Update repository for Fast DDS 3.0.0 compatibility (#111)

* Update repository for FastDDS 3.0.0 compatibility Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix tests and first approximation to change Dynamic Types Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix DynTypesParticipant::on_type_discovery_ callback to register type_name-type_id tuple and some other minor changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Change DynTypesParticipant to use RTPS Participant callbacks Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Regenarate types Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Add TypeIdentifiers to DdsTopic in order to pass the TypeInformation to RTPS Writer/Reader Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Regenerate types Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix compilation after rebase to fastdds master Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Continue rebasing to FastDDS master Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Change .h headers to .hpp and regenerate types Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Update repository with new changes in Fast DDS 3.x Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Remove DynamicType to IDL serialization from DDSPipe Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Delete public functions in PayloadPool inherited from IPayloadPool and add missing tests in CMake file Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Adjust to TopicDataType refactor and removal of WriterProxyData/ReaderProxyData from public API Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Update after refactor in Participant discovery information Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Update after TopicAttributes removal from public API Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Regenerate types Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix TopicDescription in CommonReader and CommonWriter Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Remove GuidPrefix attribute from DiscoveryServerConnectionAddress Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Remove is_keyed_ method after Publication/SubscriptionBuiltinTopicData update in Fast DDS Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix CacheChangePool after rebase Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix tests Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix uncrustify Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Free allocated memory in PayloadPool::release_ Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fill TypeInformation in Topic Description just from complete TypeIdentifier in CommonWriter (already done in CommonReader) Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Make payload_owner=nullptr in PayloadPool::release_ before empty() to avoid assertion failure Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Add assertion making sure TypeIdentifier is complete before calling add_schema Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Apply suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Refactor rtps participants reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Accept v6 interfaces and interface names in whitelist (#128) Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Make DiscoveryServer servers' guid prefix optional (#129) * Make DiscoveryServer servers' guid prefix optional Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Raise YAML reader version Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * BONUS: improve participant discovery traces Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> --------- Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> * Add missing suggested changes Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Correct type_kind_to_str output for TK_CHAR8 case Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Remove unnecessary CacheChange include Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Implement add_qos_properties_ in reckon_participant_qos_ Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Remove Fast-DDS API ReturnCode explanation in PayloadPoolMediator::write Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Change name ip_configuration -> initial_peers_configuration Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Change name ds_configuration -> discovery_server_configuration Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Use dynamic_pointer_cast instead of static_pointer_cast in reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Change function descriptions in CommonParticipant Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * CHange char sequence message in tests Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Add clarification comment in TopicDataType::compute_key(SerializedPayload_t, ...) Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix YamlGetEntityGuidPrefixTest.get_guidprefix_explicitly test Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Add comment clarifying the order of TypeIdentifiers (complete and minimal) in DdsTopic.type_identifiers Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix Windows compilation Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Uncrustify Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Check if ParticipantConfiguration is nullptr after cast in reckon_participant_attributes_ Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> * Fix uncrustify Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> --------- Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com> Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com> Co-authored-by: juanlofer-eprosima <88179026+juanlofer-eprosima@users.noreply.github.com>
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;