Implement DDS Participants

ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp

@@ -94,6 +94,7 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
      * @brief Create a writer object
      *
      * Depending on the Topic QoS creates a Basic or Specific Writer.
+     * If it fails to create the writer it will return a blank one.
      */
     DDSPIPE_PARTICIPANTS_DllAPI
     std::shared_ptr<core::IWriter> create_writer(
@@ -103,6 +104,7 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
      * @brief Create a reader object
      *
      * Depending on the Topic QoS creates a Basic or Specific Reader.
+     * If it fails to create the reader it will return a blank one.
      */
     DDSPIPE_PARTICIPANTS_DllAPI
     std::shared_ptr<core::IReader> create_reader(
@@ -130,6 +132,20 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
             const fastdds::dds::PublicationBuiltinTopicData& info,
             bool& /*should_be_ignored*/) override;
 
+    //////////////////
+    // STATIC METHODS
+    //////////////////
+
+    /**
+     * @brief Create a transport descriptor with given whitelist.
+     *
+     * This templated method is specialized for UPDv4, UDPv6, TCPv4 and TCPv6.
+     */
+    template<typename T>
+    DDSPIPE_PARTICIPANTS_DllAPI
+    static std::shared_ptr<T> create_descriptor(
+            std::set<types::IpType> whitelist = {});
+
 protected:
 
     /////////////////////////
@@ -140,7 +156,9 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
     CommonParticipant(
             const std::shared_ptr<SimpleParticipantConfiguration>& participant_configuration,
             const std::shared_ptr<core::PayloadPool>& payload_pool,
-            const std::shared_ptr<core::DiscoveryDatabase>& discovery_database);
+            const std::shared_ptr<core::DiscoveryDatabase>& discovery_database,
+            const core::types::DomainId& domain_id,
+            const fastdds::dds::DomainParticipantQos& participant_attributes);
 
     /////////////////////////
     // INTERNAL VIRTUAL METHODS
@@ -187,13 +205,20 @@ class CommonParticipant : public core::IParticipant, public fastdds::dds::Domain
      */
     std::set<std::string> type_names_registered_;
 
-    const std::shared_ptr<SimpleParticipantConfiguration> configuration_;
+    //! Participant configuration
+    const std::shared_ptr<ParticipantConfiguration> configuration_;
 
     //! DDS Router shared Payload Pool
     const std::shared_ptr<core::PayloadPool> payload_pool_;
 
     //! DDS Router shared Discovery Database
     const std::shared_ptr<core::DiscoveryDatabase> discovery_database_;
+
+    //! Domain Id to create the internal DDS Participant.
+    core::types::DomainId domain_id_;
+
+    //! Participant QoS
+    fastdds::dds::DomainParticipantQos participant_qos_;
 };
 
 } /* namespace dds */

ddspipe_participants/include/ddspipe_participants/participant/dds/DiscoveryServerParticipant.hpp

@@ -0,0 +1,58 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <fastdds/rtps/transport/TCPTransportDescriptor.hpp>
+
+#include <ddspipe_participants/configuration/DiscoveryServerParticipantConfiguration.hpp>
+#include <ddspipe_participants/types/security/tls/TlsConfiguration.hpp>
+#include <ddspipe_participants/participant/dds/CommonParticipant.hpp>
+
+namespace eprosima {
+namespace ddspipe {
+namespace participants {
+namespace dds {
+
+/**
+ * TODO
+ */
+class DiscoveryServerParticipant
+    : public CommonParticipant
+{
+public:
+
+    DDSPIPE_PARTICIPANTS_DllAPI
+    DiscoveryServerParticipant(
+            const std::shared_ptr<DiscoveryServerParticipantConfiguration>& participant_configuration,
+            const std::shared_ptr<core::PayloadPool>& payload_pool,
+            const std::shared_ptr<core::DiscoveryDatabase>& discovery_database);
+
+protected:
+
+    /////
+    // DDS specific methods
+
+    /**
+     * @brief Static method that gives the QoS for a Discovery Server Participant.
+     *
+     */
+    static fastdds::dds::DomainParticipantQos reckon_participant_qos_(
+        const DiscoveryServerParticipantConfiguration* participant_configuration);
+};
+
+} /* namespace dds */
+} /* namespace participants */
+} /* namespace ddspipe */
+} /* namespace eprosima */

ddspipe_participants/include/ddspipe_participants/participant/dds/InitialPeersParticipant.hpp

@@ -0,0 +1,58 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <fastdds/rtps/transport/TCPTransportDescriptor.hpp>
+
+#include <ddspipe_participants/configuration/InitialPeersParticipantConfiguration.hpp>
+#include <ddspipe_participants/participant/dds/CommonParticipant.hpp>
+#include <ddspipe_participants/types/security/tls/TlsConfiguration.hpp>
+
+namespace eprosima {
+namespace ddspipe {
+namespace participants {
+namespace dds {
+
+/**
+ * TODO
+ */
+class InitialPeersParticipant
+    : public CommonParticipant
+{
+public:
+
+    DDSPIPE_PARTICIPANTS_DllAPI
+    InitialPeersParticipant(
+            const std::shared_ptr<InitialPeersParticipantConfiguration>& participant_configuration,
+            const std::shared_ptr<core::PayloadPool>& payload_pool,
+            const std::shared_ptr<core::DiscoveryDatabase>& discovery_database);
+
+protected:
+
+    /////
+    // DDS specific methods
+
+    /**
+     * @brief Static method that gives the QoS for a Initial Peers Participant.
+     *
+     */
+    static fastdds::dds::DomainParticipantQos reckon_participant_qos_(
+        const InitialPeersParticipantConfiguration* participant_configuration);
+};
+
+} /* namespace dds */
+} /* namespace participants */
+} /* namespace ddspipe */
+} /* namespace eprosima */

ddspipe_participants/include/ddspipe_participants/participant/dds/SimpleParticipant.hpp

@@ -0,0 +1,66 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
+#include <ddspipe_participants/participant/dds/CommonParticipant.hpp>
+
+namespace eprosima {
+namespace ddspipe {
+namespace participants {
+namespace dds {
+
+/**
+ * Participant with Simple Discovery Protocol.
+ *
+ * Standard RTPS Participant with Simple Discovery and default attributes.
+ */
+class SimpleParticipant : public CommonParticipant
+{
+public:
+
+    /**
+     * @brief Construct a new Dummy Participant object
+     *
+     * It uses the \c BaseParticipant constructor.
+     * Apart from BaseParticipant, it creates a new RTPSParticipant with default Attributes and domain given
+     * by configuration.
+     *
+     * @throw \c InitializationException in case any internal error has ocurred while creating RTPSParticipant
+     * @throw \c IConfigurationException in case configuration was incorrectly set
+     */
+    DDSPIPE_PARTICIPANTS_DllAPI
+    SimpleParticipant(
+            const std::shared_ptr<SimpleParticipantConfiguration>& participant_configuration,
+            const std::shared_ptr<core::PayloadPool>& payload_pool,
+            const std::shared_ptr<core::DiscoveryDatabase>& discovery_database);
+
+protected:
+
+    /////
+    // DDS specific methods
+
+    /**
+     * @brief Static method that gives the QoS for a Simple Participant.
+     *
+     */
+    static fastdds::dds::DomainParticipantQos reckon_participant_qos_(
+        const SimpleParticipantConfiguration* participant_configuration);
+};
+
+} /* namespace dds */
+} /* namespace participants */
+} /* namespace ddspipe */
+} /* namespace eprosima */

ddspipe_participants/include/ddspipe_participants/participant/dds/XmlParticipant.hpp

@@ -56,20 +56,15 @@ class XmlParticipant
 
 protected:
 
-    /////////////////////////
-    // INTERNAL METHODS
-    /////////////////////////
+    /////
+    // DDS specific methods
 
-    virtual
-    fastdds::dds::DomainParticipantQos
-    reckon_participant_qos_() const override;
-
-    /////////////////////////
-    // INTERNAL VARIABLES
-    /////////////////////////
-
-    //! Participant configuration
-    const XmlParticipantConfiguration& xml_specific_configuration_;
+    /**
+     * @brief Static method that gives the QoS for a XML Participant.
+     *
+     */
+    static fastdds::dds::DomainParticipantQos reckon_participant_qos_(
+        const XmlParticipantConfiguration* participant_configuration);
 };
 
 } /* namespace dds */