[17138] Refactor of DynamicTypes

CMakeLists.txt

@@ -53,8 +53,10 @@ add_custom_target(doc-dirs
     COMMENT "Creating documentation directories" VERBATIM)
 
 # Doxygen related variables
-set(DOXYGEN_INPUT_DIR "${FAST_INCLUDE_DIR}/fastdds")
+set(DOXYGEN_INPUT_DIR "${FAST_INCLUDE_DIR}/fastdds\" \"${FAST_INCLUDE_DIR}/fastrtps/types")
 set(DOXYGEN_OUTPUT_DIR "${PROJECT_BINARY_DIR}/doxygen")
+set(DOXYGEN_STRIP_PATH "${FAST_INCLUDE_DIR}")
+set(DOXYGEN_EXCLUDE_PATH "${FAST_INCLUDE_DIR}/fastdds/thirdparty")
 set(DOXYGEN_INDEX_FILE "${PROJECT_BINARY_DIR}/doxygen/xml/index.xml")
 set(DOXYFILE_IN "${CMAKE_CURRENT_SOURCE_DIR}/code/doxygen-config.in")
 set(DOXYFILE_OUT ${PROJECT_BINARY_DIR}/doxygen-config)

code/CMakeLists.txt

@@ -57,16 +57,26 @@ add_subdirectory(Examples/C++/DDSHelloWorld)
 add_executable(doctest CodeTester.cpp)
 target_include_directories(doctest PRIVATE ${FAST_INCLUDE_DIR})
 target_link_libraries(doctest fastrtps)
+if(MSVC)
+    target_compile_definitions(doctest PRIVATE _CRT_SECURE_NO_WARNINGS)
+endif(MSVC)
 
 # DDSCodeTester utilizes Fast DDS API
 add_executable(dds-doctest DDSCodeTester.cpp FastDDSGenCodeTester.cpp)
 target_include_directories(dds-doctest PRIVATE ${FAST_INCLUDE_DIR})
-target_link_libraries(dds-doctest fastrtps)
+target_link_libraries(dds-doctest fastrtps fastcdr)
 
 ####################################################################################################
 # Add tests
 ####################################################################################################
 
+if(WIN32)
+# Use fastdds.bat for cli testing
+# cmd can no longer be used because ctest resolves all commands binaries to forward slashes, see:
+# https://gitlab.kitware.com/cmake/cmake/-/issues/17067
+set(SHELL_INVOKE powershell -C)
+endif(WIN32)
+
 # Copy the neccessary files over to the build directory
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/XMLTester.xml
     ${CMAKE_CURRENT_BINARY_DIR}/XMLTester.xml COPYONLY)
@@ -118,9 +128,9 @@ add_test(NAME xml.profiles COMMAND dds-doctest XMLTester.xml)
 # Check validity of XML full example
 add_test(NAME xml.example COMMAND dds-doctest XMLTesterExample.xml)
 # Validate XML full example against XSD schema
-add_test(NAME xml.validate COMMAND fastdds xml validate XMLTesterExample.xml -x fastRTPS_profiles.xsd)
+add_test(NAME xml.validate COMMAND ${SHELL_INVOKE} fastdds xml validate XMLTesterExample.xml -x fastRTPS_profiles.xsd)
 # Validate XML snippets doc against XSD schema
-add_test(NAME xml.snippets COMMAND fastdds xml validate XMLTester.xml -x fastRTPS_profiles.xsd)
+add_test(NAME xml.snippets COMMAND ${SHELL_INVOKE} fastdds xml validate XMLTester.xml -x fastRTPS_profiles.xsd)
 # Check validity of Permissions and Governance XML files using Fast DDS API
 add_test(NAME xml.fastdds_permissions_test
     COMMAND dds-doctest
@@ -176,3 +186,12 @@ add_test(NAME docs.spell_check
     -d "${PROJECT_BINARY_DIR}/doctrees"
     ${CMAKE_SOURCE_DIR}/docs
     ${CMAKE_BINARY_DIR}/spelling)
+
+# Populate environment variables for tests
+if(WIN32)
+    get_directory_property(DOCS_TESTS TESTS)
+    set_tests_properties(${DOCS_TESTS} PROPERTIES
+        ENVIRONMENT_MODIFICATION "PATH=path_list_append:$<TARGET_FILE_DIR:fastrtps>"
+        ENVIRONMENT_MODIFICATION "PATH=path_list_append:$<TARGET_FILE_DIR:fastcdr>"
+    )
+endif(WIN32)

code/DDSCodeTester.cpp

@@ -22,7 +22,6 @@
 #include <fastdds/dds/topic/TopicListener.hpp>
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 
-#include <fastrtps/types/DynamicTypePtr.h>
 #include <fastrtps/types/DynamicDataFactory.h>
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/dds/log/OStreamConsumer.hpp>
@@ -215,7 +214,7 @@ class CustomDomainParticipantListener : public DomainParticipantListener
             const eprosima::fastrtps::string_255& topic,
             const eprosima::fastrtps::types::TypeIdentifier* identifier,
             const eprosima::fastrtps::types::TypeObject* object,
-            eprosima::fastrtps::types::DynamicType_ptr dyn_type) override
+            eprosima::fastrtps::types::v1_3::DynamicType_ptr dyn_type) override
     {
         static_cast<void>(participant);
         static_cast<void>(request_sample_id);
@@ -888,7 +887,7 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
             const eprosima::fastrtps::string_255& topic,
             const eprosima::fastrtps::types::TypeIdentifier* identifier,
             const eprosima::fastrtps::types::TypeObject* object,
-            eprosima::fastrtps::types::DynamicType_ptr dyn_type) override
+            eprosima::fastrtps::types::v1_3::DynamicType_ptr dyn_type) override
     {
         static_cast<void>(participant);
         static_cast<void>(request_sample_id);
@@ -1089,7 +1088,11 @@ void dds_discovery_examples()
     }
 
     {
-        DomainParticipant* client_or_server;
+        DomainParticipant* client_or_server = nullptr;
+        /* ... additional code to get the DomainParticipant
+        client_or_server = get_participant_somehow(...);
+        */ 
+
         //CONF_SERVER_ADD_SERVERS
         // Get existing QoS for the server or client
         DomainParticipantQos client_or_server_qos;
@@ -1637,6 +1640,8 @@ void dds_topic_examples()
 
     {
         //DDS_DYNAMIC_TYPES
+        namespace xtypes = eprosima::fastrtps::types::v1_3;
+
         // Create a DomainParticipant in the desired domain
         DomainParticipant* participant =
                 DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
@@ -1650,8 +1655,15 @@ void dds_topic_examples()
         eprosima::fastrtps::xmlparser::XMLProfileManager::loadXMLFile("example_type.xml");
 
         // Retrieve the an instance of the desired type and register it
-        eprosima::fastrtps::types::DynamicType_ptr dyn_type =
-                eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName("DynamicType")->build();
+        xtypes::DynamicTypeBuilder_ptr dyn_builder;
+        if (eprosima::fastrtps::xmlparser::XMLP_ret::XML_OK !=
+            eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName(dyn_builder, "DynamicType"))
+        {
+            // Error
+            return;
+        }
+
+        xtypes::DynamicType_ptr dyn_type = dyn_builder->build();
         TypeSupport dyn_type_support(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
         dyn_type_support.register_type(participant, nullptr);
 
@@ -4345,6 +4357,8 @@ void xml_profiles_examples()
     }
     {
         //XML-USAGE
+        namespace xtypes = eprosima::fastrtps::types::v1_3;
+
         // Create a DomainParticipant
         DomainParticipant* participant =
                 DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
@@ -4359,8 +4373,17 @@ void xml_profiles_examples()
                 DomainParticipantFactory::get_instance()->load_XML_profiles_file("my_profiles.xml"))
         {
             // Retrieve the an instance of MyStruct type
-            eprosima::fastrtps::types::DynamicType_ptr my_struct_type =
-                    eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName("MyStruct")->build();
+            xtypes::DynamicTypeBuilder_ptr my_struct_builder;
+            if (eprosima::fastrtps::xmlparser::XMLP_ret::XML_OK !=
+                eprosima::fastrtps::xmlparser::XMLProfileManager::getDynamicTypeByName(my_struct_builder, "MyStruct"))
+            {
+                // Error
+                return;
+            }
+
+            // Retrieve the an instance of MyStruct type
+            xtypes::DynamicType_ptr my_struct_type = my_struct_builder->build();
+
             // Register MyStruct type
             TypeSupport my_struct_type_support(new eprosima::fastrtps::types::DynamicPubSubType(my_struct_type));
             my_struct_type_support.register_type(participant, nullptr);
@@ -5282,6 +5305,9 @@ void dds_persistence_examples()
      *     };
      */
 
+    using namespace eprosima::fastrtps::types;
+    namespace xtypes = v1_3;
+
     // Configure persistence service plugin for DomainParticipant
     DomainParticipantQos pqos;
     pqos.properties().properties().emplace_back("dds.persistence.plugin", "builtin.SQLITE3");
@@ -5297,28 +5323,28 @@ 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());
+    xtypes::DynamicTypeBuilder_ptr struct_type_builder(
+        xtypes::DynamicTypeBuilderFactory::get_instance().create_struct_builder());
     struct_type_builder->set_name(topic_type_name);
 
     // 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());
+            xtypes::DynamicTypeBuilderFactory::get_instance().create_uint32_type());
     struct_type_builder->add_member(1, "message",
-            eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_string_type());
+            xtypes::DynamicTypeBuilderFactory::get_instance().create_string_type());
 
     // Build the type
-    eprosima::fastrtps::types::DynamicType_ptr dyn_type_ptr = struct_type_builder->build();
+    xtypes::DynamicType_ptr dyn_type_ptr = struct_type_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(dyn_type_ptr));
     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);
-    dyn_helloworld->set_uint32_value(0, 0);
-    dyn_helloworld->set_string_value("HelloWorld", 1);
+    xtypes::DynamicData* dyn_helloworld;
+    dyn_helloworld = xtypes::DynamicDataFactory::get_instance()->create_data(dyn_type_ptr);
+    dyn_helloworld->set_uint32_value(0, 0_id);
+    dyn_helloworld->set_string_value("HelloWorld", 1_id);
     /********************************************************************************************************
     * END CREATE TYPE AND TYPE SUPPORT
     ********************************************************************************************************/

code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp

@@ -171,7 +171,7 @@ class HelloWorldSubscriber
     void run(
         uint32_t samples)
     {
-        while(listener_.samples_ < samples)
+        while((uint32_t)listener_.samples_ < samples)
         {
             std::this_thread::sleep_for(std::chrono::milliseconds(100));
         }

code/doxygen-config.in

@@ -170,7 +170,7 @@ FULL_PATH_NAMES        = YES
 # will be relative from the directory where doxygen is started.
 # This tag requires that the tag FULL_PATH_NAMES is set to YES.
 
-STRIP_FROM_PATH        = @DOXYGEN_INPUT_DIR@/..
+STRIP_FROM_PATH        = "@DOXYGEN_STRIP_PATH@"
 
 # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
 # path mentioned in the documentation of a class, which tells the reader which
@@ -179,7 +179,7 @@ STRIP_FROM_PATH        = @DOXYGEN_INPUT_DIR@/..
 # specify the list of include paths that are normally passed to the compiler
 # using the -I flag.
 
-STRIP_FROM_INC_PATH    = @DOXYGEN_INPUT_DIR@/..
+STRIP_FROM_INC_PATH    = "@DOXYGEN_STRIP_PATH@"
 
 # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
 # less readable) file names. This can be useful is your file systems doesn't
@@ -594,7 +594,7 @@ INTERNAL_DOCS          = NO
 # YES.
 # The default value is: system dependent.
 
-CASE_SENSE_NAMES       = YES
+CASE_SENSE_NAMES       = SYSTEM
 
 # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
 # their full class and namespace scopes in the documentation. If set to YES, the
@@ -952,7 +952,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = @DOXYGEN_INPUT_DIR@/thirdparty
+EXCLUDE                = "@DOXYGEN_EXCLUDE_PATH@"
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded

code/grep.py

@@ -58,7 +58,7 @@
     occurrences = []
     rst_files = list(Path(directory).rglob('*.{}'.format(args.file_format)))
     for rst_file in rst_files:
-        with open(rst_file) as f:
+        with open(rst_file, encoding='utf-8') as f:
             line_number = 1
             for line in f:
                 if re.search(args.regex, line):

docs/fastdds/api_reference/api_reference.rst

@@ -19,5 +19,6 @@ For more information about the API reference, please refer to
    /fastdds/api_reference/dds_pim/dds_pim
    /fastdds/api_reference/rtps/rtps
    /fastdds/api_reference/transport/transport
+   /fastdds/api_reference/xtypes/xtypes
    /fastdds/api_reference/log/log
    /fastdds/api_reference/statistics/statistics

docs/fastdds/api_reference/spelling_wordlist.txt

@@ -44,6 +44,7 @@ DurabilityQosPolicy
 DurabilityServiceQosPolicy
 dyn
 DynamicPubSubType
+emplaces
 Endianness
 entityId
 Enum
@@ -100,6 +101,7 @@ Num
 OfferedDeadlineMissedStatus
 OfferedIncompatibleQosStatus
 ok
+ostream
 OStream
 OwnershipQosPolicy
 OwnershipStrengthQosPolicy
@@ -168,6 +170,7 @@ typedef
 TypeIdentifier
 TypeIdV
 TypeInformation
+TypeKind
 typelookup
 TypeLookup
 TypeLookup
@@ -187,5 +190,6 @@ UserAllocatedSequence
 wakeup
 wdata
 WLPListener
+wstring
 xml
 xtypes

docs/fastdds/api_reference/xtypes/DynamicData.rst

@@ -0,0 +1,10 @@
+.. _api_dynamic_data:
+
+.. rst-class:: api-ref
+
+DynamicType
+-----------
+
+.. doxygenclass:: eprosima::fastrtps::types::v1_3::DynamicData
+    :project: FastDDS
+    :members:

docs/fastdds/api_reference/xtypes/DynamicType.rst

@@ -0,0 +1,10 @@
+.. _api_dynamic_type:
+
+.. rst-class:: api-ref
+
+DynamicType
+-----------
+
+.. doxygenclass:: eprosima::fastrtps::types::v1_3::DynamicType
+    :project: FastDDS
+    :members:

docs/fastdds/api_reference/xtypes/DynamicTypeBuilder.rst

@@ -0,0 +1,10 @@
+.. _api_dynamic_type_builder:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilder
+------------------
+
+.. doxygenclass:: eprosima::fastrtps::types::v1_3::DynamicTypeBuilder
+    :project: FastDDS
+    :members:

docs/fastdds/api_reference/xtypes/DynamicTypeBuilderFactory.rst

@@ -0,0 +1,10 @@
+.. _api_dynamic_type_builder_factory:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilderFactory
+-------------------------
+
+.. doxygenclass:: eprosima::fastrtps::types::v1_3::DynamicTypeBuilderFactory
+    :project: FastDDS
+    :members:

docs/fastdds/api_reference/xtypes/xtypes.rst

@@ -0,0 +1,13 @@
+.. _api_xtypes:
+
+Xtypes
+======
+
+*eProsima Fast DDS* XTypes API
+
+.. toctree::
+
+   /fastdds/api_reference/xtypes/DynamicTypeBuilderFactory.rst
+   /fastdds/api_reference/xtypes/DynamicTypeBuilder.rst
+   /fastdds/api_reference/xtypes/DynamicType.rst
+   /fastdds/api_reference/xtypes/DynamicData.rst

docs/spelling_wordlist.txt

@@ -122,6 +122,7 @@ initializations
 interoperability
 intra
 Intra
+iOS
 IPv
 json
 kB
@@ -248,6 +249,7 @@ Valgrind
 vcstool
 wget
 whitelist
+whitelisting
 whitelists
 WiFi
 Wireshark