From c61755ddbd257a62fd93ecb21252501509da898b Mon Sep 17 00:00:00 2001
From: julianbermudez <julianbermudez@eprosima.com>
Date: Thu, 20 Dec 2018 13:35:57 +0100
Subject: [PATCH] Adapted to Fast RTPS 1.7.0 Release.

---
 include/uxr/agent/participant/Participant.hpp |  3 +--
 include/uxr/agent/types/TopicPubSubType.hpp   | 12 ++++++------
 src/cpp/participant/Participant.cpp           |  9 +++++----
 src/cpp/types/TopicPubSubType.cpp             |  3 ++-
 thirdparty/fastcdr                            |  2 +-
 thirdparty/fastrtps                           |  2 +-
 6 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/include/uxr/agent/participant/Participant.hpp b/include/uxr/agent/participant/Participant.hpp
index bec2fe3db..db6620739 100644
--- 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
index a081ec980..a275edb4f 100644
--- 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
index 222b287a2..70052d9fa 100644
--- 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
index 388970eb0..3d64ef634 100644
--- 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
index 1d3c47497..b395f44e8 160000
--- a/thirdparty/fastcdr
+++ b/thirdparty/fastcdr
@@ -1 +1 @@
-Subproject commit 1d3c47497f8dfc48802143824b342549990cf7fa
+Subproject commit b395f44e896c8621ec754d91bcb9c561de41d9d6
diff --git a/thirdparty/fastrtps b/thirdparty/fastrtps
index d52a4a94e..b48ce9d2f 160000
--- a/thirdparty/fastrtps
+++ b/thirdparty/fastrtps
@@ -1 +1 @@
-Subproject commit d52a4a94e29cf50033bb74ae9d49cb4d1a98acee
+Subproject commit b48ce9d2fba6fc94e756da01c58b72f2ad848238