RTPS reader APIs refactor (#4875)

* Refs #21082. Add `BaseReader` alias. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `StatefulReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `StatelessReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `ListenerTests`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `MessageReceiver`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `RTPSMessageGroup`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `StatisticsReaderImpl`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on writers (intraprocess). Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Turn `BaseReader` into a class. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move `BaseReader` into its own private header. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move `StatisticsReaderImpl` to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move `BaseReader` implementation to source file. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor on `DataSharingListener`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move submessage processing to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove friend `MessageReceiver`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove friend `RTPSParticipantImpl`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove friend `EDP`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove friend `WLP`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove friend `ReaderHistory`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Use `BaseReader` on `forEachUserReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move protected methods to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move unread related methods to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move destructor actions to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move some protected fields to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move data-sharing related fields to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Remove unnecessary forward declarations. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move `liveliness_changed_status_` to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Rearrange inline methods. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Add `downcast` methods. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Expose `assert_writer_liveliness`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move history related methods to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Expose `isInCleanState`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Refactor `nextXxxCache` methods. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Move sample access related methods to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Minor improvements. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Snake case for public methods. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21082. Use correct names for attributes. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Uncrustify. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Suggestions on MessageReceiver. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Using alias for BaseReader. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Snake case for `expects_inline_qos`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Correct name for `ReaderAttributes::liveliness_kind`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor on ReaderAttributes. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Getters on `RTPSReader` made const. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Initialize `accept_messages_from_unkown_writers_` from new attribute. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Method `init` moved to `BaseReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Naming style on BaseReader. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Naming style on BaseReader (`reserve_cache` / `release_cache`). Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Naming style on BaseReader (submessages). Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Naming style on BaseReader (`find_cache_in_fragmented_process`). Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Move `find_cache_in_fragmented_process` to `StatefulReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Naming style on BaseReader (fields). Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Suggestions on RTPSReader. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Remove `change_read_by_user` references. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Made all API in `RTPSReader` pure virtual. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Includes in `RTPSReader`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Declaration order on BaseReader. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor `persist_last_notified_nts`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Remove `onReaderMatched` overload. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Rename to `on_reader_matched`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Rename to `on_new_cache_change_added`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Uncrustify. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor of mocks. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Add StatefulReader unit test. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Remove RTPS blackbox test. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Uncrustify. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Fix discovery server tests. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Improve test `sample_lost_be_dw_be_dr_fragments`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Improve `find_cache_in_fragmented_process`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Doxygen motivated refactor. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor `reserve_cache`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor `allow_unknown_writers`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Refactor `change_removed_by_history`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Improve `update_liveliness_changed_status`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. More doxygen improvements. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Remove `accept_messages_to_unknown_readers`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. More doxygen improvements. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Snake case for `ReaderTimes`. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21120. Update versions.md. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> --------- Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
eProsima · Jun 11, 2024 · 8308073 · 8308073
1 parent e92a2cc
commit 8308073
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Showing 121 changed files with 2,521 additions and 1,874 deletions.
diff --git a/examples/cpp/rtps/AsSocket/TestReaderSocket.cpp b/examples/cpp/rtps/AsSocket/TestReaderSocket.cpp
@@ -71,8 +71,8 @@ bool TestReaderSocket::init(
     IPLocator::setIPv4(loc, ip);
     loc.port = static_cast<uint16_t>(port);
     ratt.endpoint.multicastLocatorList.push_back(loc);
+    ratt.accept_messages_from_unkown_writers = true;
     mp_reader = RTPSDomain::createRTPSReader(mp_participant, ratt, mp_history, &m_listener);
-    mp_reader->enableMessagesFromUnkownWriters(true);
     if (mp_reader == nullptr)
     {
         return false;
@@ -88,11 +88,11 @@ void TestReaderSocket::run()
     std::cin >> aux;
 }
 
-void TestReaderSocket::MyListener::onNewCacheChangeAdded(
+void TestReaderSocket::MyListener::on_new_cache_change_added(
         RTPSReader* reader,
         const CacheChange_t* const change)
 {
     printf("Received: %s\n", change->serializedPayload.data);
-    reader->getHistory()->remove_change((CacheChange_t*)change);
+    reader->get_history()->remove_change((CacheChange_t*)change);
     m_received++;
 }
diff --git a/examples/cpp/rtps/AsSocket/TestReaderSocket.h b/examples/cpp/rtps/AsSocket/TestReaderSocket.h
@@ -65,7 +65,7 @@ class TestReaderSocket
         {
         }
 
-        void onNewCacheChangeAdded(
+        void on_new_cache_change_added(
                 eprosima::fastrtps::rtps::RTPSReader* reader,
                 const eprosima::fastrtps::rtps::CacheChange_t* const change) override;
         uint32_t m_received;

diff --git a/examples/cpp/rtps/Persistent/TestReaderPersistent.cpp b/examples/cpp/rtps/Persistent/TestReaderPersistent.cpp
@@ -101,11 +101,11 @@ void TestReaderPersistent::run()
     std::cin.ignore();
 }
 
-void TestReaderPersistent::MyListener::onNewCacheChangeAdded(
+void TestReaderPersistent::MyListener::on_new_cache_change_added(
         RTPSReader* reader,
         const CacheChange_t* const change)
 {
     printf("Received: %s\n", change->serializedPayload.data);
-    reader->getHistory()->remove_change((CacheChange_t*)change);
+    reader->get_history()->remove_change((CacheChange_t*)change);
     n_received++;
 }
diff --git a/examples/cpp/rtps/Persistent/TestReaderPersistent.h b/examples/cpp/rtps/Persistent/TestReaderPersistent.h
@@ -58,12 +58,12 @@ class TestReaderPersistent
         {
         }
 
-        void onNewCacheChangeAdded(
+        void on_new_cache_change_added(
                 eprosima::fastrtps::rtps::RTPSReader* reader,
                 const eprosima::fastrtps::rtps::CacheChange_t* const change) override;
-        void onReaderMatched(
+        void on_reader_matched(
                 eprosima::fastrtps::rtps::RTPSReader*,
-                eprosima::fastrtps::rtps::MatchingInfo& info) override
+                const eprosima::fastrtps::rtps::MatchingInfo& info) override
         {
             if (info.status == eprosima::fastrtps::rtps::MATCHED_MATCHING)
             {
@@ -74,9 +74,6 @@ class TestReaderPersistent
         uint32_t n_received;
         uint32_t n_matched;
 
-    private:
-
-        using eprosima::fastrtps::rtps::ReaderListener::onReaderMatched;
     }
     m_listener;
 };

diff --git a/examples/cpp/rtps/Registered/TestReaderRegistered.cpp b/examples/cpp/rtps/Registered/TestReaderRegistered.cpp
@@ -93,11 +93,11 @@ void TestReaderRegistered::run()
     std::cin.ignore();
 }
 
-void TestReaderRegistered::MyListener::onNewCacheChangeAdded(
+void TestReaderRegistered::MyListener::on_new_cache_change_added(
         RTPSReader* reader,
         const CacheChange_t* const change)
 {
     printf("Received: %s\n", change->serializedPayload.data);
-    reader->getHistory()->remove_change((CacheChange_t*)change);
+    reader->get_history()->remove_change((CacheChange_t*)change);
     n_received++;
 }
diff --git a/examples/cpp/rtps/Registered/TestReaderRegistered.h b/examples/cpp/rtps/Registered/TestReaderRegistered.h
@@ -59,12 +59,12 @@ class TestReaderRegistered
         {
         }
 
-        void onNewCacheChangeAdded(
+        void on_new_cache_change_added(
                 eprosima::fastrtps::rtps::RTPSReader* reader,
                 const eprosima::fastrtps::rtps::CacheChange_t* const change) override;
-        void onReaderMatched(
+        void on_reader_matched(
                 eprosima::fastrtps::rtps::RTPSReader*,
-                eprosima::fastrtps::rtps::MatchingInfo& info) override
+                const eprosima::fastrtps::rtps::MatchingInfo& info) override
         {
             if (info.status == eprosima::fastrtps::rtps::MATCHED_MATCHING)
             {
@@ -75,9 +75,6 @@ class TestReaderRegistered
         uint32_t n_received;
         uint32_t n_matched;
 
-    private:
-
-        using eprosima::fastrtps::rtps::ReaderListener::onReaderMatched;
     }
     m_listener;
 };

diff --git a/include/fastdds/dds/subscriber/qos/DataReaderQos.hpp b/include/fastdds/dds/subscriber/qos/DataReaderQos.hpp
@@ -703,19 +703,19 @@ class DataReaderQos
     }
 
     /**
-     * Getter for expectsInlineQos
+     * Getter for expects_inline_qos
      *
-     * @return expectsInlineQos
+     * @return expects_inline_qos
      */
     FASTDDS_EXPORTED_API bool expects_inline_qos() const
     {
         return expects_inline_qos_;
     }
 
     /**
-     * Setter for expectsInlineQos
+     * Setter for expects_inline_qos
      *
-     * @param new_value new value for the expectsInlineQos
+     * @param new_value new value for the expects_inline_qos
      */
     FASTDDS_EXPORTED_API void expects_inline_qos(
             bool new_value)

diff --git a/include/fastdds/rtps/attributes/ReaderAttributes.h b/include/fastdds/rtps/attributes/ReaderAttributes.h
@@ -38,27 +38,17 @@ class ReaderTimes
 {
 public:
 
-    ReaderTimes()
-    {
-        initialAcknackDelay.nanosec = 70 * 1000 * 1000;
-        heartbeatResponseDelay.nanosec = 5 * 1000 * 1000;
-    }
-
-    virtual ~ReaderTimes()
-    {
-    }
-
     bool operator ==(
             const ReaderTimes& b) const
     {
-        return (this->initialAcknackDelay == b.initialAcknackDelay)  &&
-               (this->heartbeatResponseDelay == b.heartbeatResponseDelay);
+        return (initial_acknack_delay == b.initial_acknack_delay)  &&
+               (heartbeat_response_delay == b.heartbeat_response_delay);
     }
 
-    //!Initial AckNack delay. Default value 70ms.
-    Duration_t initialAcknackDelay;
-    //!Delay to be applied when a HEARTBEAT message is received, default value 5ms.
-    Duration_t heartbeatResponseDelay;
+    //! Initial AckNack delay. Default value 70ms.
+    Duration_t initial_acknack_delay {0, 70 * 1000 * 1000};
+    //! Delay to be applied when a HEARTBEAT message is received, default value 5ms.
+    Duration_t heartbeat_response_delay {0,  5 * 1000 * 1000};
 };
 
 /**
@@ -70,43 +60,39 @@ class ReaderAttributes
 public:
 
     ReaderAttributes()
-        : liveliness_kind_(fastdds::dds::LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS)
-        , liveliness_lease_duration(TIME_T_INFINITE_SECONDS, TIME_T_INFINITE_NANOSECONDS)
-        , expectsInlineQos(false)
-        , disable_positive_acks(false)
     {
         endpoint.endpointKind = READER;
         endpoint.durabilityKind = VOLATILE;
         endpoint.reliabilityKind = BEST_EFFORT;
     }
 
-    virtual ~ReaderAttributes()
-    {
-    }
+    //! Attributes of the associated endpoint.
+    EndpointAttributes endpoint {};
 
-    //!Attributes of the associated endpoint.
-    EndpointAttributes endpoint;
-
-    //!Times associated with this reader (only for stateful readers)
-    ReaderTimes times;
+    //! Times associated with this reader (only for stateful readers)
+    ReaderTimes times {};
 
     //! Liveliness kind
-    fastdds::dds::LivelinessQosPolicyKind liveliness_kind_;
+    fastdds::dds::LivelinessQosPolicyKind liveliness_kind =
+            fastdds::dds::LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS;
 
     //! Liveliness lease duration
-    Duration_t liveliness_lease_duration;
+    Duration_t liveliness_lease_duration {TIME_T_INFINITE_SECONDS, TIME_T_INFINITE_NANOSECONDS};
 
-    //!Indicates if the reader expects Inline qos, default value 0.
-    bool expectsInlineQos;
+    //! Indicates if the reader expects Inline qos, default value false.
+    bool expects_inline_qos = false;
 
     //! Disable positive ACKs
-    bool disable_positive_acks;
+    bool disable_positive_acks = false;
+
+    //! Enable or disable the reception of messages from unknown writers.
+    bool accept_messages_from_unkown_writers = false;
 
     //! Define the allocation behaviour for matched-writer-dependent collections.
-    ResourceLimitedContainerConfig matched_writers_allocation;
+    ResourceLimitedContainerConfig matched_writers_allocation {};
 
     //! Thread settings for the data-sharing listener thread
-    fastdds::rtps::ThreadSettings data_sharing_listener_thread;
+    fastdds::rtps::ThreadSettings data_sharing_listener_thread {};
 };
 
 } /* namespace rtps */