Update repository for Fast DDS 3.0.0 compatibility (#111)

* Update repository for FastDDS 3.0.0 compatibility Signed-off-by: Lucia Echevarria <[email protected]> * Fix tests and first approximation to change Dynamic Types Signed-off-by: Lucia Echevarria <[email protected]> * Fix DynTypesParticipant::on_type_discovery_ callback to register type_name-type_id tuple and some other minor changes Signed-off-by: Lucia Echevarria <[email protected]> * Change DynTypesParticipant to use RTPS Participant callbacks Signed-off-by: Lucia Echevarria <[email protected]> * Regenarate types Signed-off-by: Lucia Echevarria <[email protected]> * Add TypeIdentifiers to DdsTopic in order to pass the TypeInformation to RTPS Writer/Reader Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Regenerate types Signed-off-by: Lucia Echevarria <[email protected]> * Fix compilation after rebase to fastdds master Signed-off-by: Lucia Echevarria <[email protected]> * Continue rebasing to FastDDS master Signed-off-by: Lucia Echevarria <[email protected]> * Change .h headers to .hpp and regenerate types Signed-off-by: Lucia Echevarria <[email protected]> * Update repository with new changes in Fast DDS 3.x Signed-off-by: Lucia Echevarria <[email protected]> * Remove DynamicType to IDL serialization from DDSPipe Signed-off-by: Lucia Echevarria <[email protected]> * Delete public functions in PayloadPool inherited from IPayloadPool and add missing tests in CMake file Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Adjust to TopicDataType refactor and removal of WriterProxyData/ReaderProxyData from public API Signed-off-by: Lucia Echevarria <[email protected]> * Update after refactor in Participant discovery information Signed-off-by: Lucia Echevarria <[email protected]> * Update after TopicAttributes removal from public API Signed-off-by: Lucia Echevarria <[email protected]> * Regenerate types Signed-off-by: Lucia Echevarria <[email protected]> * Fix TopicDescription in CommonReader and CommonWriter Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Remove GuidPrefix attribute from DiscoveryServerConnectionAddress Signed-off-by: Lucia Echevarria <[email protected]> * Remove is_keyed_ method after Publication/SubscriptionBuiltinTopicData update in Fast DDS Signed-off-by: Lucia Echevarria <[email protected]> * Fix CacheChangePool after rebase Signed-off-by: Lucia Echevarria <[email protected]> * Fix tests Signed-off-by: Lucia Echevarria <[email protected]> * Fix uncrustify Signed-off-by: Lucia Echevarria <[email protected]> * Free allocated memory in PayloadPool::release_ Signed-off-by: Lucia Echevarria <[email protected]> * Fill TypeInformation in Topic Description just from complete TypeIdentifier in CommonWriter (already done in CommonReader) Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Make payload_owner=nullptr in PayloadPool::release_ before empty() to avoid assertion failure Signed-off-by: Lucia Echevarria <[email protected]> * Add assertion making sure TypeIdentifier is complete before calling add_schema Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Refactor rtps participants reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <[email protected]> * Accept v6 interfaces and interface names in whitelist (#128) Signed-off-by: Juan Lopez Fernandez <[email protected]> * Make DiscoveryServer servers' guid prefix optional (#129) * Make DiscoveryServer servers' guid prefix optional Signed-off-by: Juan Lopez Fernandez <[email protected]> * Raise YAML reader version Signed-off-by: Juan Lopez Fernandez <[email protected]> * BONUS: improve participant discovery traces Signed-off-by: Juan Lopez Fernandez <[email protected]> --------- Signed-off-by: Juan Lopez Fernandez <[email protected]> * Add missing suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Correct type_kind_to_str output for TK_CHAR8 case Signed-off-by: Lucia Echevarria <[email protected]> * Remove unnecessary CacheChange include Signed-off-by: Lucia Echevarria <[email protected]> * Implement add_qos_properties_ in reckon_participant_qos_ Signed-off-by: Lucia Echevarria <[email protected]> * Remove Fast-DDS API ReturnCode explanation in PayloadPoolMediator::write Signed-off-by: Lucia Echevarria <[email protected]> * Change name ip_configuration -> initial_peers_configuration Signed-off-by: Lucia Echevarria <[email protected]> * Change name ds_configuration -> discovery_server_configuration Signed-off-by: Lucia Echevarria <[email protected]> * Use dynamic_pointer_cast instead of static_pointer_cast in reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <[email protected]> * Change function descriptions in CommonParticipant Signed-off-by: Lucia Echevarria <[email protected]> * CHange char sequence message in tests Signed-off-by: Lucia Echevarria <[email protected]> * Add clarification comment in TopicDataType::compute_key(SerializedPayload_t, ...) Signed-off-by: Lucia Echevarria <[email protected]> * Fix YamlGetEntityGuidPrefixTest.get_guidprefix_explicitly test Signed-off-by: Lucia Echevarria <[email protected]> * Add comment clarifying the order of TypeIdentifiers (complete and minimal) in DdsTopic.type_identifiers Signed-off-by: Lucia Echevarria <[email protected]> * Fix Windows compilation Signed-off-by: Lucia Echevarria <[email protected]> * Uncrustify Signed-off-by: Lucia Echevarria <[email protected]> * Check if ParticipantConfiguration is nullptr after cast in reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <[email protected]> * Fix uncrustify Signed-off-by: Lucia Echevarria <[email protected]> --------- Signed-off-by: Lucia Echevarria <[email protected]> Signed-off-by: Juan Lopez Fernandez <[email protected]> Co-authored-by: juanlofer-eprosima <[email protected]>
eProsima · Sep 10, 2024 · 7fff9e9 · 7fff9e9
1 parent 9de993f
commit 7fff9e9
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diff --git a/ddspipe_core/CMakeLists.txt b/ddspipe_core/CMakeLists.txt
@@ -70,15 +70,6 @@ file(
         "${PROJECT_SOURCE_DIR}/include/*.h*"
     )
 
-# Exclude types' files depending on the Fast DDS version
-if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
-    list(FILTER SOURCES_FILES EXCLUDE REGEX "v2/")
-    list(FILTER HEADERS_FILES EXCLUDE REGEX "v2/")
-else()
-    list(FILTER SOURCES_FILES EXCLUDE REGEX "v1/")
-    list(FILTER HEADERS_FILES EXCLUDE REGEX "v1/")
-endif()
-
 # Compile C++ library
 compile_library(
     "${PROJECT_SOURCE_DIR}/src/cpp" # Source directory

diff --git a/ddspipe_core/include/ddspipe_core/communication/rpc/ServiceRegistry.hpp b/ddspipe_core/include/ddspipe_core/communication/rpc/ServiceRegistry.hpp
@@ -18,7 +18,7 @@
 #include <map>
 #include <mutex>
 
-#include <fastdds/rtps/common/SampleIdentity.h>
+#include <fastdds/rtps/common/SampleIdentity.hpp>
 
 #include <ddspipe_core/types/dds/Guid.hpp>
 #include <ddspipe_core/types/participant/ParticipantId.hpp>
@@ -28,9 +28,9 @@ namespace eprosima {
 namespace ddspipe {
 namespace core {
 
-using SampleIdentity = eprosima::fastrtps::rtps::SampleIdentity;
+using SampleIdentity = eprosima::fastdds::rtps::SampleIdentity;
 
-using SequenceNumber = eprosima::fastrtps::rtps::SequenceNumber_t;
+using SequenceNumber = eprosima::fastdds::rtps::SequenceNumber_t;
 
 /**
  * Class used to store the information associated to a service request, so its reply can be forwarded through the

diff --git a/ddspipe_core/include/ddspipe_core/configuration/DdsPublishingConfiguration.hpp b/ddspipe_core/include/ddspipe_core/configuration/DdsPublishingConfiguration.hpp
@@ -56,9 +56,6 @@ struct DdsPublishingConfiguration : public IConfiguration
 
     //! The DDS topic name to publish in.
     std::string topic_name{};
-
-    //! Whether the LogEntry type should be published or not.
-    bool publish_type = false;
 };
 
 } /* namespace core */

diff --git a/ddspipe_core/include/ddspipe_core/dynamic/DiscoveryDatabase.hpp b/ddspipe_core/include/ddspipe_core/dynamic/DiscoveryDatabase.hpp
@@ -23,11 +23,11 @@
 #include <string>
 #include <thread>
 
-#include <fastrtps/utils/DBQueue.h>
+#include <cpp_utils/queue/DBQueue.hpp>
+#include <cpp_utils/ReturnCode.hpp>
 
 #include <ddspipe_core/types/dds/Endpoint.hpp>
 #include <ddspipe_core/types/dds/Guid.hpp>
-#include <cpp_utils/ReturnCode.hpp>
 #include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
 
 namespace eprosima {
@@ -263,7 +263,7 @@ class DiscoveryDatabase
     mutable std::mutex callbacks_mutex_;
 
     //! Queue storing database operations to be performed in a dedicated thread
-    fastrtps::DBQueue<std::tuple<DatabaseOperation, types::Endpoint>> entities_to_process_;
+    utils::event::DBQueue<std::tuple<DatabaseOperation, types::Endpoint>> entities_to_process_;
 
     //! Handle of thread dedicated to performing database operations
     std::thread queue_processing_thread_;

diff --git a/ddspipe_core/include/ddspipe_core/efficiency/payload/CopyPayloadPool.hpp b/ddspipe_core/include/ddspipe_core/efficiency/payload/CopyPayloadPool.hpp
@@ -35,17 +35,16 @@ class CopyPayloadPool : public PayloadPool
     //! Reserve a new memory space
     bool get_payload(
             uint32_t size,
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     //! Reserve a new memory space and copy the data from \c src_payload to \c target_payload
     bool get_payload(
-            const types::Payload& src_payload,
-            IPayloadPool*& data_owner,
-            types::Payload& target_payload) override;
+            const eprosima::fastdds::rtps::SerializedPayload_t& src_payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& target_payload) override;
 
     //! Release data in \c payload
     bool release_payload(
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 };
 
 } /* namespace core */

diff --git a/ddspipe_core/include/ddspipe_core/efficiency/payload/FastPayloadPool.hpp b/ddspipe_core/include/ddspipe_core/efficiency/payload/FastPayloadPool.hpp
@@ -38,7 +38,7 @@ typedef std::atomic<unsigned int> MetaInfoType;
  * This class is used to manage the allocation and release of the payloads used within the Router.
  * The main target is not to copy or alloc data that is already in memory, but to reuse it safely.
  *
- * This implementation uses an idea get from TopicPayloadPool from fastrtps.
+ * This implementation uses an idea get from TopicPayloadPool from fastdds.
  * This is, to alloc more space than required whenever a new payload is needed, and in this extra space (at the
  * beginning of the data) stores the number of references this data has.
  * As long as this number does not reach 0, the data is not deleted.
@@ -76,7 +76,7 @@ class FastPayloadPool : public PayloadPool
     DDSPIPE_CORE_DllAPI
     bool get_payload(
             uint32_t size,
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     /**
      * Reserve in \c target_payload the payload in \c src_payload .
@@ -95,9 +95,8 @@ class FastPayloadPool : public PayloadPool
      */
     DDSPIPE_CORE_DllAPI
     bool get_payload(
-            const types::Payload& src_payload,
-            IPayloadPool*& data_owner,
-            types::Payload& target_payload) override;
+            const eprosima::fastdds::rtps::SerializedPayload_t& src_payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     /**
      * Release a payload that has been reserved from this pool.
@@ -113,7 +112,7 @@ class FastPayloadPool : public PayloadPool
      */
     DDSPIPE_CORE_DllAPI
     bool release_payload(
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
 protected:
 
@@ -132,7 +131,7 @@ class FastPayloadPool : public PayloadPool
     DDSPIPE_CORE_DllAPI
     virtual bool reserve_(
             uint32_t size,
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     /**
      * @brief Reimplement parent \c release_ method
@@ -146,7 +145,7 @@ class FastPayloadPool : public PayloadPool
      */
     DDSPIPE_CORE_DllAPI
     virtual bool release_(
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 };
 
 } /* namespace core */

diff --git a/ddspipe_core/include/ddspipe_core/efficiency/payload/MapPayloadPool.hpp b/ddspipe_core/include/ddspipe_core/efficiency/payload/MapPayloadPool.hpp
@@ -59,7 +59,7 @@ class MapPayloadPool : public PayloadPool
      */
     bool get_payload(
             uint32_t size,
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     /**
      * @brief Set \c target_payload data to \c src_payload .
@@ -78,9 +78,8 @@ class MapPayloadPool : public PayloadPool
      * @throw utils::InconsistencyException if \c data_owner is \c this but the data in \c src_payload is not from this pool.
      */
     bool get_payload(
-            const types::Payload& src_payload,
-            IPayloadPool*& data_owner,
-            types::Payload& target_payload) override;
+            const eprosima::fastdds::rtps::SerializedPayload_t& src_payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
     /**
      * @brief Decrease reference counter for data in \c payload .
@@ -96,7 +95,7 @@ class MapPayloadPool : public PayloadPool
      * @throw utils::InconsistencyException if the data in \c payload is not from this pool.
      */
     bool release_payload(
-            types::Payload& payload) override;
+            eprosima::fastdds::rtps::SerializedPayload_t& payload) override;
 
 protected:
 

diff --git a/ddspipe_core/include/ddspipe_core/efficiency/payload/PayloadPool.hpp b/ddspipe_core/include/ddspipe_core/efficiency/payload/PayloadPool.hpp
@@ -16,9 +16,7 @@
 
 #include <atomic>
 
-#include <fastdds/rtps/common/CacheChange.h>
-#include <fastdds/rtps/common/SerializedPayload.h>
-#include <fastdds/rtps/history/IPayloadPool.h>
+#include <fastdds/rtps/history/IPayloadPool.hpp>
 
 #include <ddspipe_core/types/dds/Payload.hpp>
 
@@ -38,7 +36,7 @@ namespace core {
  * Then, this payload will be moved to the Track. As the payload is already in the pool, there will be no copy.
  * Finally, the payload will be moved to every Writer that has to send the data (ideally without copy).
  */
-class PayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
+class PayloadPool : public eprosima::fastdds::rtps::IPayloadPool
 {
 public:
 
@@ -50,153 +48,6 @@ class PayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
     DDSPIPE_CORE_DllAPI
     virtual ~PayloadPool();
 
-    /////
-    // FAST DDS PART
-
-    /**
-     * @brief Reserve in \c cache_change a new payload of max size \c size .
-     *
-     * It sets values to the serialized payload inside \c cache_change .
-     * This method calls \c get_payload for the serialized payload.
-     * The \c cache_change owner is set to \c this .
-     *
-     * @warning length value in \c payload is not modified.
-     *
-     * @note This method may reserve new memory.
-     *
-     * @param [in] size : Size in bytes of the payload that will be reserved
-     * @param [out] cache_change : the cache change which SerializedPayload will be set
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @pre Fields @c cache_change must not have the serialized payload initialized.
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool get_payload(
-            uint32_t size,
-            eprosima::fastrtps::rtps::CacheChange_t& cache_change) override; // TODO add noexcept once is implemented
-
-    /**
-     * @brief Store in \c cache_change the \c data payload.
-     *
-     * This method set \c cache_change serialized payload to the same data in \c data .
-     * This method should reuse \c data and not copy it in case the owner of \c data is \c this .
-     * It sets values to the serialized payload inside \c cache_change .
-     *
-     * This method calls \c get_payload for the serialized payload.
-     * The \c cache_change owner is set to \c this .
-     *
-     * @note This method may reserve new memory in case the owner is not \c this .
-     *
-     * @param [in,out] data          Serialized payload received
-     * @param [in,out] data_owner    Payload pool owning incoming data \c data
-     * @param [in,out] cache_change  Cache change to assign the payload to
-     *
-     * @warning @c data_owner can only be changed from @c nullptr to @c this. If a value different from
-     * @c nullptr is received it should be left unchanged.
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @pre Fields @c cache_change must not have the serialized payload initialized.
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool get_payload(
-            eprosima::fastrtps::rtps::SerializedPayload_t& data,
-            IPayloadPool*& data_owner,
-            eprosima::fastrtps::rtps::CacheChange_t& cache_change) override; // TODO add noexcept once is implemented
-
-    /**
-     * @brief Release the data from the serialized payload inside \c cache_change .
-     *
-     * @note This method must only release the actual memory of a data in case nobody is referencing it anymore.
-     *
-     * This method calls \c release_payload for the serialized payload.
-     * The \c cache_change owner is set to \c nullptr .
-     *
-     * @param [in,out] cache_change  Cache change to release the payload from
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @throw IncosistencyException if cache change owner is other than this
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool release_payload(
-            eprosima::fastrtps::rtps::CacheChange_t& cache_change) override; // TODO add noexcept once is implemented
-
-    /////
-    // DDSPIPE PART
-
-    /**
-     * @brief Reserve a new data in \c payload of size \c size.
-     *
-     * It sets value \c max_size and \c data of \c payload .
-     *
-     * @note This method may reserve new memory.
-     *
-     * @warning length value in \c payload is not modified.
-     *
-     * @param [in] size : Size in bytes of the payload that will be reserved
-     * @param [out] payload : the SerializedPayload that will be set
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @pre Fields @c payload must not have been initialized.
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool get_payload(
-            uint32_t size,
-            types::Payload& payload) = 0;
-
-    /**
-     * @brief Store in \c target_payload the data from \c src_payload .
-     *
-     * This method set \c target_payload fields \c max_size , \c lenght and \c data .
-     * This method "should" reuse data in \c src_payload and not copy it in case \c data_owner is \c this .
-     *
-     * @note This method may reserve new memory in case the owner is not \c this .
-     *
-     * @param [in] src_payload     Payload to move to target
-     * @param [in,out] data_owner      Payload pool owning incoming data \c src_payload
-     * @param [out] target_payload  Payload to assign the payload to
-     *
-     * @warning @c data_owner can only be changed from @c nullptr to @c this. If a value different from
-     * @c nullptr is received it must be left unchanged.
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @pre Fields @c target_payload must not have been initialized.
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool get_payload(
-            const types::Payload& src_payload,
-            IPayloadPool*& data_owner,
-            types::Payload& target_payload) = 0;
-
-    /**
-     * @brief Release the data from the \c payload .
-     *
-     * @note This method must only release the actual memory of a data in case nobody is referencing it anymore.
-     *
-     * @note This method should use method \c reserve_ to reserve new memory.
-     *
-     * Reset the \c payload info.
-     *
-     * @param [in,out] payload Payload to release data from
-     *
-     * @return true if everything ok
-     * @return false if something went wrong
-     *
-     * @pre @c payload must have been initialized from this pool.
-     */
-    DDSPIPE_CORE_DllAPI
-    virtual bool release_payload(
-            types::Payload& payload) = 0;
-
     //! Wether every payload get has been released.
     DDSPIPE_CORE_DllAPI
     virtual bool is_clean() const noexcept;