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[21077] Update Fast DDS docs QoS examples #4842

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merged 6 commits into from
Jun 20, 2024
Merged

[21077] Update Fast DDS docs QoS examples #4842

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5753469
Refs #21077: Homogenize QoS API
cferreiragonz May 23, 2024
58f12e0
Refs #21077: Spelling
cferreiragonz May 23, 2024
414d70e
Refs #21077: Make Endpoints Properties unmutable
cferreiragonz May 23, 2024
c38a7a9
Refs #21077: Update new examples
cferreiragonz Jun 13, 2024
88ee299
Refs #21077: Revision - Clear method
cferreiragonz Jun 17, 2024
19d5c68
Refs #21077: Revision - != operator
cferreiragonz Jun 17, 2024
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2 changes: 1 addition & 1 deletion examples/cpp/configuration/SubscriberApp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,7 +126,7 @@ SubscriberApp::SubscriberApp(
reader_qos.resource_limits().max_samples_per_instance = config.max_samples_per_instance;
reader_qos.ownership().kind = config.ownership;
reader_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
reader_qos.reliable_reader_qos().disable_positive_ACKs.enabled = config.disable_positive_ack;
reader_qos.reliable_reader_qos().disable_positive_acks.enabled = config.disable_positive_ack;
reader_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
reader_qos.liveliness().kind = config.liveliness;
reader_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(
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5 changes: 5 additions & 0 deletions include/fastdds/dds/publisher/qos/DataWriterQos.hpp
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Expand Up @@ -58,6 +58,11 @@ class RTPSReliableWriterQos
(this->disable_heartbeat_piggyback == b.disable_heartbeat_piggyback);
}

inline void clear()
{
*this = RTPSReliableWriterQos();
}

//!Writer Timing Attributes
fastdds::rtps::WriterTimes times;

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7 changes: 3 additions & 4 deletions include/fastdds/dds/subscriber/qos/DataReaderQos.hpp
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Expand Up @@ -55,13 +55,12 @@ class RTPSReliableReaderQos
const RTPSReliableReaderQos& b) const
{
return (this->times == b.times) &&
(this->disable_positive_ACKs == b.disable_positive_ACKs);
(this->disable_positive_acks == b.disable_positive_acks);
}

inline void clear()
{
RTPSReliableReaderQos reset = RTPSReliableReaderQos();
std::swap(*this, reset);
*this = RTPSReliableReaderQos();
}

/*!
Expand All @@ -72,7 +71,7 @@ class RTPSReliableReaderQos
/*!
* @brief Control the sending of positive ACKs
*/
DisablePositiveACKsQosPolicy disable_positive_ACKs;
DisablePositiveACKsQosPolicy disable_positive_acks;
};

//! Qos Policy to configure the limit of the reader resources
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6 changes: 6 additions & 0 deletions include/fastdds/rtps/attributes/PropertyPolicy.h
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Expand Up @@ -71,6 +71,12 @@ class PropertyPolicy
(this->binary_properties_ == b.binary_properties_);
}

FASTDDS_EXPORTED_API bool operator !=(
const PropertyPolicy& b) const
{
return !(*this == b);
}

//!Get properties
FASTDDS_EXPORTED_API const PropertySeq& properties() const
{
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6 changes: 3 additions & 3 deletions src/cpp/fastdds/domain/DomainParticipantImpl.cpp
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Expand Up @@ -1663,7 +1663,7 @@ bool DomainParticipantImpl::set_qos(
{
to.allocation() = from.allocation();
}
if (first_time && !(to.properties() == from.properties()))
if (first_time && (to.properties() != from.properties()))
{
to.properties() = from.properties();
}
Expand Down Expand Up @@ -1710,10 +1710,10 @@ bool DomainParticipantImpl::can_qos_be_updated(
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
"ParticipantResourceLimitsQos cannot be changed after the participant is enabled");
}
if (!(to.properties() == from.properties()))
if ((to.properties() != from.properties()))
{
updatable = false;
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK, "PropertyPolilyQos cannot be changed after the participant is enabled");
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK, "PropertyPolicyQos cannot be changed after the participant is enabled");
}
if (!(to.wire_protocol() == from.wire_protocol()))
{
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6 changes: 6 additions & 0 deletions src/cpp/fastdds/publisher/DataWriterImpl.cpp
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Expand Up @@ -1998,6 +1998,12 @@ bool DataWriterImpl::can_qos_be_updated(
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
"Only the period of Positive ACKs can be changed after the creation of a DataWriter.");
}
if (to.properties() != from.properties())
{
updatable = false;
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK, "PropertyPolicyQos cannot be changed after the DataWriter is enabled.");
}

return updatable;
}

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15 changes: 10 additions & 5 deletions src/cpp/fastdds/subscriber/DataReaderImpl.cpp
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Expand Up @@ -181,7 +181,7 @@ ReturnCode_t DataReaderImpl::enable()
att.liveliness_kind = qos_.liveliness().kind;
att.matched_writers_allocation = qos_.reader_resource_limits().matched_publisher_allocation;
att.expects_inline_qos = qos_.expects_inline_qos();
att.disable_positive_acks = qos_.reliable_reader_qos().disable_positive_ACKs.enabled;
att.disable_positive_acks = qos_.reliable_reader_qos().disable_positive_acks.enabled;
att.data_sharing_listener_thread = qos_.data_sharing().data_sharing_listener_thread();

// TODO(Ricardo) Remove in future
Expand Down Expand Up @@ -1633,8 +1633,8 @@ bool DataReaderImpl::can_qos_be_updated(
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
"Unique network flows request cannot be changed after the creation of a DataReader.");
}
if (to.reliable_reader_qos().disable_positive_ACKs.enabled !=
from.reliable_reader_qos().disable_positive_ACKs.enabled)
if (to.reliable_reader_qos().disable_positive_acks.enabled !=
from.reliable_reader_qos().disable_positive_acks.enabled)
{
updatable = false;
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
Expand All @@ -1644,7 +1644,12 @@ bool DataReaderImpl::can_qos_be_updated(
{
updatable = false;
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK,
"data_sharing_listener_thread cannot be changed after the DataReader is enabled");
"data_sharing_listener_thread cannot be changed after the DataReader is enabled.");
}
if (to.properties() != from.properties())
{
updatable = false;
EPROSIMA_LOG_WARNING(RTPS_QOS_CHECK, "PropertyPolicyQos cannot be changed after the DataReader is enabled.");
}
return updatable;
}
Expand Down Expand Up @@ -1744,7 +1749,7 @@ void DataReaderImpl::set_qos(
to.expects_inline_qos(from.expects_inline_qos());
}

if (first_time && !(to.properties() == from.properties()))
if (first_time && (to.properties() != from.properties()))
{
to.properties() = from.properties();
}
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2 changes: 1 addition & 1 deletion src/cpp/fastdds/subscriber/qos/DataReaderQos.cpp
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Expand Up @@ -46,7 +46,7 @@ ReaderQos DataReaderQos::get_readerqos(
qos.m_lifespan = lifespan();
//qos.m_topicData --> TODO: Fill with TopicQos info
qos.m_durabilityService = durability_service();
qos.m_disablePositiveACKs = reliable_reader_qos().disable_positive_ACKs;
qos.m_disablePositiveACKs = reliable_reader_qos().disable_positive_acks;
qos.type_consistency = type_consistency();
qos.representation = representation();
qos.data_sharing = data_sharing();
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2 changes: 1 addition & 1 deletion src/cpp/fastdds/utils/QosConverters.cpp
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Expand Up @@ -98,7 +98,7 @@ void set_qos_from_attributes(
qos.endpoint().user_defined_id = attr.getUserDefinedID();
qos.endpoint().entity_id = attr.getEntityID();
qos.reliable_reader_qos().times = attr.times;
qos.reliable_reader_qos().disable_positive_ACKs = attr.qos.m_disablePositiveACKs;
qos.reliable_reader_qos().disable_positive_acks = attr.qos.m_disablePositiveACKs;
qos.durability() = attr.qos.m_durability;
qos.durability_service() = attr.qos.m_durabilityService;
qos.deadline() = attr.qos.m_deadline;
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4 changes: 2 additions & 2 deletions test/blackbox/api/dds-pim/PubSubReader.hpp
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Expand Up @@ -1002,8 +1002,8 @@ class PubSubReader
PubSubReader& keep_duration(
const eprosima::fastdds::Duration_t duration)
{
datareader_qos_.reliable_reader_qos().disable_positive_ACKs.enabled = true;
datareader_qos_.reliable_reader_qos().disable_positive_ACKs.duration = duration;
datareader_qos_.reliable_reader_qos().disable_positive_acks.enabled = true;
datareader_qos_.reliable_reader_qos().disable_positive_acks.duration = duration;
return *this;
}

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12 changes: 6 additions & 6 deletions test/unittest/dds/subscriber/SubscriberTests.cpp
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Expand Up @@ -306,9 +306,9 @@ TEST(SubscriberTests, ChangeDefaultDataReaderQos)
qos.reliable_reader_qos().times.initial_acknack_delay.nanosec = 32u;
qos.reliable_reader_qos().times.heartbeat_response_delay.seconds = 432;
qos.reliable_reader_qos().times.heartbeat_response_delay.nanosec = 43u;
qos.reliable_reader_qos().disable_positive_ACKs.enabled = true;
qos.reliable_reader_qos().disable_positive_ACKs.duration.seconds = 13;
qos.reliable_reader_qos().disable_positive_ACKs.duration.nanosec = 320u;
qos.reliable_reader_qos().disable_positive_acks.enabled = true;
qos.reliable_reader_qos().disable_positive_acks.duration.seconds = 13;
qos.reliable_reader_qos().disable_positive_acks.duration.nanosec = 320u;
// .type_consistency
qos.representation().m_value.push_back(XML_DATA_REPRESENTATION);
qos.representation().m_value.push_back(XCDR_DATA_REPRESENTATION);
Expand Down Expand Up @@ -428,9 +428,9 @@ TEST(SubscriberTests, ChangeDefaultDataReaderQos)
EXPECT_EQ(32u, rqos.reliable_reader_qos().times.initial_acknack_delay.nanosec);
EXPECT_EQ(432, rqos.reliable_reader_qos().times.heartbeat_response_delay.seconds);
EXPECT_EQ(43u, rqos.reliable_reader_qos().times.heartbeat_response_delay.nanosec);
EXPECT_TRUE(rqos.reliable_reader_qos().disable_positive_ACKs.enabled);
EXPECT_EQ(13, rqos.reliable_reader_qos().disable_positive_ACKs.duration.seconds);
EXPECT_EQ(320u, rqos.reliable_reader_qos().disable_positive_ACKs.duration.nanosec);
EXPECT_TRUE(rqos.reliable_reader_qos().disable_positive_acks.enabled);
EXPECT_EQ(13, rqos.reliable_reader_qos().disable_positive_acks.duration.seconds);
EXPECT_EQ(320u, rqos.reliable_reader_qos().disable_positive_acks.duration.nanosec);
// .type_consistency
EXPECT_EQ(XML_DATA_REPRESENTATION, rqos.representation().m_value.at(0));
EXPECT_EQ(XCDR_DATA_REPRESENTATION, rqos.representation().m_value.at(1));
Expand Down
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