Refactor of Pipe to support dynamic tracks

Signed-off-by: jparisu <javierparis@eprosima.com>

ddspipe_core/include/ddspipe_core/core/DdsPipe.hpp

@@ -31,6 +31,30 @@ namespace eprosima {
 namespace ddspipe {
 namespace core {
 
+/*
+ * IDEA:
+ * The pipe is no longer the main class that manages everything.
+ * The pipe becomes a passive agent that only store tracks and the logic to add new entities to those tracks.
+ *
+ * All the logic of allowed topics is moved to the upper user, in most cases to the main app.
+ * It allows to make it specific for participants or pps.
+ *
+ * All the logic of discovery is moved to the upper user, in most cases to the main app.
+ * It supports the creation of tracks without discovering entities, and the easy configuration whether to create
+ * them only with readers or always.
+ *
+ * The main app (Router, Spy, Recorder) must set these data and manage the logic of creation of tracks, what
+ * makes the pipe much more versatile.
+ * So far, in cases as Spy or Recorder, it exist a simulated endpoint that is added to the discovery database
+ * only to create a track. Now it would only require to call a function of the Pipe.
+ */
+
+// This may be the track itself with functions to get internal info.
+// Doing so may allow the participants to directly register writers in such track.
+using TrackInfo = std::pair<ITopic, ParticipantId>;
+
+using OnTrackCreationCallback = std::function<bool(TrackInfo, std::shared_ptr<IWriter>)>;
+
 /**
  * TODO
  */
@@ -59,12 +83,7 @@ class DdsPipe
      */
     DDSPIPE_CORE_DllAPI
     DdsPipe(
-            const std::shared_ptr<AllowedTopicList>& allowed_topics,
-            const std::shared_ptr<DiscoveryDatabase>& discovery_database,
-            const std::shared_ptr<PayloadPool>& payload_pool,
-            const std::shared_ptr<ParticipantsDatabase>& participants_database,
             const std::shared_ptr<utils::SlotThreadPool>& thread_pool,
-            const std::set<utils::Heritable<types::DistributedTopic>>& builtin_topics = {},
             bool start_enable = false);
 
     /**
@@ -124,6 +143,18 @@ class DdsPipe
     DDSPIPE_CORE_DllAPI
     utils::ReturnCode disable() noexcept;
 
+    // Registering here a callback make the pipe to call this callback with each create_track call.
+    // This also removes is_repeater from IParticipant, as the participant itself would already know if want to
+    // add a writer to its own track.
+    void register_on_track_creation_callback(OnTrackCreationCallback callback);
+
+    // Create a track that consume (put data in) data from this reader.
+    void create_track(ITopic topic, IReader reader);
+
+    std::set<TrackInfo> get_tracks(ITopic topic);
+
+    void add_to_track(TrackInfo track, IWriter writer);
+
 protected:
 
     /////////////////////////
@@ -264,29 +295,6 @@ class DdsPipe
     //! List of allowed and blocked topics
     std::shared_ptr<AllowedTopicList> allowed_topics_;
 
-    /**
-     * @brief Common discovery database
-     *
-     * This object is shared by every Participant.
-     * Every time an endpoint is discovered by any Participant, it should be
-     * added to the database.
-     */
-    std::shared_ptr<DiscoveryDatabase> discovery_database_;
-
-    /**
-     * @brief  Common payload pool where every payload will be stored
-     *
-     * This payload will be shared by every endpoint.
-     * Every reader will store its data in the pool, the track will pass this
-     * data to the writers, that will release it after used.
-     */
-    std::shared_ptr<PayloadPool> payload_pool_;
-
-    /**
-     * @brief Object that stores every Participant running in the DdsPipe
-     */
-    std::shared_ptr<ParticipantsDatabase> participants_database_;
-
     //! Thread Pool for tracks
     std::shared_ptr<utils::SlotThreadPool> thread_pool_;