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Update to new api to set static edp xml content (#254)
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* Refs #10815. Add new api

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #10815. Fix wrong spelling word

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #10815. Apply suggestions.

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #10815. Apply suggestion

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #10815. Fix warning

Signed-off-by: Ricardo González Moreno <[email protected]>
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@richiware
richiware authored Mar 30, 2021
1 parent 22593b6 commit d9732b1
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Showing 4 changed files with 266 additions and 217 deletions.
63 changes: 38 additions & 25 deletions code/CodeTester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,9 +68,10 @@ class HelloWorldPubSubType : public TopicDataType
std::function<uint32_t()> getSerializedSizeProvider(
void* data) override
{
return [] {
return []
{
return 0;
};
};
}

void* createData() override
Expand Down Expand Up @@ -493,8 +494,8 @@ void configuration_compilation_check()
//!--

//CONF_QOS_STATIC_DISCOVERY_XML
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("RemoteSubscriber.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemoteSubscriber.xml");
//!--

{
Expand Down Expand Up @@ -651,7 +652,7 @@ void configuration_compilation_check()
participant_attr.rtps.setName("HelloWorldPublisher");
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("HelloWorldSubscriber.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://HelloWorldSubscriber.xml");

// Publisher attributes
publisher_attr.topic.topicName = "HelloWorldTopic";
Expand All @@ -667,7 +668,7 @@ void configuration_compilation_check()
participant_attr.rtps.setName("HelloWorldSubscriber");
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("HelloWorldPublisher.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://HelloWorldPublisher.xml");

// Subscriber attributes
subscriber_attr.topic.topicName = "HelloWorldTopic";
Expand Down Expand Up @@ -706,9 +707,14 @@ void configuration_compilation_check()
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
//!--

//CONF_STATIC_DISCOVERY_XML
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.setStaticEndpointXMLFilename("RemoteSubscriber.xml");
//CONF_STATIC_DISCOVERY_XML_FILE
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemoteSubscriber.xml");
//!--

//CONF_STATIC_DISCOVERY_XML_DATA
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("data://<?xml version=\"1.0\" encoding=\"utf-8\"?>" \
"<staticdiscovery><participant><name>RTPSParticipant</name></participant></staticdiscovery>");
//!--

{
Expand Down Expand Up @@ -803,7 +809,8 @@ class CustomParticipantListener : public eprosima::fastrtps::ParticipantListener
break;
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER:
/* Process the case when a subscriber was removed from the domain */
std::cout << "Subscriber for topic '" << info.info.topicName() << "' of type '" << info.info.typeName() <<
std::cout << "Subscriber for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' left the domain.";
break;
}
Expand All @@ -818,15 +825,17 @@ class CustomParticipantListener : public eprosima::fastrtps::ParticipantListener
switch (info.status){
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::DISCOVERED_WRITER:
/* Process the case when a new publisher was found in the domain */
std::cout << "New publisher for topic '" << info.info.topicName() << "' of type '" << info.info.typeName() <<
std::cout << "New publisher for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' discovered";
break;
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::CHANGED_QOS_WRITER:
/* Process the case when a publisher changed its QOS */
break;
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::REMOVED_WRITER:
/* Process the case when a publisher was removed from the domain */
std::cout << "publisher for topic '" << info.info.topicName() << "' of type '" << info.info.typeName() <<
std::cout << "publisher for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' left the domain.";
break;
}
Expand Down Expand Up @@ -900,17 +909,17 @@ void rtps_api_example_create_entities()

//RTPS_API_WRITE_SAMPLE
//Request a change from the writer
CacheChange_t* change = writer->new_change([]() -> uint32_t {
return 255;
}, ALIVE);
CacheChange_t* change = writer->new_change([]() -> uint32_t
{
return 255;
}, ALIVE);
//Write serialized data into the change
change->serializedPayload.length = sprintf((char*) change->serializedPayload.data, "My example string %d", 2) + 1;
//Insert change into the history. The Writer takes care of the rest.
history->add_change(change);
//!--
}


void rtps_api_example_create_entities_with_custom_pool()
{
RTPSParticipantAttributes participant_attr;
Expand Down Expand Up @@ -980,6 +989,7 @@ void rtps_api_example_create_entities_with_custom_pool()

return true;
}

};

std::shared_ptr<CustomPayloadPool> payload_pool = std::make_shared<CustomPayloadPool>();
Expand All @@ -998,9 +1008,10 @@ void rtps_api_example_create_entities_with_custom_pool()

// Write and Read operations work as usual, but take the Payloads from the pool.
// Requesting a change to the Writer will provide one with an empty Payload taken from the pool
CacheChange_t* change = writer->new_change([]() -> uint32_t {
return 255;
}, ALIVE);
CacheChange_t* change = writer->new_change([]() -> uint32_t
{
return 255;
}, ALIVE);

// Write serialized data into the change and add it to the history
change->serializedPayload.length = sprintf((char*) change->serializedPayload.data, "My example string %d", 2) + 1;
Expand Down Expand Up @@ -1206,7 +1217,7 @@ void pubsub_api_example_participant_configuration()
}

//PUBSUB_API_CONF_PUBSUB_SAMPLEINFO_USAGE
if ( (sample_info.sampleKind == ALIVE) & (sample_info.ownershipStrength > 25) )
if ((sample_info.sampleKind == ALIVE) & (sample_info.ownershipStrength > 25))
{
//Process data
}
Expand Down Expand Up @@ -1425,16 +1436,16 @@ void xml_dyn_examples_check()
eprosima::fastrtps::xmlparser::XMLProfileManager::loadXMLFile("types.xml"))
{
std::cout << "Cannot open XML file \"types.xml\". "
<< "Please, set the correct path to the XML file"
<< std::endl;
<< "Please, set the correct path to the XML file"
<< std::endl;
}
// Create the "MyStructPubSubType"
eprosima::fastrtps::types::DynamicPubSubType* pbType =
eprosima::fastrtps::xmlparser::XMLProfileManager::CreateDynamicPubSubType("MyStruct");
// Create a "MyStruct" instance
eprosima::fastrtps::types::DynamicData* data =
eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(
pbType->GetDynamicType());
pbType->GetDynamicType());
//!--
}
}
Expand Down Expand Up @@ -1650,10 +1661,12 @@ void dynamictypes_configuration()
{
//DYNAMIC_TYPES_CREATE_BITSETS
// Create bitfields with the appropriate type for their size
DynamicTypeBuilder_ptr base_type_byte_builder = DynamicTypeBuilderFactory::get_instance()->create_byte_builder();
DynamicTypeBuilder_ptr base_type_byte_builder =
DynamicTypeBuilderFactory::get_instance()->create_byte_builder();
auto base_type_byte = base_type_byte_builder->build();

DynamicTypeBuilder_ptr base_type_uint32_builder = DynamicTypeBuilderFactory::get_instance()->create_uint32_builder();
DynamicTypeBuilder_ptr base_type_uint32_builder =
DynamicTypeBuilderFactory::get_instance()->create_uint32_builder();
auto base_type_uint32 = base_type_uint32_builder->build();

// Create the bitset with two bitfields
Expand Down
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