[20242] TypeLookup listeners implementation

include/fastdds/dds/domain/DomainParticipantListener.hpp

@@ -100,26 +100,9 @@ class DomainParticipantListener :
      *
      * @param[out] participant Pointer to the Participant which discovered the remote DataReader.
      * @param[out] info Remote DataReader information. User can take ownership of the object.
-     */
-    virtual void on_subscriber_discovery(
-            DomainParticipant* participant,
-            fastrtps::rtps::ReaderDiscoveryInfo&& info)
-    {
-        static_cast<void>(participant);
-        static_cast<void>(info);
-    }
-
-    /*!
-     * This method is called when a new DataReader is discovered, or a previously discovered DataReader changes
-     * its QOS or is removed.
-     *
-     * @warning Not Supported. This callback will never be called in the current version.
-     *
-     * @param[out] participant Pointer to the Participant which discovered the remote DataReader.
-     * @param[out] info Remote DataReader information. User can take ownership of the object.
      * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataReader.
      */
-    virtual void on_subscriber_discovery(
+    virtual void on_data_reader_discovery(
             DomainParticipant* participant,
             fastrtps::rtps::ReaderDiscoveryInfo&& info,
             bool& should_be_ignored)
@@ -135,26 +118,9 @@ class DomainParticipantListener :
      *
      * @param[out] participant Pointer to the Participant which discovered the remote DataWriter.
      * @param[out] info Remote DataWriter information. User can take ownership of the object.
-     */
-    virtual void on_publisher_discovery(
-            DomainParticipant* participant,
-            fastrtps::rtps::WriterDiscoveryInfo&& info)
-    {
-        static_cast<void>(participant);
-        static_cast<void>(info);
-    }
-
-    /*!
-     * This method is called when a new DataWriter is discovered, or a previously discovered DataWriter changes
-     * its QOS or is removed.
-     *
-     * @warning Not Supported. This callback will never be called in the current version.
-     *
-     * @param[out] participant Pointer to the Participant which discovered the remote DataWriter.
-     * @param[out] info Remote DataWriter information. User can take ownership of the object.
      * @param[out] should_be_ignored Flag to indicate the library to automatically ignore the discovered DataWriter.
      */
-    virtual void on_publisher_discovery(
+    virtual void on_data_writer_discovery(
             DomainParticipant* participant,
             fastrtps::rtps::WriterDiscoveryInfo&& info,
             bool& should_be_ignored)

include/fastdds/dds/domain/qos/DomainParticipantQos.hpp

@@ -86,6 +86,7 @@ class DomainParticipantQos
                (this->builtin_controllers_sender_thread_ == b.builtin_controllers_sender_thread()) &&
                (this->timed_events_thread_ == b.timed_events_thread()) &&
                (this->discovery_server_thread_ == b.discovery_server_thread()) &&
+               (this->typelookup_service_thread_ == b.typelookup_service_thread()) &&
 #if HAVE_SECURITY
                (this->security_log_thread_ == b.security_log_thread()) &&
 #endif // if HAVE_SECURITY
@@ -433,6 +434,37 @@ class DomainParticipantQos
         discovery_server_thread_ = value;
     }
 
+    /**
+     * Getter for TypeLookup service ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& typelookup_service_thread()
+    {
+        return typelookup_service_thread_;
+    }
+
+    /**
+     * Getter for TypeLookup service ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& typelookup_service_thread() const
+    {
+        return typelookup_service_thread_;
+    }
+
+    /**
+     * Setter for the TypeLookup service ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void typelookup_service_thread(
+            const rtps::ThreadSettings& value)
+    {
+        typelookup_service_thread_ = value;
+    }
+
 #if HAVE_SECURITY
     /**
      * Getter for security log ThreadSettings
@@ -505,6 +537,9 @@ class DomainParticipantQos
     //! Thread settings for the discovery server thread
     rtps::ThreadSettings discovery_server_thread_;
 
+    //! Thread settings for the builtin TypeLookup service requests and replies threads
+    rtps::ThreadSettings typelookup_service_thread_;
+
 #if HAVE_SECURITY
     //! Thread settings for the security log thread
     rtps::ThreadSettings security_log_thread_;

include/fastdds/dds/log/Log.hpp

@@ -282,17 +282,18 @@ class LogConsumer
 // Name of variables inside macros must be unique, or it could produce an error with external variables
 #if !HAVE_LOG_NO_ERROR
 
-#define EPROSIMA_LOG_ERROR_IMPL_(cat, msg)                                                                                 \
+#define EPROSIMA_LOG_ERROR_IMPL_(cat, msg)                                                                             \
     do {                                                                                                               \
-        using namespace eprosima::fastdds::dds;                                                                        \
         std::stringstream fastdds_log_ss_tmp__;                                                                        \
         fastdds_log_ss_tmp__ << msg;                                                                                   \
-        Log::QueueLog(fastdds_log_ss_tmp__.str(), Log::Context{__FILE__, __LINE__, __func__, #cat}, Log::Kind::Error); \
+        eprosima::fastdds::dds::Log::QueueLog(                                                                         \
+            fastdds_log_ss_tmp__.str(), eprosima::fastdds::dds::Log::Context{__FILE__, __LINE__, __func__, #cat},      \
+            eprosima::fastdds::dds::Log::Kind::Error);                                                                 \
     } while (0)
 
 #elif (__INTERNALDEBUG || _INTERNALDEBUG)
 
-#define EPROSIMA_LOG_ERROR_IMPL_(cat, msg)                          \
+#define EPROSIMA_LOG_ERROR_IMPL_(cat, msg)                      \
     do {                                                        \
         auto fastdds_log_lambda_tmp__ = [&]()                   \
                 {                                               \
@@ -312,21 +313,21 @@ class LogConsumer
 ***********/
 #if !HAVE_LOG_NO_WARNING
 
-#define EPROSIMA_LOG_WARNING_IMPL_(cat, msg)                                                                            \
-    do {                                                                                                            \
-        using namespace eprosima::fastdds::dds;                                                                     \
-        if (Log::GetVerbosity() >= Log::Kind::Warning)                                                              \
-        {                                                                                                           \
-            std::stringstream fastdds_log_ss_tmp__;                                                                 \
-            fastdds_log_ss_tmp__ << msg;                                                                            \
-            Log::QueueLog(                                                                                          \
-                fastdds_log_ss_tmp__.str(), Log::Context{__FILE__, __LINE__, __func__, #cat}, Log::Kind::Warning);  \
-        }                                                                                                           \
+#define EPROSIMA_LOG_WARNING_IMPL_(cat, msg)                                                                          \
+    do {                                                                                                              \
+        if (eprosima::fastdds::dds::Log::GetVerbosity() >= eprosima::fastdds::dds::Log::Kind::Warning)                \
+        {                                                                                                             \
+            std::stringstream fastdds_log_ss_tmp__;                                                                   \
+            fastdds_log_ss_tmp__ << msg;                                                                              \
+            eprosima::fastdds::dds::Log::QueueLog(                                                                    \
+                fastdds_log_ss_tmp__.str(), eprosima::fastdds::dds::Log::Context{__FILE__, __LINE__, __func__, #cat}, \
+                eprosima::fastdds::dds::Log::Kind::Warning);                                                          \
+        }                                                                                                             \
     } while (0)
 
 #elif (__INTERNALDEBUG || _INTERNALDEBUG)
 
-#define EPROSIMA_LOG_WARNING_IMPL_(cat, msg)                        \
+#define EPROSIMA_LOG_WARNING_IMPL_(cat, msg)                    \
     do {                                                        \
         auto fastdds_log_lambda_tmp__ = [&]()                   \
                 {                                               \
@@ -351,16 +352,16 @@ class LogConsumer
     ((defined(__INTERNALDEBUG) || defined(_INTERNALDEBUG)) && (defined(_DEBUG) || defined(__DEBUG) || \
     !defined(NDEBUG))))
 
-#define EPROSIMA_LOG_INFO_IMPL_(cat, msg)                                                                   \
-    do {                                                                                                \
-        using namespace eprosima::fastdds::dds;                                                         \
-        if (Log::GetVerbosity() >= Log::Kind::Info)                                                     \
-        {                                                                                               \
-            std::stringstream fastdds_log_ss_tmp__;                                                     \
-            fastdds_log_ss_tmp__ << msg;                                                                \
-            Log::QueueLog(fastdds_log_ss_tmp__.str(), Log::Context{__FILE__, __LINE__, __func__, #cat}, \
-                    Log::Kind::Info);                                                                   \
-        }                                                                                               \
+#define EPROSIMA_LOG_INFO_IMPL_(cat, msg)                                                                             \
+    do {                                                                                                              \
+        if (eprosima::fastdds::dds::Log::GetVerbosity() >= eprosima::fastdds::dds::Log::Kind::Info)                   \
+        {                                                                                                             \
+            std::stringstream fastdds_log_ss_tmp__;                                                                   \
+            fastdds_log_ss_tmp__ << msg;                                                                              \
+            eprosima::fastdds::dds::Log::QueueLog(                                                                    \
+                fastdds_log_ss_tmp__.str(), eprosima::fastdds::dds::Log::Context{__FILE__, __LINE__, __func__, #cat}, \
+                eprosima::fastdds::dds::Log::Kind::Info);                                                             \
+        }                                                                                                             \
     } while (0)
 
 #elif (__INTERNALDEBUG || _INTERNALDEBUG)

include/fastdds/dds/xtypes/common.hpp

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /*!
- * @file
+ * @file common.hpp
  * This file contains common definitions for the different XTypes modules.
  */
 
@@ -43,8 +43,8 @@ enum class TryConstructKind : uint32_t
     TRIM
 };
 
-/**
- * @brief PlacementKind values (@verbatim annotation)
+/*!
+ * @brief PlacementKind values (verbatim annotation)
  */
 enum class PlacementKind : uint32_t
 {

include/fastdds/dds/xtypes/dynamic_types/AnnotationDescriptor.hpp

@@ -45,7 +45,7 @@ class FASTDDS_EXPORTED_API AnnotationDescriptor
 
     /*!
      * Modifies the underlying type reference.
-     * @param[in] @ref DynamicType reference.
+     * @param[in] type @ref DynamicType reference.
      */
     virtual void type(
             traits<DynamicType>::ref_type type) = 0;

include/fastdds/dds/xtypes/dynamic_types/DynamicData.hpp

@@ -168,7 +168,7 @@ class DynamicData : public std::enable_shared_from_this<DynamicData>
     /*!
      * Retrieves an \b int32 value associated to an identifier.
      * @param[inout] value \b int32 to populate
-     * @param[in] Id identifier of the member to query.
+     * @param[in] id identifier of the member to query.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK when the value was retrieved successfully.
      * @retval RETCODE_BAD_PARAMETER when the @ref MemberId is invalid or the member type is not promotable to \b int32.
@@ -516,7 +516,7 @@ class DynamicData : public std::enable_shared_from_this<DynamicData>
 
     /*!
      * Sets an \b bool value associated to an identifier
-     * @param[in] Id identifier of the member to set.
+     * @param[in] id identifier of the member to set.
      * @param[in] value \b bool to set.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK when the value was set successfully.

include/fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp

@@ -57,7 +57,7 @@ class DynamicDataFactory : public std::enable_shared_from_this<DynamicDataFactor
 
     /**
      * Resets the internal reference if it is cached.
-     * @param[in] type @ref DynamicData reference whose internal cached reference to reset.
+     * @param[in] data @ref DynamicData reference whose internal cached reference to reset.
      * @return standard ReturnCode_t
      * @retval RETCODE_BAD_PARAMETER if reference is nil.
      * @retval RETCODE_OK is otherwise returned.

include/fastdds/dds/xtypes/dynamic_types/DynamicType.hpp

@@ -60,6 +60,7 @@ class DynamicType : public std::enable_shared_from_this<DynamicType>
     /*!
      * Returns the member that corresponds to the specified name.
      * @param[inout] member @ref DynamicTypeMember reference used to return the reference to the member.
+     * @param[in] name Member name of the member being queried.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK when the member was found.
      * @retval RETCODE_BAD_PARAMETER when the member doesn't exist.
@@ -154,7 +155,7 @@ class DynamicType : public std::enable_shared_from_this<DynamicType>
 
     /**
      * State comparison according with the [standard] sections \b 7.5.2.8.4
-     * @param[in] other @DynamicType reference to compare to
+     * @param[in] other @ref DynamicType reference to compare to
      * @return \b bool `true` on equality
      */
     FASTDDS_EXPORTED_API virtual bool equals(

include/fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilder.hpp

@@ -70,7 +70,7 @@ class DynamicTypeBuilder : public std::enable_shared_from_this<DynamicTypeBuilde
 
     /*!
      * Returns all members sorted by name.
-     * @param[inout] member @ref DynamicTypeMemberByName reference used to return all members.
+     * @param[inout] member DynamicTypeMemberByName reference used to return all members.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK always.
      */
@@ -90,7 +90,7 @@ class DynamicTypeBuilder : public std::enable_shared_from_this<DynamicTypeBuilde
 
     /*!
      * Returns all members sorted by MemberId.
-     * @param[inout] member @ref DynamicTypeMemberById reference used to return all members.
+     * @param[inout] member DynamicTypeMemberById reference used to return all members.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK always.
      */
@@ -165,6 +165,7 @@ class DynamicTypeBuilder : public std::enable_shared_from_this<DynamicTypeBuilde
 
     /*!
      * Apply the given annotation to a member of this type.
+     * @param[in] member_id Member identifier.
      * @param[in] descriptor @ref AnnotationDescriptor reference to be applied.
      * @return @ref ReturnCode_t
      * @retval RETCODE_OK when the annotation was applied successful.

include/fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilderFactory.hpp

@@ -78,8 +78,8 @@ class DynamicTypeBuilderFactory : public std::enable_shared_from_this<DynamicTyp
             traits<DynamicType>::ref_type type) = 0;
 
     /*!
-     * Creates a new @ref DynamicTypeBuilder reference based on the given @ref TypeObject instance.
-     * @param[in] type_object @ref TypeObject instance to be used.
+     * Creates a new @ref DynamicTypeBuilder reference based on the given @ref xtypes::TypeObject instance.
+     * @param[in] type_object @ref xtypes::TypeObject instance to be used.
      * @return New @ref DynamicTypeBuilder reference. Nil reference returned in error case.
      */
     FASTDDS_EXPORTED_API virtual traits<DynamicTypeBuilder>::ref_type create_type_w_type_object(
@@ -117,7 +117,7 @@ class DynamicTypeBuilderFactory : public std::enable_shared_from_this<DynamicTyp
     /*!
      * Creates a new @ref DynamicTypeBuilder reference representing an array.
      * @param[in] element_type @ref DynamicType reference which becomes the element type
-     * @param[in] bounds `uint32_t` representing the desired dimensions.
+     * @param[in] bound `uint32_t` sequence representing the desired dimensions.
      * @return new @ref DynamicTypeBuilder reference. Nil reference returned in error case.
      */
     FASTDDS_EXPORTED_API virtual traits<DynamicTypeBuilder>::ref_type create_array_type(
@@ -126,8 +126,8 @@ class DynamicTypeBuilderFactory : public std::enable_shared_from_this<DynamicTyp
 
     /*!
      * Creates a new @ref DynamicTypeBuilder reference representing a map.
-     * @param[in] key_type @ref DynamicType reference which becomes the map's key type
-     * @param[in] value_type @ref DynamicType reference which becomes the map's value type
+     * @param[in] key_element_type @ref DynamicType reference which becomes the map's key type
+     * @param[in] element_type @ref DynamicType reference which becomes the map's value type
      * @param[in] bound `uint32_t` representing the maximum number of elements that may be stored.
      * If the value is equal to LENGTH_UNLIMITED, the map type shall be considered to be unbounded.
      * @return new @ref DynamicTypeBuilder reference. Nil reference returned in error case.
@@ -148,7 +148,7 @@ class DynamicTypeBuilderFactory : public std::enable_shared_from_this<DynamicTyp
     /*!
      * Creates a new @ref DynamicTypeBuilder reference by parsing the type description at the given URL.
      * @remark Not implemented yet.
-     * @param[in] URL pointing to the XML description.
+     * @param[in] document_url pointing to the url containing the type description.
      * @param[in] type_name Fully qualified name of the type to be loaded from the document.
      * @param[in] include_paths A collection of URLs to directories to be searched for additional type description
      * documents.
@@ -162,7 +162,7 @@ class DynamicTypeBuilderFactory : public std::enable_shared_from_this<DynamicTyp
     /*!
      * Creates a new @ref DynamicTypeBuilder reference by parsing the type description contained in the given string.
      * @remark Not implemented yet.
-     * @param[in] String containing the type description.
+     * @param[in] document containing the type description.
      * @param[in] type_name Fully qualified name of the type to be loaded from the string.
      * @param[in] include_paths A collection of URLs to directories to be searched for additional type description
      * documents.

include/fastdds/dds/xtypes/dynamic_types/DynamicTypeMember.hpp

@@ -87,7 +87,7 @@ class DynamicTypeMember : public std::enable_shared_from_this<DynamicTypeMember>
 
     /**
      * State comparison according with the [standard] sections \b 7.5.2.6.3
-     * @param[in] other @DynamicTypeMember reference to compare to
+     * @param[in] other @ref DynamicTypeMember reference to compare to
      * @return \b bool `true` on equality
      */
     FASTDDS_EXPORTED_API virtual bool equals(