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Refs #20359: DDSCodeTester updates for DynamicTypes and discovery cal…
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…lbacks

Signed-off-by: adriancampo <[email protected]>
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@adriancampo
adriancampo committed Mar 7, 2024
1 parent 0ff4aa0 commit f2f1e70
Showing 1 changed file with 42 additions and 29 deletions.
71 changes: 42 additions & 29 deletions code/DDSCodeTester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,14 @@
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/SubscriberListener.hpp>
#include <fastdds/dds/subscriber/SubscriberListener.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/topic/TopicListener.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilder.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilderFactory.hpp>
#include <fastdds/rtps/attributes/ThreadSettings.hpp>
#include <fastdds/rtps/transport/ChainingTransport.h>
#include <fastdds/rtps/transport/ChainingTransportDescriptor.h>
Expand Down Expand Up @@ -200,7 +204,8 @@ class CustomDomainParticipantListener : public DomainParticipantListener

void on_data_reader_discovery(
DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info,
bool& /*should_be_ignored*/) override
{
if (info.status == eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER)
{
Expand All @@ -214,7 +219,8 @@ class CustomDomainParticipantListener : public DomainParticipantListener

void on_data_writer_discovery(
DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info,
bool& /*should_be_ignored*/) override
{
if (info.status == eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER)
{
Expand Down Expand Up @@ -899,7 +905,8 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
/* Custom Callback on_data_reader_discovery */
void on_data_reader_discovery(
DomainParticipant* participant,
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info,
bool& /*should_be_ignored*/) override
{
static_cast<void>(participant);
switch (info.status){
Expand All @@ -922,7 +929,8 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
/* Custom Callback on_data_writer_discovery */
void on_data_writer_discovery(
DomainParticipant* participant,
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info,
bool& /*should_be_ignored*/) override
{
static_cast<void>(participant);
switch (info.status){
Expand Down Expand Up @@ -1692,13 +1700,10 @@ void dds_topic_examples()
// Load the XML file with the type description
DomainParticipantFactory::get_instance()->load_XML_profiles_file("example_type.xml");

// Retrieve the an instance of the desired type
eprosima::fastrtps::types::DynamicTypeBuilder* type;
DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("DynamicType", type);

// Build and register it
eprosima::fastrtps::types::DynamicType_ptr dyn_type = type->build();
TypeSupport dyn_type_support(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
// Retrieve the an instance of the desired type and register it
traits<DynamicType>::ref_type dyn_type;
eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName(dyn_type, "DynamicType");
TypeSupport dyn_type_support(new DynamicPubSubType(dyn_type));
dyn_type_support.register_type(participant, nullptr);

// Create a Topic with the registered type.
Expand Down Expand Up @@ -4447,12 +4452,10 @@ void xml_profiles_examples()
DomainParticipantFactory::get_instance()->load_XML_profiles_file("my_profiles.xml"))
{
// Retrieve the an instance of MyStruct type
eprosima::fastrtps::types::DynamicTypeBuilder* type;
DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("MyStruct", type);
eprosima::fastrtps::types::DynamicType_ptr my_struct_type = type->build();

traits<DynamicType>::ref_type my_struct_type;
eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName(my_struct_type, "MyStruct");
// Register MyStruct type
TypeSupport my_struct_type_support(new eprosima::fastrtps::types::DynamicPubSubType(my_struct_type));
TypeSupport my_struct_type_support(new DynamicPubSubType(my_struct_type));
my_struct_type_support.register_type(participant, nullptr);
}
else
Expand Down Expand Up @@ -5537,28 +5540,38 @@ void dds_persistence_examples()
********************************************************************************************************/
// Create a struct builder for a type with name "persistence_topic_type"
const std::string topic_type_name = "persistence_topic_type";
eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_type_builder(
eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_struct_builder());
struct_type_builder->set_name(topic_type_name);

TypeDescriptor::_ref_type struct_type_descriptor {traits<TypeDescriptor>::make_shared()};
struct_type_descriptor->kind(TK_STRUCTURE);
struct_type_descriptor->name(topic_type_name);
DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
create_type(struct_type_descriptor)};

// The type consists of two members, and index and a message. Add members to the struct.
struct_type_builder->add_member(0, "index",
eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_uint32_type());
struct_type_builder->add_member(1, "message",
eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_string_type());
MemberDescriptor::_ref_type index_member_descriptor {traits<MemberDescriptor>::make_shared()};
index_member_descriptor->name("index");
index_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
get_primitive_type(TK_INT32));
struct_builder->add_member(index_member_descriptor);

MemberDescriptor::_ref_type message_member_descriptor {traits<MemberDescriptor>::make_shared()};
message_member_descriptor->name("message");
message_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
create_string_type(LENGTH_UNLIMITED)->build());
struct_builder->add_member(message_member_descriptor);

// Build the type
eprosima::fastrtps::types::DynamicType_ptr dyn_type_ptr = struct_type_builder->build();
DynamicType::_ref_type struct_type {struct_builder->build()};

// Create type support and register the type
TypeSupport type_support(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type_ptr));
TypeSupport type_support(new DynamicPubSubType(struct_type));
type_support.register_type(participant);

// Create data sample a populate data. This is to be used when calling `writer->write()`
eprosima::fastrtps::types::DynamicData* dyn_helloworld;
dyn_helloworld = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type_ptr);
DynamicData::_ref_type dyn_helloworld {DynamicDataFactory::get_instance()->create_data(struct_type)};

dyn_helloworld->set_uint32_value(0, 0);
dyn_helloworld->set_string_value("HelloWorld", 1);
dyn_helloworld->set_string_value(1, "HelloWorld");
/********************************************************************************************************
* END CREATE TYPE AND TYPE SUPPORT
********************************************************************************************************/
Expand Down

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