Adapted to Fast RTPS 1.7.0 Release.

eProsima · Dec 20, 2018 · c61755d · c61755d
1 parent 1c2b546
commit c61755d
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Showing 6 changed files with 16 additions and 15 deletions.
diff --git a/include/uxr/agent/participant/Participant.hpp b/include/uxr/agent/participant/Participant.hpp
@@ -26,7 +26,6 @@ class Participant;
 }
 }
 
-#include <fastrtps/participant/ParticipantDiscoveryInfo.h>
 #include <fastrtps/participant/ParticipantListener.h>
 
 namespace eprosima {
@@ -49,7 +48,7 @@ class Participant : public XRCEObject, public fastrtps::ParticipantListener
     bool matched(const dds::xrce::ObjectVariant& new_object_rep) const override;
 
 private:
-    void onParticipantDiscovery(fastrtps::Participant* p, fastrtps::ParticipantDiscoveryInfo info) override;
+    void onParticipantDiscovery(fastrtps::Participant* p, fastrtps::ParticipantDiscoveryInfo&& info) override;
     fastrtps::Participant* rtps_participant_ = nullptr;
     std::unordered_map<std::string, dds::xrce::ObjectId> registered_topics_;
     std::set<dds::xrce::ObjectId> tied_objects_;

diff --git a/include/uxr/agent/types/TopicPubSubType.hpp b/include/uxr/agent/types/TopicPubSubType.hpp
@@ -30,12 +30,12 @@ class TopicPubSubType: public TopicDataType
 
     explicit TopicPubSubType(bool with_key);
     virtual ~TopicPubSubType() override = default;
-    bool serialize(void* data, rtps::SerializedPayload_t* payload);
-    bool deserialize(rtps::SerializedPayload_t* payload, void* data);
-    std::function<uint32_t()> getSerializedSizeProvider(void* data);
-    bool getKey(void* data, rtps::InstanceHandle_t* ihandle);
-    void* createData();
-    void deleteData(void* data);
+    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;
 };
 
 } // namespace uxr

diff --git a/src/cpp/participant/Participant.cpp b/src/cpp/participant/Participant.cpp
@@ -100,15 +100,16 @@ void Participant::release(ObjectContainer& root_objects)
     }
 }
 
-void Participant::onParticipantDiscovery(eprosima::fastrtps::Participant*, eprosima::fastrtps::ParticipantDiscoveryInfo info)
+void Participant::onParticipantDiscovery(eprosima::fastrtps::Participant*,
+                                         fastrtps::rtps::ParticipantDiscoveryInfo&& info)
 {
-    if(info.rtps.m_status == eprosima::fastrtps::rtps::DISCOVERED_RTPSPARTICIPANT)
+    if(info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
     {
-        std::cout << "RTPS Participant matched " << info.rtps.m_guid << std::endl;
+        std::cout << "RTPS Participant matched " << info.info.m_guid << std::endl;
     }
     else
     {
-        std::cout << "RTPS Participant unmatched " << info.rtps.m_guid << std::endl;
+        std::cout << "RTPS Participant unmatched " << info.info.m_guid << std::endl;
     }
 }
 

diff --git a/src/cpp/types/TopicPubSubType.cpp b/src/cpp/types/TopicPubSubType.cpp
@@ -64,11 +64,12 @@ void TopicPubSubType::deleteData(void* data) {
     delete((std::vector<unsigned char>*)data);
 }
 
-bool TopicPubSubType::getKey(void *data, rtps::InstanceHandle_t* handle)
+bool TopicPubSubType::getKey(void *data, rtps::InstanceHandle_t* handle, bool force_md5)
 {
     // TODO.
     (void) data;
     (void) handle;
+    (void) force_md5;
     return m_isGetKeyDefined;
 }
 

diff --git a/thirdparty/fastcdr b/thirdparty/fastcdr
diff --git a/thirdparty/fastrtps b/thirdparty/fastrtps
+2 −2		cmake/dev/generate_msvc_libraries.cmake
+1 −1		configure.ac
+309 −23		include/fastcdr/Cdr.h
+190 −21		include/fastcdr/FastCdr.h
+9 −7		src/cpp/CMakeLists.txt
+12 −12		src/java/com/eprosima/fastcdr/idl/generator/TypesGenerator.java
+2 −3		src/java/com/eprosima/fastcdr/idl/templates/TypeObjectSource.stg