.qos.m_userData);
- qos.ownership() = attr.qos.m_ownership;
- qos.ownership_strength() = attr.qos.m_ownershipStrength;
- qos.destination_order() = attr.qos.m_destinationOrder;
- qos.representation() = attr.qos.representation;
- qos.publish_mode() = attr.qos.m_publishMode;
- qos.history() = attr.topic.historyQos;
- qos.resource_limits() = attr.topic.resourceLimitsQos;
-}
-
-static void set_qos_from_attributes(
- fastdds::dds::DataReaderQos& qos,
- const fastrtps::SubscriberAttributes& attr)
-{
- qos.reader_resource_limits().matched_publisher_allocation = attr.matched_publisher_allocation;
- qos.properties() = attr.properties;
- qos.expects_inline_qos(attr.expectsInlineQos);
- qos.endpoint().unicast_locator_list = attr.unicastLocatorList;
- qos.endpoint().multicast_locator_list = attr.multicastLocatorList;
- qos.endpoint().remote_locator_list = attr.remoteLocatorList;
- qos.endpoint().history_memory_policy = attr.historyMemoryPolicy;
- qos.endpoint().user_defined_id = attr.getUserDefinedID();
- qos.endpoint().entity_id = attr.getEntityID();
- qos.reliable_reader_qos().times = attr.times;
- qos.reliable_reader_qos().disable_positive_ACKs = attr.qos.m_disablePositiveACKs;
- qos.durability() = attr.qos.m_durability;
- qos.durability_service() = attr.qos.m_durabilityService;
- qos.deadline() = attr.qos.m_deadline;
- qos.latency_budget() = attr.qos.m_latencyBudget;
- qos.liveliness() = attr.qos.m_liveliness;
- qos.reliability() = attr.qos.m_reliability;
- qos.lifespan() = attr.qos.m_lifespan;
- qos.user_data().setValue(attr.qos.m_userData);
- qos.ownership() = attr.qos.m_ownership;
- qos.destination_order() = attr.qos.m_destinationOrder;
- qos.type_consistency().type_consistency = attr.qos.type_consistency;
- qos.type_consistency().representation = attr.qos.representation;
- qos.time_based_filter() = attr.qos.m_timeBasedFilter;
- qos.history() = attr.topic.historyQos;
- qos.resource_limits() = attr.topic.resourceLimitsQos;
-}
-
static void set_qos_from_xrce_object(
fastdds::dds::DomainParticipantQos& qos,
const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce)
@@ -176,45 +60,45 @@ static void set_qos_from_xrce_object(
const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce)
{
qos.endpoint().history_memory_policy =
- fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+ fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
if (datawriter_xrce.has_qos())
{
- ReliabilityQosPolicy reliability;
+ fastdds::dds::ReliabilityQosPolicy reliability;
reliability.kind =
(datawriter_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_reliable) ?
- ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS :
- ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS;
+ fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS :
+ fastdds::dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS;
qos.reliability() = reliability;
// TODO set is_ownership_exclusive
// TODO set user data
- DurabilityQosPolicy durability;
+ fastdds::dds::DurabilityQosPolicy durability;
if (datawriter_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_transient_local)
{
- durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+ durability.kind = fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
}
else if (datawriter_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_transient)
{
- durability.kind = TRANSIENT_DURABILITY_QOS;
+ durability.kind = fastdds::dds::TRANSIENT_DURABILITY_QOS;
}
else if (datawriter_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_persistent)
{
- durability.kind = PERSISTENT_DURABILITY_QOS;
+ durability.kind = fastdds::dds::PERSISTENT_DURABILITY_QOS;
}
else
{
- durability.kind = VOLATILE_DURABILITY_QOS;
+ durability.kind = fastdds::dds::VOLATILE_DURABILITY_QOS;
}
qos.durability() = durability;
- HistoryQosPolicy history;
+ fastdds::dds::HistoryQosPolicy history;
history.kind =
(datawriter_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_history_keep_last) ?
- HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS :
- HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+ fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS :
+ fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
if (datawriter_xrce.qos().base().has_history_depth())
{
@@ -224,21 +108,21 @@ static void set_qos_from_xrce_object(
if (datawriter_xrce.qos().base().has_deadline_msec())
{
- DeadlineQosPolicy deadline;
+ fastdds::dds::DeadlineQosPolicy deadline;
deadline.period = Duration_t(static_cast<long double>(datawriter_xrce.qos().base().deadline_msec()/1000.0));
qos.deadline() = deadline;
}
if (datawriter_xrce.qos().base().has_lifespan_msec())
{
- LifespanQosPolicy lifespan;
+ fastdds::dds::LifespanQosPolicy lifespan;
lifespan.duration = Duration_t(static_cast<long double>(datawriter_xrce.qos().base().lifespan_msec()/1000.0));
qos.lifespan() = lifespan;
}
if (datawriter_xrce.qos().has_ownership_strength())
{
- OwnershipStrengthQosPolicy ownership_strength;
+ fastdds::dds::OwnershipStrengthQosPolicy ownership_strength;
ownership_strength.value = datawriter_xrce.qos().ownership_strength();
qos.ownership_strength() = ownership_strength;
}
@@ -250,45 +134,45 @@ static void set_qos_from_xrce_object(
const dds::xrce::OBJK_DataReader_Binary& datareader_xrce)
{
qos.endpoint().history_memory_policy =
- fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+ fastdds::rtps::MemoryManagementPolicy::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
if (datareader_xrce.has_qos())
{
- ReliabilityQosPolicy reliability;
+ fastdds::dds::ReliabilityQosPolicy reliability;
reliability.kind =
(datareader_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_reliable) ?
- ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS :
- ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS;
+ fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS :
+ fastdds::dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS;
qos.reliability() = reliability;
// TODO set is_ownership_exclusive
// TODO set user data
// TODO set m_contentbased_filter
- DurabilityQosPolicy durability;
+ fastdds::dds::DurabilityQosPolicy durability;
if (datareader_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_transient_local)
{
- durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+ durability.kind = fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
}
else if (datareader_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_transient)
{
- durability.kind = TRANSIENT_DURABILITY_QOS;
+ durability.kind = fastdds::dds::TRANSIENT_DURABILITY_QOS;
}
else if (datareader_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_durability_persistent)
{
- durability.kind = PERSISTENT_DURABILITY_QOS;
+ durability.kind = fastdds::dds::PERSISTENT_DURABILITY_QOS;
}
else
{
- durability.kind = VOLATILE_DURABILITY_QOS;
+ durability.kind = fastdds::dds::VOLATILE_DURABILITY_QOS;
}
qos.durability() = durability;
- HistoryQosPolicy history;
+ fastdds::dds::HistoryQosPolicy history;
history.kind =
(datareader_xrce.qos().base().qos_flags() & dds::xrce::EndpointQosFlags::is_history_keep_last) ?
- HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS :
- HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+ fastdds::dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS :
+ fastdds::dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
if (datareader_xrce.qos().base().has_history_depth())
{
@@ -298,21 +182,21 @@ static void set_qos_from_xrce_object(
if (datareader_xrce.qos().base().has_deadline_msec())
{
- DeadlineQosPolicy deadline;
+ fastdds::dds::DeadlineQosPolicy deadline;
deadline.period = Duration_t(static_cast<long double>(datareader_xrce.qos().base().deadline_msec()/1000.0));
qos.deadline() = deadline;
}
if (datareader_xrce.qos().base().has_lifespan_msec())
{
- LifespanQosPolicy lifespan;
+ fastdds::dds::LifespanQosPolicy lifespan;
lifespan.duration = Duration_t(static_cast<long double>(datareader_xrce.qos().base().lifespan_msec()/1000.0));
qos.lifespan() = lifespan;
}
if (datareader_xrce.qos().has_timebasedfilter_msec())
{
- TimeBasedFilterQosPolicy timebased_filter;
+ fastdds::dds::TimeBasedFilterQosPolicy timebased_filter;
timebased_filter.minimum_separation = Duration_t(static_cast<long double>(datareader_xrce.qos().timebasedfilter_msec()/1000.0));;
qos.time_based_filter() = timebased_filter;
}
@@ -362,10 +246,9 @@ FastDDSParticipant::~FastDDSParticipant()
{
if (ptr_)
{
- // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
- // if (ptr_->has_active_entities())
+ if (ptr_->has_active_entities())
{
- // ptr_->delete_contained_entities();
+ ptr_->delete_contained_entities();
}
factory_->delete_participant(ptr_);
@@ -388,15 +271,10 @@ bool FastDDSParticipant::create_by_xml(
const std::string& xml)
{
bool rv = false;
- if (nullptr == ptr_)
+ fastdds::dds::DomainParticipantQos qos = factory_->get_default_participant_qos();
+ if (nullptr == ptr_ && (xml.size() == 0 || fastdds::dds::RETCODE_OK == factory_->get_participant_qos_from_xml(xml, qos)))
{
- fastrtps::ParticipantAttributes attrs;
- if (xmlobjects::parse_participant(xml.data(), xml.size(), attrs))
- {
- fastdds::dds::DomainParticipantQos qos = factory_->get_default_participant_qos();
- set_qos_from_attributes(qos, attrs.rtps);
- ptr_ = factory_->create_participant(domain_id_, qos);
- }
+ ptr_ = factory_->create_participant(domain_id_, qos);
rv = (nullptr != ptr_);
}
return rv;
@@ -420,15 +298,10 @@ bool FastDDSParticipant::match_from_ref(
const std::string& ref) const
{
bool rv = false;
- if (nullptr != ptr_)
+ fastdds::dds::DomainParticipantQos qos = factory_->get_default_participant_qos();
+ if (nullptr != ptr_ && fastdds::dds::RETCODE_OK == factory_->get_participant_qos_from_profile(ref, qos))
{
- fastrtps::ParticipantAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
- {
- fastdds::dds::DomainParticipantQos qos;
- set_qos_from_attributes(qos, attrs.rtps);
- rv = (ptr_->get_qos().name() == qos.name());
- }
+ rv = (ptr_->get_qos().name() == qos.name());
}
return rv;
}
@@ -437,15 +310,10 @@ bool FastDDSParticipant::match_from_xml(
const std::string& xml) const
{
bool rv = false;
- if (nullptr != ptr_)
+ fastdds::dds::DomainParticipantQos qos = factory_->get_default_participant_qos();
+ if (nullptr != ptr_ && (xml.size() == 0 || fastdds::dds::RETCODE_OK == factory_->get_participant_qos_from_xml(xml, qos)))
{
- fastrtps::ParticipantAttributes attrs;
- if (xmlobjects::parse_participant(xml.data(), xml.size(), attrs))
- {
- fastdds::dds::DomainParticipantQos qos;
- set_qos_from_attributes(qos, attrs.rtps);
- rv = (ptr_->get_qos().name() == qos.name());
- }
+ rv = (ptr_->get_qos().name() == qos.name());
}
return rv;
}
@@ -465,7 +333,7 @@ bool FastDDSParticipant::match_from_bin(
// Proxy methods
-ReturnCode_t FastDDSParticipant::unregister_type(
+fastdds::dds::ReturnCode_t FastDDSParticipant::unregister_type(
const std::string& typeName)
{
return ptr_->unregister_type(typeName);
@@ -481,7 +349,7 @@ fastdds::dds::Topic* FastDDSParticipant::create_topic(
return ptr_->create_topic(topic_name, type_name, qos, listener, mask);
}
-ReturnCode_t FastDDSParticipant::delete_topic(
+fastdds::dds::ReturnCode_t FastDDSParticipant::delete_topic(
fastdds::dds::Topic* topic)
{
return ptr_->delete_topic(topic);
@@ -495,22 +363,21 @@ fastdds::dds::Publisher* FastDDSParticipant::create_publisher(
return ptr_->create_publisher(qos, listener, mask);
}
-ReturnCode_t FastDDSParticipant::delete_publisher(
+fastdds::dds::ReturnCode_t FastDDSParticipant::delete_publisher(
fastdds::dds::Publisher* publisher)
{
if (NULL == publisher)
{
- return ReturnCode_t::RETCODE_ALREADY_DELETED;
+ return fastdds::dds::RETCODE_ALREADY_DELETED;
}
if (publisher->has_datawriters())
{
- ReturnCode_t ret = ReturnCode_t::RETCODE_OK;
+ fastdds::dds::ReturnCode_t ret = fastdds::dds::RETCODE_OK;
- // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
- // ret = publisher->delete_contained_entities();
+ ret = publisher->delete_contained_entities();
- //if (ReturnCode_t::RETCODE_UNSUPPORTED == ret)
+ if (fastdds::dds::RETCODE_UNSUPPORTED == ret)
{
std::vector<eprosima::fastdds::dds::DataWriter*> writers;
publisher->get_datawriters(writers);
@@ -519,7 +386,7 @@ ReturnCode_t FastDDSParticipant::delete_publisher(
{
ret = publisher->delete_datawriter(datawriter);
- if (ReturnCode_t::RETCODE_OK != ret)
+ if (fastdds::dds::RETCODE_OK != ret)
{
return ret;
}
@@ -538,22 +405,21 @@ fastdds::dds::Subscriber* FastDDSParticipant::create_subscriber(
return ptr_->create_subscriber(qos, listener, mask);
}
-ReturnCode_t FastDDSParticipant::delete_subscriber(
+fastdds::dds::ReturnCode_t FastDDSParticipant::delete_subscriber(
fastdds::dds::Subscriber* subscriber)
{
if (NULL == subscriber)
{
- return ReturnCode_t::RETCODE_ALREADY_DELETED;
+ return fastdds::dds::RETCODE_ALREADY_DELETED;
}
if (subscriber->has_datareaders())
{
- ReturnCode_t ret = ReturnCode_t::RETCODE_OK;
+ fastdds::dds::ReturnCode_t ret = fastdds::dds::RETCODE_OK;
- // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
- // ret = subscriber->delete_contained_entities();
+ ret = subscriber->delete_contained_entities();
- // if (ReturnCode_t::RETCODE_UNSUPPORTED == ret)
+ if (fastdds::dds::RETCODE_UNSUPPORTED == ret)
{
std::vector<eprosima::fastdds::dds::DataReader*> readers;
subscriber->get_datareaders(readers);
@@ -562,7 +428,7 @@ ReturnCode_t FastDDSParticipant::delete_subscriber(
{
ret = subscriber->delete_datareader(datareader);
- if (ReturnCode_t::RETCODE_OK != ret)
+ if (fastdds::dds::RETCODE_OK != ret)
{
return ret;
}
@@ -579,8 +445,8 @@ bool FastDDSParticipant::register_local_type(
const std::shared_ptr<FastDDSType>& type)
{
fastdds::dds::TypeSupport& type_support = type->get_type_support();
- return ReturnCode_t::RETCODE_OK == ptr_->register_type(type_support, type_support->getName())
- && type_register_.emplace(type_support->getName(), type).second;
+ return fastdds::dds::RETCODE_OK == ptr_->register_type(type_support, type_support->get_name())
+ && type_register_.emplace(type_support->get_name(), type).second;
}
bool FastDDSParticipant::unregister_local_type(
@@ -641,8 +507,8 @@ fastdds::dds::DomainParticipant* FastDDSParticipant::operator * ()
**********************************************************************************************************************/
FastDDSType::~FastDDSType()
{
- participant_->unregister_local_type(type_support_->getName());
- participant_->unregister_type(type_support_->getName());
+ participant_->unregister_local_type(type_support_->get_name());
+ participant_->unregister_type(type_support_->get_name());
}
FastDDSTopic::~FastDDSTopic()
@@ -651,54 +517,15 @@ FastDDSTopic::~FastDDSTopic()
participant_->delete_topic(ptr_);
}
-bool FastDDSTopic::create_by_ref(const std::string& ref)
-{
- bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
- {
- rv = create_by_attributes(attrs);
- }
- return rv;
-}
-
-bool FastDDSTopic::create_by_xml(const std::string& xml)
-{
- bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
- {
- rv = create_by_attributes(attrs);
- }
- return rv;
-}
-
-bool FastDDSTopic::create_by_attributes(const fastrtps::TopicAttributes& attrs)
-{
- bool rv = false;
- if (nullptr == ptr_)
- {
- fastdds::dds::TopicQos qos;
- set_qos_from_attributes(qos, attrs);
-
- ptr_ = participant_->create_topic(attrs.getTopicName().to_string(),
- attrs.getTopicDataType().to_string(), qos);
-
- rv = (nullptr != ptr_);
- }
- return rv;
-}
-
bool FastDDSTopic::create_by_name_type(
const std::string& name,
- const std::shared_ptr<FastDDSType>& type)
+ const std::shared_ptr<FastDDSType>& type,
+ const fastdds::dds::TopicQos& qos)
{
bool rv = false;
if (nullptr == ptr_)
{
- fastdds::dds::TopicQos qos;
-
- ptr_ = participant_->create_topic(name, type->get_type_support()->getName(), qos);
+ ptr_ = participant_->create_topic(name, type->get_type_support()->get_name(), qos);
rv = (nullptr != ptr_);
@@ -714,16 +541,18 @@ bool FastDDSTopic::match_from_ref(
const std::string& ref) const
{
bool rv = false;
+
if (nullptr != ptr_)
{
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
+ fastdds::dds::TopicQos qos;
+ std::string topic_name;
+ std::string type_name;
+ if (fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_topic_qos_from_profile(ref, qos, topic_name, type_name))
{
- fastdds::dds::TopicQos qos;
- set_qos_from_attributes(qos, attrs);
- rv = (ptr_->get_qos() == qos);
+ rv = (ptr_->get_qos() == qos) && (ptr_->get_name() == topic_name) && (type_->get_type_support()->get_name() == type_name);
}
}
+
return rv;
}
@@ -731,16 +560,18 @@ bool FastDDSTopic::match_from_xml(
const std::string& xml) const
{
bool rv = false;
+
if (nullptr != ptr_)
{
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
+ fastdds::dds::TopicQos qos = participant_->get_ptr()->get_default_topic_qos();
+ std::string topic_name;
+ std::string type_name;
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_topic_qos_from_xml(xml, qos, topic_name, type_name))
{
- fastdds::dds::TopicQos qos;
- set_qos_from_attributes(qos, attrs);
- rv = (ptr_->get_qos() == qos);
+ rv = (ptr_->get_qos() == qos) && (ptr_->get_name() == topic_name) && (type_->get_type_support()->get_name() == type_name);
}
}
+
return rv;
}
@@ -752,18 +583,11 @@ bool FastDDSTopic::match_from_bin(
{
fastdds::dds::TopicQos qos;
set_qos_from_xrce_object(qos, topic_xrce);
- rv = (ptr_->get_qos() == qos);
+ rv = (ptr_->get_qos() == qos) && (ptr_->get_name() == topic_xrce.topic_name()) && (type_->get_type_support()->get_name() == topic_xrce.type_name());
}
return rv;
}
-bool FastDDSTopic::match(const fastrtps::TopicAttributes& attrs) const
-{
- return (attrs.getTopicName() == ptr_->get_name())
- && (0 == std::strcmp(type_->get_type_support()->getName(), attrs.getTopicDataType().c_str()))
- && (type_->get_type_support()->m_isGetKeyDefined == (attrs.getTopicKind() == fastrtps::rtps::TopicKind_t::WITH_KEY));
-}
-
/**********************************************************************************************************************
* FastDDSPublisher
**********************************************************************************************************************/
@@ -781,14 +605,13 @@ bool FastDDSPublisher::create_by_xml(
bool rv = false;
if (nullptr == ptr_)
{
- fastdds::dds::PublisherQos qos;
- fastrtps::PublisherAttributes attrs;
- if (0 != xml.size() && xmlobjects::parse_publisher(xml.data(), xml.size(), attrs))
+ fastdds::dds::PublisherQos qos = participant_->get_ptr()->get_default_publisher_qos();
+ if(xml.size() == 0 || fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_publisher_qos_from_xml(xml, qos))
{
- set_qos_from_attributes(qos, attrs);
+ ptr_ = participant_->create_publisher(qos);
+ rv = (nullptr != ptr_);
}
- ptr_ = participant_->create_publisher(qos);
- rv = (nullptr != ptr_); }
+ }
return rv;
}
@@ -814,12 +637,19 @@ fastdds::dds::DataWriter* FastDDSPublisher::create_datawriter(
return ptr_->create_datawriter(topic, qos, listener, mask);
}
-ReturnCode_t FastDDSPublisher::delete_datawriter(
+fastdds::dds::DataWriter* FastDDSPublisher::create_datawriter_with_profile(
+ fastdds::dds::Topic* topic,
+ const std::string& profile_name)
+{
+ return ptr_->create_datawriter_with_profile(topic, profile_name);
+}
+
+fastdds::dds::ReturnCode_t FastDDSPublisher::delete_datawriter(
fastdds::dds::DataWriter* writer)
{
if (NULL == writer)
{
- return ReturnCode_t::RETCODE_ALREADY_DELETED;
+ return fastdds::dds::RETCODE_ALREADY_DELETED;
}
return ptr_->delete_datawriter(writer);
@@ -844,14 +674,12 @@ bool FastDDSSubscriber::create_by_xml(
bool rv = false;
if (nullptr == ptr_)
{
- fastrtps::SubscriberAttributes attrs;
- fastdds::dds::SubscriberQos qos;
- if (0 != xml.size() && xmlobjects::parse_subscriber(xml.data(), xml.size(), attrs))
+ fastdds::dds::SubscriberQos qos = participant_->get_ptr()->get_default_subscriber_qos();
+ if(xml.size() == 0 || fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_subscriber_qos_from_xml(xml, qos))
{
- set_qos_from_attributes(qos, attrs);
+ ptr_ = participant_->create_subscriber(qos);
+ rv = (nullptr != ptr_);
}
- ptr_ = participant_->create_subscriber(qos);
- rv = (nullptr != ptr_);
}
return rv;
}
@@ -878,12 +706,19 @@ fastdds::dds::DataReader* FastDDSSubscriber::create_datareader(
return ptr_->create_datareader(topic, reader_qos, listener, mask);
}
-ReturnCode_t FastDDSSubscriber::delete_datareader(
+fastdds::dds::DataReader* FastDDSSubscriber::create_datareader_with_profile(
+ fastdds::dds::TopicDescription* topic,
+ const std::string& profile_name)
+{
+ return ptr_->create_datareader_with_profile(topic, profile_name);
+}
+
+fastdds::dds::ReturnCode_t FastDDSSubscriber::delete_datareader(
fastdds::dds::DataReader* reader)
{
if (NULL == reader)
{
- return ReturnCode_t::RETCODE_ALREADY_DELETED;
+ return fastdds::dds::RETCODE_ALREADY_DELETED;
}
return ptr_->delete_datareader(reader);
@@ -903,17 +738,18 @@ FastDDSDataWriter::~FastDDSDataWriter()
bool FastDDSDataWriter::create_by_ref(const std::string& ref)
{
bool rv = false;
- if (nullptr == ptr_){
- fastrtps::PublisherAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillPublisherAttributes(ref, attrs))
+ if (nullptr == ptr_)
+ {
+ fastdds::dds::DataWriterQos qos;
+ std::string topic_name;
+ if (fastdds::dds::RETCODE_OK == publisher_->get_ptr()->get_datawriter_qos_from_profile(ref, qos, topic_name))
{
- topic_ = publisher_->get_participant()->find_local_topic(attrs.topic.topicName.c_str());
- if(topic_){
- fastdds::dds::DataWriterQos qos;
- set_qos_from_attributes(qos, attrs);
+ topic_ = publisher_->get_participant()->find_local_topic(topic_name);
- ptr_ = publisher_->create_datawriter(topic_->get_ptr(), qos);
- rv = (nullptr != ptr_) && bool(topic_);
+ if (topic_)
+ {
+ ptr_ = publisher_->create_datawriter_with_profile(topic_->get_ptr(), ref);
+ rv = (nullptr != ptr_);
}
}
}
@@ -923,17 +759,19 @@ bool FastDDSDataWriter::create_by_ref(const std::string& ref)
bool FastDDSDataWriter::create_by_xml(const std::string& xml)
{
bool rv = false;
- if (nullptr == ptr_){
- fastrtps::PublisherAttributes attrs;
- if (xmlobjects::parse_publisher(xml.data(), xml.size(), attrs))
+ if (nullptr == ptr_)
+ {
+ std::string topic_name;
+ fastdds::dds::DataWriterQos qos = publisher_->get_ptr()->get_default_datawriter_qos();
+
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == publisher_->get_ptr()->get_datawriter_qos_from_xml(xml, qos, topic_name))
{
- topic_ = publisher_->get_participant()->find_local_topic(attrs.topic.topicName.c_str());
- if(topic_){
- fastdds::dds::DataWriterQos qos;
- set_qos_from_attributes(qos, attrs);
+ topic_ = publisher_->get_participant()->find_local_topic(topic_name);
+ if (topic_)
+ {
ptr_ = publisher_->create_datawriter(topic_->get_ptr(), qos);
- rv = (nullptr != ptr_) && bool(topic_);
+ rv = (nullptr != ptr_);
}
}
}
@@ -957,13 +795,39 @@ bool FastDDSDataWriter::create_by_bin(
return rv;
}
-bool FastDDSDataWriter::match(const fastrtps::PublisherAttributes& attrs) const
+bool FastDDSDataWriter::match_from_ref(const std::string& ref) const
{
- fastdds::dds::DataWriterQos qos;
- set_qos_from_attributes(qos, attrs);
- return (ptr_->get_qos() == qos);
+ bool rv = false;
+
+ if (nullptr != ptr_)
+ {
+ fastdds::dds::DataWriterQos qos;
+ std::string topic_name;
+ if (fastdds::dds::RETCODE_OK == publisher_->get_ptr()->get_datawriter_qos_from_profile(ref, qos, topic_name))
+ {
+ rv = (ptr_->get_qos() == qos) && (topic_->get_name() == topic_name);
+ }
+ }
+
+ return rv;
}
+bool FastDDSDataWriter::match_from_xml(const std::string& xml) const
+{
+ bool rv = false;
+
+ if (nullptr != ptr_)
+ {
+ fastdds::dds::DataWriterQos qos = publisher_->get_ptr()->get_default_datawriter_qos();
+ std::string topic_name;
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == publisher_->get_ptr()->get_datawriter_qos_from_xml(xml, qos, topic_name))
+ {
+ rv = (ptr_->get_qos() == qos) && (topic_->get_name() == topic_name);
+ }
+ }
+
+ return rv;
+}
bool FastDDSDataWriter::match_from_bin(const dds::xrce::OBJK_DataWriter_Binary& datawriter_xrce) const
{
@@ -1001,16 +865,19 @@ FastDDSDataReader::~FastDDSDataReader()
bool FastDDSDataReader::create_by_ref(const std::string& ref)
{
bool rv = false;
- if (nullptr == ptr_){
- fastrtps::SubscriberAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillSubscriberAttributes(ref, attrs))
+
+ if (nullptr == ptr_)
+ {
+ fastdds::dds::DataReaderQos qos;
+ std::string topic_name;
+
+ if (fastdds::dds::RETCODE_OK == subscriber_->get_ptr()->get_datareader_qos_from_profile(ref, qos, topic_name))
{
- topic_ = subscriber_->get_participant()->find_local_topic(attrs.topic.topicName.c_str());
- if(topic_){
- fastdds::dds::DataReaderQos qos;
- set_qos_from_attributes(qos, attrs);
+ topic_ = subscriber_->get_participant()->find_local_topic(topic_name);
- ptr_ = subscriber_->create_datareader(topic_->get_ptr(), qos);
+ if (topic_)
+ {
+ ptr_ = subscriber_->create_datareader_with_profile(topic_->get_ptr(), ref);
rv = (nullptr != ptr_);
}
}
@@ -1021,15 +888,17 @@ bool FastDDSDataReader::create_by_ref(const std::string& ref)
bool FastDDSDataReader::create_by_xml(const std::string& xml)
{
bool rv = false;
- if (nullptr == ptr_){
- fastrtps::SubscriberAttributes attrs;
- if (xmlobjects::parse_subscriber(xml.data(), xml.size(), attrs))
+ if (nullptr == ptr_)
+ {
+ std::string topic_name;
+ fastdds::dds::DataReaderQos qos = subscriber_->get_ptr()->get_default_datareader_qos();
+
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == subscriber_->get_ptr()->get_datareader_qos_from_xml(xml, qos, topic_name))
{
- topic_ = subscriber_->get_participant()->find_local_topic(attrs.topic.topicName.c_str());
- if(topic_){
- fastdds::dds::DataReaderQos qos;
- set_qos_from_attributes(qos, attrs);
+ topic_ = subscriber_->get_participant()->find_local_topic(topic_name);
+ if (topic_)
+ {
ptr_ = subscriber_->create_datareader(topic_->get_ptr(), qos);
rv = (nullptr != ptr_);
}
@@ -1059,16 +928,17 @@ bool FastDDSDataReader::match_from_ref(
const std::string& ref) const
{
bool rv = false;
+
if (nullptr != ptr_)
{
- fastrtps::SubscriberAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillSubscriberAttributes(ref, attrs))
+ fastdds::dds::DataReaderQos qos;
+ std::string topic_name;
+ if (fastdds::dds::RETCODE_OK == subscriber_->get_ptr()->get_datareader_qos_from_profile(ref, qos, topic_name))
{
- fastdds::dds::DataReaderQos qos;
- set_qos_from_attributes(qos, attrs);
- rv = (ptr_->get_qos() == qos);
+ rv = (ptr_->get_qos() == qos) && (topic_->get_name() == topic_name);
}
}
+
return rv;
}
@@ -1076,16 +946,17 @@ bool FastDDSDataReader::match_from_xml(
const std::string& xml) const
{
bool rv = false;
+
if (nullptr != ptr_)
{
- fastrtps::SubscriberAttributes attrs;
- if (xmlobjects::parse_subscriber(xml.data(), xml.size(), attrs))
+ fastdds::dds::DataReaderQos qos = subscriber_->get_ptr()->get_default_datareader_qos();
+ std::string topic_name;
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == subscriber_->get_ptr()->get_datareader_qos_from_xml(xml, qos, topic_name))
{
- fastdds::dds::DataReaderQos qos;
- set_qos_from_attributes(qos, attrs);
- rv = (ptr_->get_qos() == qos);
+ rv = (ptr_->get_qos() == qos) && (topic_->get_name() == topic_name);
}
}
+
return rv;
}
@@ -1110,10 +981,10 @@ bool FastDDSDataReader::read(
bool rv = false;
- fastrtps::Duration_t d((long double) timeout.count()/1000.0);
+ fastdds::dds::Duration_t d((long double) timeout.count()/1000.0);
if(ptr_->wait_for_unread_message(d)){
- rv = ReturnCode_t::RETCODE_OK == ptr_->take_next_sample(&data, &sample_info);
+ rv = fastdds::dds::RETCODE_OK == ptr_->take_next_sample(&data, &sample_info);
}
return rv;
@@ -1144,28 +1015,15 @@ FastDDSRequester::~FastDDSRequester()
}
}
-bool FastDDSRequester::create_by_attributes(
- const fastrtps::RequesterAttributes& attrs)
+bool FastDDSRequester::create_by_qos(
+ const fastdds::dds::RequesterQos& qos)
{
- bool rv = false;
-
- fastdds::dds::PublisherQos qos_publisher;
- set_qos_from_attributes(qos_publisher, attrs.publisher);
- publisher_ptr_ = participant_->create_publisher(qos_publisher);
-
- fastdds::dds::DataWriterQos qos_datawriter;
- set_qos_from_attributes(qos_datawriter, attrs.publisher);
- datawriter_ptr_ = publisher_ptr_->create_datawriter(request_topic_->get_ptr(), qos_datawriter);
-
- fastdds::dds::SubscriberQos qos_subscriber;
- set_qos_from_attributes(qos_subscriber, attrs.subscriber);
- subscriber_ptr_ = participant_->create_subscriber(qos_subscriber);
-
- fastdds::dds::DataReaderQos qos_datareader;
- set_qos_from_attributes(qos_datareader, attrs.subscriber);
- datareader_ptr_ = subscriber_ptr_->create_datareader(reply_topic_->get_ptr(), qos_datareader);
+ publisher_ptr_ = participant_->create_publisher(participant_->get_ptr()->get_default_publisher_qos());
+ datawriter_ptr_ = publisher_ptr_->create_datawriter(request_topic_->get_ptr(), qos.writer_qos);
+ subscriber_ptr_ = participant_->create_subscriber(participant_->get_ptr()->get_default_subscriber_qos());
+ datareader_ptr_ = subscriber_ptr_->create_datareader(reply_topic_->get_ptr(), qos.reader_qos);
- rv = (nullptr != publisher_ptr_) && (nullptr != datawriter_ptr_) &&
+ bool rv = (nullptr != publisher_ptr_) && (nullptr != datawriter_ptr_) &&
(nullptr != subscriber_ptr_) && (nullptr != datareader_ptr_);
if (rv)
@@ -1187,22 +1045,40 @@ bool FastDDSRequester::create_by_attributes(
bool FastDDSRequester::match_from_ref(const std::string& ref) const
{
bool rv = false;
- fastrtps::RequesterAttributes new_attributes;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillRequesterAttributes(ref, new_attributes))
+
+ fastdds::dds::RequesterQos qos;
+
+ if(fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_requester_qos_from_profile(ref, qos))
{
- rv = match(new_attributes);
+ rv = datawriter_ptr_->get_qos() == qos.writer_qos
+ && datareader_ptr_->get_qos() == qos.reader_qos
+ && reply_topic_->get_name() == qos.reply_topic_name
+ && request_topic_->get_name() == qos.request_topic_name
+ && reply_topic_->get_type()->get_type_support()->get_name() == qos.reply_type
+ && request_topic_->get_type()->get_type_support()->get_name() == qos.request_type;
}
+
return rv;
}
bool FastDDSRequester::match_from_xml(const std::string& xml) const
{
bool rv = false;
- fastrtps::RequesterAttributes new_attributes;
- if (xmlobjects::parse_requester(xml.data(), xml.size(), new_attributes))
+
+ fastdds::dds::RequesterQos qos;
+ qos.writer_qos = publisher_ptr_->get_default_datawriter_qos();
+ qos.reader_qos = subscriber_ptr_->get_default_datareader_qos();
+
+ if(xml.size() == 0 || fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_requester_qos_from_xml(xml, qos))
{
- rv = match(new_attributes);
+ rv = datawriter_ptr_->get_qos() == qos.writer_qos
+ && datareader_ptr_->get_qos() == qos.reader_qos
+ && reply_topic_->get_name() == qos.reply_topic_name
+ && request_topic_->get_name() == qos.request_topic_name
+ && reply_topic_->get_type()->get_type_support()->get_name() == qos.reply_type
+ && request_topic_->get_type()->get_type_support()->get_name() == qos.request_type;
}
+
return rv;
}
@@ -1214,21 +1090,11 @@ bool FastDDSRequester::match_from_bin(const dds::xrce::OBJK_Requester_Binary& re
set_qos_from_xrce_object(qos_subscriber, requester_xrce);
return publisher_ptr_->get_qos() == qos_publisher
- && subscriber_ptr_->get_qos() == qos_subscriber;
- // TODO Check topic names
-}
-
-bool FastDDSRequester::match(const fastrtps::RequesterAttributes& attrs) const
-{
- fastdds::dds::PublisherQos qos_publisher;
- set_qos_from_attributes(qos_publisher, attrs.publisher);
- fastdds::dds::SubscriberQos qos_subscriber;
- set_qos_from_attributes(qos_subscriber, attrs.subscriber);
-
- return reply_topic_->match(attrs.subscriber.topic)
- && request_topic_->match(attrs.publisher.topic)
- && publisher_ptr_->get_qos() == qos_publisher
- && subscriber_ptr_->get_qos() == qos_subscriber;
+ && subscriber_ptr_->get_qos() == qos_subscriber
+ && reply_topic_->get_name() == requester_xrce.reply_topic_name()
+ && request_topic_->get_name() == requester_xrce.request_topic_name()
+ && reply_topic_->get_type()->get_type_support()->get_name() == requester_xrce.reply_type()
+ && request_topic_->get_type()->get_type_support()->get_name() == requester_xrce.request_type();
}
bool FastDDSRequester::write(
@@ -1238,7 +1104,7 @@ bool FastDDSRequester::write(
bool rv = true;
try
{
- fastrtps::rtps::WriteParams wparams;
+ fastdds::rtps::WriteParams wparams;
rv = datawriter_ptr_->write(&const_cast<std::vector<uint8_t>&>(data), wparams);
if (rv)
{
@@ -1264,10 +1130,10 @@ bool FastDDSRequester::read(
{
bool rv = false;
- fastrtps::Duration_t d((long double) timeout.count()/1000.0);
+ fastdds::dds::Duration_t d((long double) timeout.count()/1000.0);
if(datareader_ptr_->wait_for_unread_message(d)){
- rv = ReturnCode_t::RETCODE_OK == datareader_ptr_->take_next_sample(&data, &info);
+ rv = fastdds::dds::RETCODE_OK == datareader_ptr_->take_next_sample(&data, &info);
}
if (rv)
@@ -1333,26 +1199,14 @@ FastDDSReplier::~FastDDSReplier()
}
}
-bool FastDDSReplier::create_by_attributes(
- const fastrtps::ReplierAttributes& attrs)
+bool FastDDSReplier::create_by_qos(
+ const fastdds::dds::ReplierQos& qos)
{
bool rv = false;
-
- fastdds::dds::PublisherQos qos_publisher;
- set_qos_from_attributes(qos_publisher, attrs.publisher);
- publisher_ptr_ = participant_->create_publisher(qos_publisher);
-
- fastdds::dds::DataWriterQos qos_datawriter;
- set_qos_from_attributes(qos_datawriter, attrs.publisher);
- datawriter_ptr_ = publisher_ptr_->create_datawriter(reply_topic_->get_ptr(), qos_datawriter);
-
- fastdds::dds::SubscriberQos qos_subscriber;
- set_qos_from_attributes(qos_subscriber, attrs.subscriber);
- subscriber_ptr_ = participant_->create_subscriber(qos_subscriber);
-
- fastdds::dds::DataReaderQos qos_datareader;
- set_qos_from_attributes(qos_datareader, attrs.subscriber);
- datareader_ptr_ = subscriber_ptr_->create_datareader(request_topic_->get_ptr(), qos_datareader);
+ publisher_ptr_ = participant_->create_publisher(participant_->get_ptr()->get_default_publisher_qos());
+ datawriter_ptr_ = publisher_ptr_->create_datawriter(reply_topic_->get_ptr(), qos.writer_qos);
+ subscriber_ptr_ = participant_->create_subscriber(participant_->get_ptr()->get_default_subscriber_qos());
+ datareader_ptr_ = subscriber_ptr_->create_datareader(request_topic_->get_ptr(), qos.reader_qos);
rv = (nullptr != publisher_ptr_) && (nullptr != datawriter_ptr_) &&
(nullptr != subscriber_ptr_) && (nullptr != datareader_ptr_);
@@ -1364,22 +1218,40 @@ bool FastDDSReplier::create_by_attributes(
bool FastDDSReplier::match_from_ref(const std::string& ref) const
{
bool rv = false;
- fastrtps::ReplierAttributes new_attributes;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillReplierAttributes(ref, new_attributes))
+
+ fastdds::dds::ReplierQos qos;
+
+ if (fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_replier_qos_from_profile(ref, qos))
{
- rv = match(new_attributes);
+ rv = datawriter_ptr_->get_qos() == qos.writer_qos
+ && datareader_ptr_->get_qos() == qos.reader_qos
+ && reply_topic_->get_name() == qos.reply_topic_name
+ && request_topic_->get_name() == qos.request_topic_name
+ && reply_topic_->get_type()->get_type_support()->get_name() == qos.reply_type
+ && request_topic_->get_type()->get_type_support()->get_name() == qos.request_type;
}
+
return rv;
}
bool FastDDSReplier::match_from_xml(const std::string& xml) const
{
bool rv = false;
- fastrtps::ReplierAttributes new_attributes;
- if (xmlobjects::parse_replier(xml.data(), xml.size(), new_attributes))
+
+ fastdds::dds::ReplierQos qos;
+ qos.writer_qos = publisher_ptr_->get_default_datawriter_qos();
+ qos.reader_qos = subscriber_ptr_->get_default_datareader_qos();
+
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == participant_->get_ptr()->get_replier_qos_from_xml(xml, qos))
{
- rv = match(new_attributes);
+ rv = datawriter_ptr_->get_qos() == qos.writer_qos
+ && datareader_ptr_->get_qos() == qos.reader_qos
+ && reply_topic_->get_name() == qos.reply_topic_name
+ && request_topic_->get_name() == qos.request_topic_name
+ && reply_topic_->get_type()->get_type_support()->get_name() == qos.reply_type
+ && request_topic_->get_type()->get_type_support()->get_name() == qos.request_type;
}
+
return rv;
}
@@ -1391,26 +1263,16 @@ bool FastDDSReplier::match_from_bin(const dds::xrce::OBJK_Replier_Binary& replie
set_qos_from_xrce_object(qos_subscriber, replier_xrce);
return publisher_ptr_->get_qos() == qos_publisher
- && subscriber_ptr_->get_qos() == qos_subscriber;
- // TODO Check topic names
-}
-
-bool FastDDSReplier::match(const fastrtps::ReplierAttributes& attrs) const
-{
- fastdds::dds::PublisherQos qos_publisher;
- set_qos_from_attributes(qos_publisher, attrs.publisher);
- fastdds::dds::SubscriberQos qos_subscriber;
- set_qos_from_attributes(qos_subscriber, attrs.subscriber);
-
- return reply_topic_->match(attrs.publisher.topic)
- && request_topic_->match(attrs.subscriber.topic)
- && publisher_ptr_->get_qos() == qos_publisher
- && subscriber_ptr_->get_qos() == qos_subscriber;
+ && subscriber_ptr_->get_qos() == qos_subscriber
+ && reply_topic_->get_name() == replier_xrce.reply_topic_name()
+ && request_topic_->get_name() == replier_xrce.request_topic_name()
+ && reply_topic_->get_type()->get_type_support()->get_name() == replier_xrce.reply_type()
+ && request_topic_->get_type()->get_type_support()->get_name() == replier_xrce.request_type();
}
void FastDDSReplier::transport_sample_identity(
const dds::SampleIdentity& dds_identity,
- fastrtps::rtps::SampleIdentity& fast_identity)
+ fastdds::rtps::SampleIdentity& fast_identity)
{
std::copy(
dds_identity.writer_guid().guidPrefix().begin(),
@@ -1435,7 +1297,7 @@ bool FastDDSReplier::write(
dds::SampleIdentity sample_identity;
sample_identity.deserialize(deserializer);
- fastrtps::rtps::WriteParams wparams;
+ fastdds::rtps::WriteParams wparams;
transport_sample_identity(sample_identity, wparams.related_sample_identity());
std::vector<uint8_t> output_data(data.size() - deserializer.get_serialized_data_length());
@@ -1445,7 +1307,7 @@ bool FastDDSReplier::write(
}
void FastDDSReplier::transform_sample_identity(
- const fastrtps::rtps::SampleIdentity& fast_identity,
+ const fastdds::rtps::SampleIdentity& fast_identity,
dds::SampleIdentity& dds_identity)
{
std::copy(
@@ -1471,10 +1333,10 @@ bool FastDDSReplier::read(
bool rv = false;
- fastrtps::Duration_t d((long double) timeout.count()/1000.0);
+ fastdds::dds::Duration_t d((long double) timeout.count()/1000.0);
if(datareader_ptr_->wait_for_unread_message(d)){
- rv = ReturnCode_t::RETCODE_OK == datareader_ptr_->take_next_sample(&temp_data, &info);
+ rv = fastdds::dds::RETCODE_OK == datareader_ptr_->take_next_sample(&temp_data, &info);
}
if (rv)
diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
index a383fb941..0d2c637d5 100644
--- a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -16,17 +16,12 @@
#include <uxr/agent/utils/Conversion.hpp>
#include <uxr/agent/logger/Logger.hpp>
-#include <fastrtps/xmlparser/XMLProfileManager.h>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include "../../xmlobjects/xmlobjects.h"
-
#include <uxr/agent/middleware/utils/Callbacks.hpp>
namespace eprosima {
namespace uxr {
-using namespace fastrtps::xmlparser;
-
FastDDSMiddleware::FastDDSMiddleware()
: participants_()
, topics_()
@@ -79,12 +74,20 @@ bool FastDDSMiddleware::create_participant_by_ref(
}
bool rv = false;
- fastrtps::ParticipantAttributes attrs;
auto participant_domain_id = domain_id;
- if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+
+ if (domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF)
{
- participant_domain_id = static_cast<int16_t>(attrs.domainId);
+ fastdds::dds::DomainParticipantExtendedQos qos;
+
+ auto factory = fastdds::dds::DomainParticipantFactory::get_instance();
+
+ if (fastdds::dds::RETCODE_OK == factory->get_participant_extended_qos_from_profile(ref, qos))
+ {
+ participant_domain_id = static_cast<int16_t>(qos.domainId());
+ }
}
+
std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
if (participant->create_by_ref(ref))
{
@@ -161,25 +164,28 @@ bool FastDDSMiddleware::create_participant_by_bin(
static
std::shared_ptr<FastDDSTopic> create_topic(
std::shared_ptr<FastDDSParticipant>& participant,
- const fastrtps::TopicAttributes& attrs)
+ const fastdds::dds::TopicQos& qos,
+ const std::string& topic_name,
+ const std::string& type_name)
{
- std::shared_ptr<FastDDSTopic> topic = participant->find_local_topic(attrs.getTopicName().c_str());
+ std::shared_ptr<FastDDSTopic> topic = participant->find_local_topic(topic_name);
if (topic)
{
- if (0 != std::strcmp(attrs.getTopicDataType().c_str(), topic->get_type()->get_type_support()->getName()))
+ if (type_name == topic->get_type()->get_type_support()->get_name())
{
- topic.reset();
+ // TODO(pgarrido): Shall we reuse topics?
+ // topic.reset();
}
}
else
{
- const char * type_name = attrs.getTopicDataType().c_str();
std::shared_ptr<FastDDSType> type = participant->find_local_type(type_name);
if (!type)
{
fastdds::dds::TypeSupport type_support(new TopicPubSubType{false});
- type_support->setName(type_name);
- type_support->m_isGetKeyDefined = (attrs.getTopicKind() == fastrtps::rtps::TopicKind_t::WITH_KEY);
+ type_support->set_name(type_name);
+ // TODO(pgarrido): Handle topics with keys
+ type_support->is_compute_key_provided = false;
type = std::make_shared<FastDDSType>(type_support, participant);
if (!participant->register_local_type(type))
{
@@ -190,7 +196,8 @@ std::shared_ptr<FastDDSTopic> create_topic(
if (type)
{
topic = std::make_shared<FastDDSTopic>(participant);
- topic->create_by_name_type(attrs.getTopicName().c_str(), type);
+ topic->create_by_name_type(topic_name, type, qos);
+
if (!participant->register_local_topic(topic))
{
topic.reset();
@@ -206,16 +213,27 @@ bool FastDDSMiddleware::create_topic_by_ref(
const std::string& ref)
{
bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
+ auto it_participant = participants_.find(participant_id);
+
+ if (participants_.end() != it_participant)
{
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
+ fastdds::dds::TopicQos qos = fastdds::dds::TOPIC_QOS_DEFAULT;
+ std::string topic_name;
+ std::string type_name;
+
+ auto & participant = it_participant->second;
+
+ if (fastdds::dds::RETCODE_OK == participant->get_ptr()->get_topic_qos_from_profile(ref, qos, topic_name, type_name))
{
- std::shared_ptr<FastDDSTopic> topic = create_topic(it_participant->second, attrs);
- rv = topic && topics_.emplace(topic_id, std::move(topic)).second;
+ std::shared_ptr<FastDDSTopic> topic = create_topic(participant, qos, topic_name, type_name);
+ if (topic)
+ {
+ auto emplace_res = topics_.emplace(topic_id, std::move(topic));
+ rv = emplace_res.second;
+ }
}
}
+
return rv;
}
@@ -225,16 +243,27 @@ bool FastDDSMiddleware::create_topic_by_xml(
const std::string& xml)
{
bool rv = false;
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
+ auto it_participant = participants_.find(participant_id);
+
+ if (participants_.end() != it_participant)
{
- auto it_participant = participants_.find(participant_id);
- if (participants_.end() != it_participant)
+ auto & participant = it_participant->second;
+
+ fastdds::dds::TopicQos qos = participant->get_ptr()->get_default_topic_qos();
+ std::string topic_name;
+ std::string type_name;
+
+ if (xml.size() == 0 || fastdds::dds::RETCODE_OK == participant->get_ptr()->get_topic_qos_from_xml(xml, qos, topic_name, type_name))
{
- std::shared_ptr<FastDDSTopic> topic = create_topic(it_participant->second, attrs);
- rv = topic && topics_.emplace(topic_id, std::move(topic)).second;
+ std::shared_ptr<FastDDSTopic> topic = create_topic(participant, qos, topic_name, type_name);
+ if (topic)
+ {
+ auto emplace_res = topics_.emplace(topic_id, std::move(topic));
+ rv = emplace_res.second;
+ }
}
}
+
return rv;
}
@@ -245,15 +274,26 @@ bool FastDDSMiddleware::create_topic_by_bin(
{
bool rv = false;
auto it_participant = participants_.find(participant_id);
+
if (participants_.end() != it_participant)
{
- fastrtps::TopicAttributes attrs(
- topic_xrce.topic_name().c_str(),
- topic_xrce.type_name().c_str()
- );
- std::shared_ptr<FastDDSTopic> topic = create_topic(it_participant->second, attrs);
- rv = topic && topics_.emplace(topic_id, std::move(topic)).second;
+ fastdds::dds::TopicQos qos = fastdds::dds::TOPIC_QOS_DEFAULT;
+ std::string topic_name = topic_xrce.topic_name();
+ std::string type_name = topic_xrce.type_name();
+
+ auto & participant = it_participant->second;
+
+ // Nothing to fill in TopicQoS from binary representation
+ {
+ std::shared_ptr<FastDDSTopic> topic = create_topic(participant, qos, topic_name, type_name);
+ if (topic)
+ {
+ auto emplace_res = topics_.emplace(topic_id, std::move(topic));
+ rv = emplace_res.second;
+ }
+ }
}
+
return rv;
}
@@ -497,18 +537,19 @@ bool FastDDSMiddleware::create_datareader_by_bin(
return rv;
}
-std::shared_ptr<FastDDSRequester> FastDDSMiddleware::create_requester(
+static std::shared_ptr<FastDDSRequester> create_requester(
std::shared_ptr<FastDDSParticipant>& participant,
- const fastrtps::RequesterAttributes& attrs)
+ const fastdds::dds::RequesterQos& qos)
{
std::shared_ptr<FastDDSRequester> requester{};
- std::shared_ptr<FastDDSTopic> request_topic = create_topic(participant, attrs.publisher.topic);
- std::shared_ptr<FastDDSTopic> reply_topic = create_topic(participant, attrs.subscriber.topic);
+ std::shared_ptr<FastDDSTopic> request_topic = create_topic(participant, participant->get_ptr()->get_default_topic_qos(), qos.request_topic_name, qos.request_type);
+ std::shared_ptr<FastDDSTopic> reply_topic = create_topic(participant, participant->get_ptr()->get_default_topic_qos(), qos.reply_topic_name, qos.reply_type);
+
if (request_topic && reply_topic)
{
requester =
std::make_shared<FastDDSRequester>(participant, request_topic, reply_topic);
- if (!requester->create_by_attributes(attrs))
+ if (!requester->create_by_qos(qos))
{
requester.reset();
}
@@ -526,17 +567,20 @@ bool FastDDSMiddleware::create_requester_by_ref(
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::RequesterAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillRequesterAttributes(ref, attrs))
+
+ fastdds::dds::RequesterQos qos;
+ if(fastdds::dds::RETCODE_OK == participant->get_ptr()->get_requester_qos_from_profile(ref, qos))
{
- std::shared_ptr<FastDDSRequester> requester = create_requester(participant, attrs);
+ std::shared_ptr<FastDDSRequester> requester = create_requester(participant, qos);
+
if (nullptr == requester)
{
return false;
}
+
auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
rv = emplace_res.second;
- if (rv)
+ if(rv)
{
callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
middleware::CallbackKind::CREATE_REQUESTER,
@@ -544,6 +588,7 @@ bool FastDDSMiddleware::create_requester_by_ref(
emplace_res.first->second->get_request_datawriter(),
emplace_res.first->second->get_reply_datareader());
}
+
}
}
return rv;
@@ -559,17 +604,20 @@ bool FastDDSMiddleware::create_requester_by_xml(
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::RequesterAttributes attrs;
- if (xmlobjects::parse_requester(xml.data(), xml.size(), attrs))
+
+ fastdds::dds::RequesterQos qos;
+ if(xml.size() == 0 || fastdds::dds::RETCODE_OK == participant->get_ptr()->get_requester_qos_from_xml(xml, qos))
{
- std::shared_ptr<FastDDSRequester> requester = create_requester(participant, attrs);
+ std::shared_ptr<FastDDSRequester> requester = create_requester(participant, qos);
+
if (nullptr == requester)
{
return false;
}
+
auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
rv = emplace_res.second;
- if (rv)
+ if(rv)
{
callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
middleware::CallbackKind::CREATE_REQUESTER,
@@ -577,6 +625,7 @@ bool FastDDSMiddleware::create_requester_by_xml(
emplace_res.first->second->get_request_datawriter(),
emplace_res.first->second->get_reply_datareader());
}
+
}
}
return rv;
@@ -592,55 +641,55 @@ bool FastDDSMiddleware::create_requester_by_bin(
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::RequesterAttributes attrs;
- attrs.service_name = requester_xrce.service_name();
- attrs.reply_topic_name = requester_xrce.reply_topic_name();
- attrs.request_topic_name = requester_xrce.request_topic_name();
- attrs.reply_type = requester_xrce.reply_type();
- attrs.request_type = requester_xrce.request_type();
+ fastdds::dds::RequesterQos qos;
+ qos.reply_topic_name = requester_xrce.reply_topic_name();
+ qos.request_topic_name = requester_xrce.request_topic_name();
+ qos.reply_type = requester_xrce.reply_type();
+ qos.request_type = requester_xrce.request_type();
- attrs.publisher.topic.topicName = requester_xrce.request_topic_name();
- attrs.publisher.topic.topicDataType = requester_xrce.request_type();
+ qos.writer_qos.endpoint().history_memory_policy = fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+ qos.reader_qos.endpoint().history_memory_policy = fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
- attrs.subscriber.topic.topicName = requester_xrce.reply_topic_name();
- attrs.subscriber.topic.topicDataType = requester_xrce.reply_type();
+ qos.reader_qos.reliability().kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
- attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
- attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
- attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
-
- std::shared_ptr<FastDDSRequester> requester = create_requester(participant, attrs);
- if (nullptr == requester)
- {
- return false;
- }
- auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
- rv = emplace_res.second;
- if (rv)
{
- callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
- middleware::CallbackKind::CREATE_REQUESTER,
- participant->get_ptr(),
- emplace_res.first->second->get_request_datawriter(),
- emplace_res.first->second->get_reply_datareader());
+ std::shared_ptr<FastDDSRequester> requester = create_requester(participant, qos);
+
+ if (nullptr == requester)
+ {
+ return false;
+ }
+
+ auto emplace_res = requesters_.emplace(requester_id, std::move(requester));
+ rv = emplace_res.second;
+ if(rv)
+ {
+ callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
+ middleware::CallbackKind::CREATE_REQUESTER,
+ participant->get_ptr(),
+ emplace_res.first->second->get_request_datawriter(),
+ emplace_res.first->second->get_reply_datareader());
+ }
+
}
}
return rv;
}
-std::shared_ptr<FastDDSReplier> FastDDSMiddleware::create_replier(
+static std::shared_ptr<FastDDSReplier> create_replier(
std::shared_ptr<FastDDSParticipant>& participant,
- const fastrtps::ReplierAttributes& attrs)
+ const fastdds::dds::ReplierQos& qos)
{
std::shared_ptr<FastDDSReplier> replier{};
- std::shared_ptr<FastDDSTopic> request_topic = create_topic(participant, attrs.subscriber.topic);
- std::shared_ptr<FastDDSTopic> reply_topic = create_topic(participant, attrs.publisher.topic);
+ std::shared_ptr<FastDDSTopic> request_topic = create_topic(participant, participant->get_ptr()->get_default_topic_qos(), qos.request_topic_name, qos.request_type);
+ std::shared_ptr<FastDDSTopic> reply_topic = create_topic(participant, participant->get_ptr()->get_default_topic_qos(), qos.reply_topic_name, qos.reply_type);
+
if (request_topic && reply_topic)
{
replier =
std::make_shared<FastDDSReplier>(participant, request_topic, reply_topic);
- if (!replier->create_by_attributes(attrs))
+ if (!replier->create_by_qos(qos))
{
replier.reset();
}
@@ -658,17 +707,20 @@ bool FastDDSMiddleware::create_replier_by_ref(
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::ReplierAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillReplierAttributes(ref, attrs))
+
+ fastdds::dds::ReplierQos qos;
+ if(fastdds::dds::RETCODE_OK == participant->get_ptr()->get_replier_qos_from_profile(ref, qos))
{
- std::shared_ptr<FastDDSReplier> replier = create_replier(participant, attrs);
+ std::shared_ptr<FastDDSReplier> replier = create_replier(participant, qos);
+
if (nullptr == replier)
{
return false;
}
+
auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
rv = emplace_res.second;
- if (rv)
+ if(rv)
{
callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
middleware::CallbackKind::CREATE_REPLIER,
@@ -676,6 +728,7 @@ bool FastDDSMiddleware::create_replier_by_ref(
emplace_res.first->second->get_reply_datawriter(),
emplace_res.first->second->get_request_datareader());
}
+
}
}
return rv;
@@ -691,17 +744,20 @@ bool FastDDSMiddleware::create_replier_by_xml(
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::ReplierAttributes attrs;
- if (xmlobjects::parse_replier(xml.data(), xml.size(), attrs))
+
+ fastdds::dds::ReplierQos qos;
+ if(xml.size() == 0 || fastdds::dds::RETCODE_OK == participant->get_ptr()->get_replier_qos_from_xml(xml, qos))
{
- std::shared_ptr<FastDDSReplier> replier = create_replier(participant, attrs);
+ std::shared_ptr<FastDDSReplier> replier = create_replier(participant, qos);
+
if (nullptr == replier)
{
return false;
}
+
auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
rv = emplace_res.second;
- if (rv)
+ if(rv)
{
callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
middleware::CallbackKind::CREATE_REPLIER,
@@ -709,6 +765,7 @@ bool FastDDSMiddleware::create_replier_by_xml(
emplace_res.first->second->get_reply_datawriter(),
emplace_res.first->second->get_request_datareader());
}
+
}
}
return rv;
@@ -719,43 +776,41 @@ bool FastDDSMiddleware::create_replier_by_bin(
uint16_t participant_id,
const dds::xrce::OBJK_Replier_Binary& replier_xrce)
{
- bool rv = false;
+ bool rv = false;
auto it_participant = participants_.find(participant_id);
if (participants_.end() != it_participant)
{
std::shared_ptr<FastDDSParticipant>& participant = it_participant->second;
- fastrtps::ReplierAttributes attrs;
- attrs.service_name = replier_xrce.service_name();
- attrs.reply_topic_name = replier_xrce.reply_topic_name();
- attrs.request_topic_name = replier_xrce.request_topic_name();
- attrs.reply_type = replier_xrce.reply_type();
- attrs.request_type = replier_xrce.request_type();
+ fastdds::dds::ReplierQos qos;
+ qos.reply_topic_name = replier_xrce.reply_topic_name();
+ qos.request_topic_name = replier_xrce.request_topic_name();
+ qos.reply_type = replier_xrce.reply_type();
+ qos.request_type = replier_xrce.request_type();
- attrs.subscriber.topic.topicName = replier_xrce.request_topic_name();
- attrs.subscriber.topic.topicDataType = replier_xrce.request_type();
+ qos.writer_qos.endpoint().history_memory_policy = fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+ qos.reader_qos.endpoint().history_memory_policy = fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+ qos.reader_qos.reliability().kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
- attrs.publisher.topic.topicName = replier_xrce.reply_topic_name();
- attrs.publisher.topic.topicDataType = replier_xrce.reply_type();
+ {
+ std::shared_ptr<FastDDSReplier> replier = create_replier(participant, qos);
- attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
- attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
- attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
+ if (nullptr == replier)
+ {
+ return false;
+ }
+
+ auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
+ rv = emplace_res.second;
+ if(rv)
+ {
+ callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
+ middleware::CallbackKind::CREATE_REPLIER,
+ participant->get_ptr(),
+ emplace_res.first->second->get_reply_datawriter(),
+ emplace_res.first->second->get_request_datareader());
+ }
- std::shared_ptr<FastDDSReplier> replier = create_replier(participant, attrs);
- if (nullptr == replier)
- {
- return false;
- }
- auto emplace_res = repliers_.emplace(replier_id, std::move(replier));
- rv = emplace_res.second;
- if (rv)
- {
- callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
- middleware::CallbackKind::CREATE_REPLIER,
- participant->get_ptr(),
- emplace_res.first->second->get_reply_datawriter(),
- emplace_res.first->second->get_request_datareader());
}
}
return rv;
@@ -1026,11 +1081,12 @@ bool FastDDSMiddleware::matched_participant_from_ref(
auto it = participants_.find(participant_id);
if (participants_.end() != it)
{
- fastrtps::ParticipantAttributes attrs;
+ fastdds::dds::DomainParticipantExtendedQos qos;
+ auto factory = fastdds::dds::DomainParticipantFactory::get_instance();
auto participant_domain_id = domain_id;
- if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+ if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && fastdds::dds::RETCODE_OK == factory->get_participant_extended_qos_from_profile(ref, qos))
{
- participant_domain_id = static_cast<int16_t>(attrs.domainId);
+ participant_domain_id = static_cast<int16_t>(qos.domainId());
}
rv = (participant_domain_id== it->second->domain_id()) && (it->second->match_from_ref(ref));
}
@@ -1073,11 +1129,7 @@ bool FastDDSMiddleware::matched_topic_from_ref(
auto it = topics_.find(topic_id);
if (topics_.end() != it)
{
- fastrtps::TopicAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillTopicAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
+ rv = it->second->match_from_ref(ref);
}
return rv;
}
@@ -1090,11 +1142,7 @@ bool FastDDSMiddleware::matched_topic_from_xml(
auto it = topics_.find(topic_id);
if (topics_.end() != it)
{
- fastrtps::TopicAttributes attrs;
- if (xmlobjects::parse_topic(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
+ rv = it->second->match_from_xml(xml);
}
return rv;
}
@@ -1120,11 +1168,7 @@ bool FastDDSMiddleware::matched_datawriter_from_ref(
auto it = datawriters_.find(datawriter_id);
if (datawriters_.end() != it)
{
- fastrtps::PublisherAttributes attrs;
- if (XMLP_ret::XML_OK == XMLProfileManager::fillPublisherAttributes(ref, attrs))
- {
- rv = it->second->match(attrs);
- }
+ rv = it->second->match_from_ref(ref);
}
return rv;
}
@@ -1137,11 +1181,7 @@ bool FastDDSMiddleware::matched_datawriter_from_xml(
auto it = datawriters_.find(datawriter_id);
if (datawriters_.end() != it)
{
- fastrtps::PublisherAttributes attrs;
- if (xmlobjects::parse_publisher(xml.data(), xml.size(), attrs))
- {
- rv = it->second->match(attrs);
- }
+ rv = it->second->match_from_xml(xml);
}
return rv;
}
diff --git a/src/cpp/types/TopicPubSubType.cpp b/src/cpp/types/TopicPubSubType.cpp
index 3d64ef634..c715dd9b3 100644
--- a/src/cpp/types/TopicPubSubType.cpp
+++ b/src/cpp/types/TopicPubSubType.cpp
@@ -20,57 +20,79 @@ namespace eprosima {
namespace uxr {
TopicPubSubType::TopicPubSubType(bool with_key) {
- m_typeSize = 1024 + 4 /*encapsulation*/;
- m_isGetKeyDefined = with_key;
+ max_serialized_type_size = 1024 + 4 /*encapsulation*/;
+ is_compute_key_provided = with_key;
}
-bool TopicPubSubType::serialize(void *data, rtps::SerializedPayload_t *payload)
+bool TopicPubSubType::serialize(const void* const data, fastdds::rtps::SerializedPayload_t &payload, fastdds::dds::DataRepresentationId_t /* data_representation */)
{
bool rv = false;
- std::vector<unsigned char>* buffer = reinterpret_cast<std::vector<unsigned char>*>(data);
- payload->data[0] = 0;
- payload->data[1] = 1;
- payload->data[2] = 0;
- payload->data[3] = 0;
- if (buffer->size() <= (payload->max_size - 4))
+
+ // Reinterpret cast back to a std::vector from data pointer
+ void * non_const_data = const_cast<void*>(data);
+ std::vector<unsigned char>* buffer = reinterpret_cast<std::vector<unsigned char>*>(non_const_data);
+
+ // Representation header
+ payload.data[0] = 0;
+ payload.data[1] = 1;
+ payload.data[2] = 0;
+ payload.data[3] = 0;
+
+ if (buffer->size() <= (payload.max_size - 4))
{
- memcpy(&payload->data[4], buffer->data(), buffer->size());
- payload->length = uint32_t(buffer->size() + 4); //Get the serialized length
+ memcpy(&payload.data[4], buffer->data(), buffer->size());
+ payload.length = uint32_t(buffer->size() + 4); //Get the serialized length
rv = true;
}
+
return rv;
}
-bool TopicPubSubType::deserialize(rtps::SerializedPayload_t* payload, void* data)
+bool TopicPubSubType::deserialize(fastdds::rtps::SerializedPayload_t& payload, void* data)
{
std::vector<unsigned char>* buffer = reinterpret_cast<std::vector<unsigned char>*>(data);
- buffer->assign(payload->data + 4, payload->data + payload->length);
+ buffer->assign(payload.data + 4, payload.data + payload.length);
return true;
}
-std::function<uint32_t()> TopicPubSubType::getSerializedSizeProvider(void* data) {
- return [data]() -> uint32_t
- {
- return (uint32_t)reinterpret_cast<std::vector<unsigned char>*>(data)->size() + 4 /*encapsulation*/;
- };
+uint32_t TopicPubSubType::calculate_serialized_size(
+ const void* const data,
+ eprosima::fastdds::dds::DataRepresentationId_t /* data_representation */)
+{
+ void * non_const_data = const_cast<void*>(data);
+ std::vector<unsigned char>* buffer = reinterpret_cast<std::vector<unsigned char>*>(non_const_data);
+
+ return static_cast<uint32_t>(buffer->size() + 4); /*encapsulation*/
}
-void* TopicPubSubType::createData() {
+void* TopicPubSubType::create_data()
+{
return (void*)new std::vector<unsigned char>;
}
-void TopicPubSubType::deleteData(void* data) {
+void TopicPubSubType::delete_data(
+ void* data)
+{
delete((std::vector<unsigned char>*)data);
}
-bool TopicPubSubType::getKey(void *data, rtps::InstanceHandle_t* handle, bool force_md5)
+bool TopicPubSubType::compute_key(
+ fastdds::rtps::SerializedPayload_t& /* payload */,
+ fastdds::rtps::InstanceHandle_t& /* ihandle */,
+ bool /* force_md5 */)
+{
+ // TODO(pgarrido): Implement this function.
+ return false;
+}
+
+bool TopicPubSubType::compute_key(
+ const void* const /* data */,
+ fastdds::rtps::InstanceHandle_t& /* ihandle */,
+ bool /* force_md5 */)
{
- // TODO.
- (void) data;
- (void) handle;
- (void) force_md5;
- return m_isGetKeyDefined;
+ // TODO(pgarrido): Implement this function.
+ return false;
}
} // namespace uxr
diff --git a/src/cpp/utils/ArgumentParser.cpp b/src/cpp/utils/ArgumentParser.cpp
index a34505ce8..49fff23a5 100644
--- a/src/cpp/utils/ArgumentParser.cpp
+++ b/src/cpp/utils/ArgumentParser.cpp
@@ -80,10 +80,6 @@ eprosima::uxr::Middleware::Kind eprosima::uxr::agent::parser::utils::get_mw_kind
{
return eprosima::uxr::Middleware::Kind::FASTDDS;
}
- if ("rtps" == kind)
- {
- return eprosima::uxr::Middleware::Kind::FASTRTPS;
- }
#endif
#ifdef UAGENT_CED_PROFILE
if ("ced" == kind)
diff --git a/src/cpp/xmlobjects/xmlobjects.cpp b/src/cpp/xmlobjects/xmlobjects.cpp
deleted file mode 100644
index 05e5bc063..000000000
--- a/src/cpp/xmlobjects/xmlobjects.cpp
+++ /dev/null
@@ -1,150 +0,0 @@
-// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "xmlobjects.h"
-
-#include <fastrtps/attributes/all_attributes.h>
-#include <fastrtps/attributes/ReplierAttributes.hpp>
-#include <fastrtps/attributes/RequesterAttributes.hpp>
-#include <fastrtps/xmlparser/XMLParser.h>
-#include <fastrtps/xmlparser/XMLTree.h>
-
-using eprosima::fastrtps::ParticipantAttributes;
-using eprosima::fastrtps::PublisherAttributes;
-using eprosima::fastrtps::SubscriberAttributes;
-using eprosima::fastrtps::TopicAttributes;
-using eprosima::fastrtps::RequesterAttributes;
-using eprosima::fastrtps::ReplierAttributes;
-using eprosima::fastrtps::xmlparser::BaseNode;
-using eprosima::fastrtps::xmlparser::DataNode;
-using eprosima::fastrtps::xmlparser::NodeType;
-using eprosima::fastrtps::xmlparser::XMLP_ret;
-using eprosima::fastrtps::xmlparser::XMLParser;
-
-bool eprosima::uxr::xmlobjects::parse_participant(const char* source, std::size_t source_size,
- ParticipantAttributes& participant)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::PARTICIPANT)
- {
- participant = *(dynamic_cast<DataNode<ParticipantAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
-
-bool eprosima::uxr::xmlobjects::parse_publisher(const char* source, size_t source_size,
- PublisherAttributes& publisher)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::PUBLISHER)
- {
- publisher = *(dynamic_cast<DataNode<PublisherAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
-
-bool eprosima::uxr::xmlobjects::parse_subscriber(const char* source, size_t source_size,
- SubscriberAttributes& subscriber)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::SUBSCRIBER)
- {
- subscriber = *(dynamic_cast<DataNode<SubscriberAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
-
-bool eprosima::uxr::xmlobjects::parse_topic(const char* source, std::size_t source_size, TopicAttributes& topic)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::TOPIC)
- {
- topic = *(dynamic_cast<DataNode<TopicAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
-
-bool eprosima::uxr::xmlobjects::parse_requester(
- const char* source,
- std::size_t source_size,
- RequesterAttributes& requester)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::REQUESTER)
- {
- requester = *(dynamic_cast<DataNode<RequesterAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
-
-bool eprosima::uxr::xmlobjects::parse_replier(
- const char* source,
- std::size_t source_size,
- ReplierAttributes& replier)
-{
- bool ret = false;
- std::unique_ptr<BaseNode> root;
- if (XMLParser::loadXML(source, source_size, root) == XMLP_ret::XML_OK)
- {
- for (const auto& profile : root->getChildren())
- {
- if (profile->getType() == NodeType::REPLIER)
- {
- replier = *(dynamic_cast<DataNode<ReplierAttributes>*>(profile.get())->get());
- ret = true;
- }
- }
- }
- return ret;
-}
\ No newline at end of file
diff --git a/src/cpp/xmlobjects/xmlobjects.h b/src/cpp/xmlobjects/xmlobjects.h
deleted file mode 100644
index d02fc2dfb..000000000
--- a/src/cpp/xmlobjects/xmlobjects.h
+++ /dev/null
@@ -1,68 +0,0 @@
-// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef _XML_OBJECTS_H
-#define _XML_OBJECTS_H
-
-#include <cstddef>
-#include <string>
-
-namespace eprosima {
-
-namespace fastrtps {
-class ParticipantAttributes;
-class PublisherAttributes;
-class SubscriberAttributes;
-class TopicAttributes;
-class RequesterAttributes;
-class ReplierAttributes;
-} // namespace fastrtps
-namespace uxr {
-namespace xmlobjects {
-
-bool parse_participant(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::ParticipantAttributes& participant);
-
-bool parse_publisher(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::PublisherAttributes& publisher);
-
-bool parse_subscriber(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::SubscriberAttributes& subscriber);
-
-bool parse_topic(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::TopicAttributes& topic);
-
-bool parse_requester(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::RequesterAttributes& requester);
-
-bool parse_replier(
- const char* source,
- std::size_t source_size,
- eprosima::fastrtps::ReplierAttributes& replier);
-
-} // namespace xmlobjects
-} // namespace uxr
-} // namespace eprosima
-
-#endif // !_XML_OBJECTS_H
diff --git a/test/blackbox/tree/CMakeLists.txt b/test/blackbox/tree/CMakeLists.txt
index eddbd10c2..4a6096add 100644
--- a/test/blackbox/tree/CMakeLists.txt
+++ b/test/blackbox/tree/CMakeLists.txt
@@ -30,9 +30,6 @@ if(GMOCK_FOUND)
${PROJECT_SOURCE_DIR}/src/cpp/replier/Replier.cpp
${PROJECT_SOURCE_DIR}/src/cpp/object/XRCEObject.cpp
${PROJECT_SOURCE_DIR}/src/cpp/types/TopicPubSubType.cpp
- ${PROJECT_SOURCE_DIR}/src/cpp/xmlobjects/xmlobjects.cpp
- ${PROJECT_SOURCE_DIR}/src/cpp/middleware/fast/FastEntities.cpp
- ${PROJECT_SOURCE_DIR}/src/cpp/middleware/fast/FastMiddleware.cpp
${PROJECT_SOURCE_DIR}/src/cpp/middleware/fastdds/FastDDSEntities.cpp
${PROJECT_SOURCE_DIR}/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
${PROJECT_SOURCE_DIR}/src/cpp/middleware/ced/CedEntities.cpp
@@ -44,7 +41,7 @@ if(GMOCK_FOUND)
SOURCES
${SRCS}
DEPENDENCIES
- fastrtps
+ fastdds
fastcdr
)
target_include_directories(tree_test PRIVATE
@@ -56,7 +53,7 @@ if(GMOCK_FOUND)
)
target_link_libraries(tree_test
PRIVATE
- fastrtps
+ fastdds
fastcdr
$<$<BOOL:${UAGENT_LOGGER_PROFILE}>:spdlog::spdlog>
${GTEST_LIBRARIES}
diff --git a/test/blackbox/tree/TreeTests.cpp b/test/blackbox/tree/TreeTests.cpp
index 3488b7502..b0e865cc5 100644
--- a/test/blackbox/tree/TreeTests.cpp
+++ b/test/blackbox/tree/TreeTests.cpp
@@ -51,7 +51,7 @@ TEST_F(TreeTests, XMLTree)
dds::xrce::ResultStatus response = root_.create_client(
client_representation,
agent_representation,
- Middleware::Kind::FASTRTPS);
+ Middleware::Kind::FASTDDS);
std::shared_ptr<ProxyClient> client = root_.get_client(client_representation.client_key());
/* Common creation mode. */
@@ -260,7 +260,7 @@ TEST_F(TreeTests, REFTree)
dds::xrce::ResultStatus response = root_.create_client(
client_representation,
agent_representation,
- Middleware::Kind::FASTRTPS);
+ Middleware::Kind::FASTDDS);
std::shared_ptr<ProxyClient> client = root_.get_client(client_representation.client_key());
/* Common creation mode. */
@@ -515,7 +515,7 @@ TEST_F(TreeTests, CreationModeXMLTree)
dds::xrce::ResultStatus response = root_.create_client(
client_representation,
agent_representation,
- eprosima::uxr::Middleware::Kind::FASTRTPS);
+ eprosima::uxr::Middleware::Kind::FASTDDS);
std::shared_ptr<ProxyClient> client = root_.get_client(client_representation.client_key());
/* Common creation mode. */
@@ -801,7 +801,7 @@ TEST_F(TreeTests, CreationModeREFTree)
dds::xrce::ResultStatus response = root_.create_client(
client_representation,
agent_representation,
- Middleware::Kind::FASTRTPS);
+ Middleware::Kind::FASTDDS);
std::shared_ptr<ProxyClient> client = root_.get_client(client_representation.client_key());
/* Common creation mode. */
diff --git a/test/cmake/CMakeLists.txt b/test/cmake/CMakeLists.txt
index 2e892ac54..96fd94c6c 100644
--- a/test/cmake/CMakeLists.txt
+++ b/test/cmake/CMakeLists.txt
@@ -22,7 +22,7 @@ project(PackagingTest)
# Find package.
find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
find_package(microxrcedds_agent REQUIRED)
add_executable(${PROJECT_NAME} main.cpp)
diff --git a/test/unittest/CMakeLists.txt b/test/unittest/CMakeLists.txt
index baaf68f49..104506c1d 100644
--- a/test/unittest/CMakeLists.txt
+++ b/test/unittest/CMakeLists.txt
@@ -31,7 +31,7 @@ add_gtest(test-root
SOURCES
${SRCS}
DEPENDENCIES
- fastrtps
+ fastdds
fastcdr
)
target_include_directories(test-root
@@ -46,7 +46,7 @@ target_include_directories(test-root
target_link_libraries(test-root
PRIVATE
- fastrtps
+ fastdds
fastcdr
$<$<BOOL:${UAGENT_LOGGER_PROFILE}>:spdlog::spdlog>
${GTEST_LIBRARIES}
diff --git a/test/unittest/agent/AgentUnitTests.cpp b/test/unittest/agent/AgentUnitTests.cpp
index a21dc632a..dcaaf48f7 100644
--- a/test/unittest/agent/AgentUnitTests.cpp
+++ b/test/unittest/agent/AgentUnitTests.cpp
@@ -998,33 +998,6 @@ TEST_P(AgentUnitTests, RegisterCallbackFunctions)
switch (GetParam())
{
- case Middleware::Kind::FASTRTPS:
- {
- std::function<void (
- const fastrtps::Participant *)> on_create_participant
- ([&](
- const fastrtps::Participant* /*participant*/) -> void
- {
- participant_callback_flag = true;
- });
- agent_.add_middleware_callback(
- Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::CREATE_PARTICIPANT,
- std::move(on_create_participant));
-
- std::function<void (
- const fastrtps::Participant *)> on_delete_participant
- ([&](
- const fastrtps::Participant* /*participant*/) -> void
- {
- participant_callback_flag = false;
- });
- agent_.add_middleware_callback(
- Middleware::Kind::FASTRTPS,
- middleware::CallbackKind::DELETE_PARTICIPANT,
- std::move(on_delete_participant));
- break;
- }
case Middleware::Kind::FASTDDS:
{
std::function<void (
@@ -1085,7 +1058,7 @@ TEST_P(AgentUnitTests, RegisterCallbackFunctions)
GTEST_INSTANTIATE_TEST_MACRO(AgentUnitTestsParams,
AgentUnitTests,
- ::testing::Values(Middleware::Kind::FASTRTPS,Middleware::Kind::FASTDDS));
+ ::testing::Values(Middleware::Kind::FASTDDS));
} // namespace testing
} // namespace uxr
diff --git a/test/unittest/agent/CMakeLists.txt b/test/unittest/agent/CMakeLists.txt
index 34de72a61..ef35dd495 100644
--- a/test/unittest/agent/CMakeLists.txt
+++ b/test/unittest/agent/CMakeLists.txt
@@ -25,7 +25,7 @@ add_gtest(${TEST_NAME}
${SRCS}
DEPENDENCIES
microxrcedds_agent
- fastrtps
+ fastdds
fastcdr
microxrcedds_client
microcdr
@@ -41,7 +41,7 @@ target_include_directories(${TEST_NAME}
target_link_libraries(${TEST_NAME}
PRIVATE
- fastrtps
+ fastdds
microxrcedds_agent
${GTEST_LIBRARIES}
${GMOCK_LIBRARIES}
diff --git a/test/unittest/root/DataReaderTests.cpp b/test/unittest/root/DataReaderTests.cpp
index 6450c1616..3e20b310e 100644
--- a/test/unittest/root/DataReaderTests.cpp
+++ b/test/unittest/root/DataReaderTests.cpp
@@ -14,18 +14,6 @@
#include "DataReaderTests.h"
-// DataReader(eprosima::fastrtps::Participant* rtps_participant, ReaderListener* read_list);
-// ~DataReader() noexcept override;
-
-// bool init();
-// bool init(const std::string& xmlrep);
-// int read(const READ_DATA_Payload& read_data);
-
-// void on_max_timeout(const asio::error_code& error);
-// void on_rate_timeout(const asio::error_code& error);
-// void onSubscriptionMatched(eprosima::fastrtps::rtps::MatchingInfo& info);
-// void onNewDataMessage(fastrtps::Subscriber* sub);
-
#include <gtest/gtest.h>
namespace eprosima {
From 9f97bd97dcdc549df63004010142c9ffd9407cfe Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Mon, 14 Oct 2024 09:28:18 +0200
Subject: [PATCH 2/3] Replace system_clock with steady_clock (#376)
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
---
src/cpp/transport/stream_framing/StreamFramingProtocol.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/cpp/transport/stream_framing/StreamFramingProtocol.cpp b/src/cpp/transport/stream_framing/StreamFramingProtocol.cpp
index 667d40898..9e242e341 100644
--- a/src/cpp/transport/stream_framing/StreamFramingProtocol.cpp
+++ b/src/cpp/transport/stream_framing/StreamFramingProtocol.cpp
@@ -442,7 +442,7 @@ size_t FramingIO::transport_read(
TransportRc& transport_rc,
size_t max_size)
{
- const auto time_init = std::chrono::system_clock::now();
+ const auto time_init = std::chrono::steady_clock::now();
/**
* Compute read-buffer available size.
@@ -520,7 +520,7 @@ size_t FramingIO::transport_read(
int time_elapsed = static_cast<int>(
std::chrono::duration_cast<std::chrono::milliseconds>(
- std::chrono::system_clock::now() - time_init)
+ std::chrono::steady_clock::now() - time_init)
.count());
timeout -= (time_elapsed == 0) ? 1 : time_elapsed;
From 8ff6e96c0e17ef2bd83b812c2aed9c788ff7a20a Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Mon, 14 Oct 2024 10:01:31 +0200
Subject: [PATCH 3/3] Bump version
Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
---
CMakeLists.txt | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d185fdf77..486da704a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
-set(UAGENT_P2P_CLIENT_VERSION 2.4.3 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.4.3 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 3.0.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v3.0.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
if(UAGENT_BUILD_CI_TESTS)
@@ -117,7 +117,7 @@ endif()
###############################################################################
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
if(NOT UAGENT_SUPERBUILD)
- project(microxrcedds_agent VERSION "2.4.3" LANGUAGES C CXX)
+ project(microxrcedds_agent VERSION "3.0.0" LANGUAGES C CXX)
else()
project(uagent_superbuild NONE)
include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)