X-Types examples (#4924)

* Refs #21099: X-Types application

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #21099: Add test

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #21099: Remove old TODO

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #21099: Add missing licenses

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #21099: Add example to versions

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #21099: Apply Mario's suggestions

Signed-off-by: eduponz <eduardoponz@eprosima.com>

---------

Signed-off-by: eduponz <eduardoponz@eprosima.com>

examples/CMakeLists.txt

@@ -18,3 +18,4 @@ add_subdirectory(cpp/custom_payload_pool)
 add_subdirectory(cpp/dds)
 add_subdirectory(cpp/hello_world)
 add_subdirectory(cpp/rtps)
+add_subdirectory(cpp/xtypes)

examples/cpp/xtypes/Application.cpp

@@ -0,0 +1,62 @@
+// 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.
+
+/**
+ * @file Application.cpp
+ *
+ */
+
+#include "Application.hpp"
+
+#include "CLIParser.hpp"
+#include "SubscriberApp.hpp"
+#include "PublisherApp.hpp"
+
+using namespace eprosima::fastdds::dds;
+
+namespace eprosima {
+namespace fastdds {
+namespace examples {
+namespace xtypes {
+
+//! Factory method to create a publisher or subscriber
+std::shared_ptr<Application> Application::make_app(
+        const CLIParser::config& config,
+        const std::string& topic_name)
+{
+    std::shared_ptr<Application> entity;
+    switch (config.entity)
+    {
+        case CLIParser::EntityKind::PUBLISHER:
+        {
+            entity = std::make_shared<PublisherApp>(config, topic_name);
+            break;
+        }
+        case CLIParser::EntityKind::SUBSCRIBER:
+        {
+            entity = std::make_shared<SubscriberApp>(config, topic_name);
+            break;
+        }
+        case CLIParser::EntityKind::UNDEFINED:
+        default:
+            throw std::runtime_error("Entity initialization failed");
+            break;
+    }
+    return entity;
+}
+
+} // namespace xtypes
+} // namespace examples
+} // namespace fastdds
+} // namespace eprosima

examples/cpp/xtypes/Application.hpp

@@ -0,0 +1,56 @@
+// 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.
+
+/**
+ * @file Application.hpp
+ *
+ */
+
+#ifndef _FASTDDS_EXAMPLES_XTYPES_APPLICATION_HPP_
+#define _FASTDDS_EXAMPLES_XTYPES_APPLICATION_HPP_
+
+#include <atomic>
+
+#include "CLIParser.hpp"
+
+namespace eprosima {
+namespace fastdds {
+namespace examples {
+namespace xtypes {
+
+class Application
+{
+public:
+
+    //! Virtual destructor
+    virtual ~Application() = default;
+
+    //! Run application
+    virtual void run() = 0;
+
+    //! Trigger the end of execution
+    virtual void stop() = 0;
+
+    //! Factory method to create applications based on configuration
+    static std::shared_ptr<Application> make_app(
+            const CLIParser::config& config,
+            const std::string& topic_name);
+};
+
+} // namespace xtypes
+} // namespace examples
+} // namespace fastdds
+} // namespace eprosima
+
+#endif /* _FASTDDS_EXAMPLES_XTYPES_APPLICATION_HPP_ */

examples/cpp/xtypes/CLIParser.hpp

@@ -0,0 +1,225 @@
+// 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.
+
+#include <csignal>
+#include <cstdlib>
+#include <iostream>
+
+#include <fastdds/dds/log/Log.hpp>
+
+#ifndef _FASTDDS_EXAMPLES_XTYPES_CLI_PARSER_HPP_
+#define _FASTDDS_EXAMPLES_XTYPES_CLI_PARSER_HPP_
+
+namespace eprosima {
+namespace fastdds {
+namespace examples {
+namespace xtypes {
+
+class CLIParser
+{
+public:
+
+    CLIParser() = delete;
+
+    //! Entity kind enumeration
+    enum class EntityKind : uint8_t
+    {
+        PUBLISHER,
+        SUBSCRIBER,
+        UNDEFINED
+    };
+
+    //! Configuration structure for the application
+    struct config
+    {
+        CLIParser::EntityKind entity = CLIParser::EntityKind::UNDEFINED;
+        uint16_t samples = 0;
+    };
+
+    /**
+     * @brief Print usage help message and exit with the given return code
+     *
+     * @param return_code return code to exit with
+     *
+     * @warning This method finishes the execution of the program with the input return code
+     */
+    static void print_help(
+            uint8_t return_code)
+    {
+        std::cout << "Usage: xtypes <entity> [options]"                                         << std::endl;
+        std::cout << ""                                                                         << std::endl;
+        std::cout << "Entities:"                                                                << std::endl;
+        std::cout << "  publisher                       Run a publisher entity"                 << std::endl;
+        std::cout << "  subscriber                      Run a subscriber entity"                << std::endl;
+        std::cout << ""                                                                         << std::endl;
+        std::cout << "Common options:"                                                          << std::endl;
+        std::cout << "  -h, --help                      Print this help message"                << std::endl;
+        std::cout << "  -s <num>, --samples <num>       Number of samples to send or receive"   << std::endl;
+        std::cout << "                                  [0 <= <num> <= 65535]"                  << std::endl;
+        std::cout << "                                  (Default: 0 [unlimited])"               << std::endl;
+        std::exit(return_code);
+    }
+
+    /**
+     * @brief Parse the command line options and return the configuration_config object
+     *
+     * @param argc number of arguments
+     * @param argv array of arguments
+     * @return configuration_config object with the parsed options
+     *
+     * @warning This method finishes the execution of the program if the input arguments are invalid
+     */
+    static config parse_cli_options(
+            int argc,
+            char* argv[])
+    {
+        config config;
+
+        if (argc < 2)
+        {
+            EPROSIMA_LOG_ERROR(CLI_PARSER, "missing entity argument");
+            print_help(EXIT_FAILURE);
+        }
+
+        std::string first_argument = argv[1];
+
+        if (first_argument == "publisher" )
+        {
+            config.entity = CLIParser::EntityKind::PUBLISHER;
+        }
+        else if (first_argument == "subscriber")
+        {
+            config.entity = CLIParser::EntityKind::SUBSCRIBER;
+        }
+        else if (first_argument == "-h" || first_argument == "--help")
+        {
+            print_help(EXIT_SUCCESS);
+        }
+        else
+        {
+            EPROSIMA_LOG_ERROR(CLI_PARSER, "parsing entity argument " + first_argument);
+            print_help(EXIT_FAILURE);
+        }
+
+        for (int i = 2; i < argc; ++i)
+        {
+            std::string arg = argv[i];
+            if (arg == "-h" || arg == "--help")
+            {
+                print_help(EXIT_SUCCESS);
+            }
+            else if (arg == "-s" || arg == "--samples")
+            {
+                if (i + 1 < argc)
+                {
+                    try
+                    {
+                        int input = std::stoi(argv[++i]);
+                        if (input < std::numeric_limits<std::uint16_t>::min() ||
+                                input > std::numeric_limits<std::uint16_t>::max())
+                        {
+                            throw std::out_of_range("sample argument out of range");
+                        }
+                        else
+                        {
+                            if (config.entity == CLIParser::EntityKind::UNDEFINED)
+                            {
+                                EPROSIMA_LOG_ERROR(CLI_PARSER, "entity not specified for --sample argument");
+                                print_help(EXIT_FAILURE);
+                            }
+                            config.samples = static_cast<uint16_t>(input);
+                        }
+                    }
+                    catch (const std::invalid_argument& e)
+                    {
+                        EPROSIMA_LOG_ERROR(CLI_PARSER, "invalid sample argument for " + arg + ": " + e.what());
+                        print_help(EXIT_FAILURE);
+                    }
+                    catch (const std::out_of_range& e)
+                    {
+                        EPROSIMA_LOG_ERROR(CLI_PARSER, "sample argument out of range for " + arg + ": " + e.what());
+                        print_help(EXIT_FAILURE);
+                    }
+                }
+                else
+                {
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "missing argument for " + arg);
+                    print_help(EXIT_FAILURE);
+                }
+            }
+            else
+            {
+                EPROSIMA_LOG_ERROR(CLI_PARSER, "unknown option " + arg);
+                print_help(EXIT_FAILURE);
+            }
+        }
+
+        return config;
+    }
+
+    /**
+     * @brief Parse the signal number into the signal name
+     *
+     * @param signum signal number
+     * @return std::string signal name
+     */
+    static std::string parse_signal(
+            const int& signum)
+    {
+        switch (signum)
+        {
+            case SIGINT:
+                return "SIGINT";
+            case SIGTERM:
+                return "SIGTERM";
+#ifndef _WIN32
+            case SIGQUIT:
+                return "SIGQUIT";
+            case SIGHUP:
+                return "SIGHUP";
+#endif // _WIN32
+            default:
+                return "UNKNOWN SIGNAL";
+        }
+    }
+
+    /**
+     * @brief Parse the entity kind into std::string
+     *
+     * @param entity entity kind
+     * @return std::string entity kind
+     */
+    static std::string parse_entity_kind(
+            const EntityKind& entity)
+    {
+        switch (entity)
+        {
+            case EntityKind::PUBLISHER:
+                return "Publisher";
+            case EntityKind::SUBSCRIBER:
+                return "Subscriber";
+            case EntityKind::UNDEFINED:
+            default:
+                return "Undefined entity";
+        }
+    }
+
+};
+
+} // namespace xtypes
+} // namespace examples
+} // namespace fastdds
+} // namespace eprosima
+
+#endif // _FASTDDS_EXAMPLES_XTYPES_CLI_PARSER_HPP_