Update repository for Fast DDS 3.0.0 compatibility (#86)

* Update repository for Fast DDS 3.0.0 compatibility Signed-off-by: Lucia Echevarria <[email protected]> * Regenerate types and change fastrtps dependency to fastdds Signed-off-by: Lucia Echevarria <[email protected]> * Continue updating to Fast DDS 3.x Signed-off-by: Lucia Echevarria <[email protected]> * Update to new changes in FastDDS Signed-off-by: Lucia Echevarria <[email protected]> * Accept v6 interfaces and interface names in whitelist (#93) Signed-off-by: Juan Lopez Fernandez <[email protected]> * Remove tool_show_topic_dds test Signed-off-by: Lucia Echevarria <[email protected]> * Apply suggested changes Signed-off-by: Lucia Echevarria <[email protected]> * Update log macro and fix XTSAN list Signed-off-by: Lucia Echevarria <[email protected]> * Update documentation Signed-off-by: Lucia Echevarria <[email protected]> * Uncrustify Signed-off-by: Lucia Echevarria <[email protected]> --------- Signed-off-by: Lucia Echevarria <[email protected]> Signed-off-by: Juan Lopez Fernandez <[email protected]> Co-authored-by: juanlofer-eprosima <[email protected]>
eProsima · Sep 16, 2024 · f38df04 · f38df04
1 parent 7838506
commit f38df04
Show file tree

Hide file tree

Showing 47 changed files with 652 additions and 1,901 deletions.
diff --git a/docs/rst/developer_manual/installation/sources/linux.rst b/docs/rst/developer_manual/installation/sources/linux.rst
@@ -25,7 +25,7 @@ The following packages will be installed:
 
 - ``foonathan_memory_vendor``, an STL compatible C++ memory allocation library.
 - ``fastcdr``, a C++ library that serializes according to the standard CDR serialization mechanism.
-- ``fastrtps``, the core library of eProsima Fast DDS library.
+- ``fastdds``, the core library of eProsima Fast DDS library.
 - ``cmake_utils``, an eProsima utils library for CMake.
 - ``cpp_utils``, an eProsima utils library for C++.
 - ``ddspipe``, an eProsima internal library that enables the communication of DDS interfaces.
@@ -93,7 +93,7 @@ Use the following command to download the code:
 
 .. code-block:: bash
 
-    git clone --branch release-1.11.0 https://github.com/google/googletest src/googletest-distribution
+    git clone --branch release-1.12.0 https://github.com/google/googletest src/googletest-distribution
 
 
 .. _dependencies:

diff --git a/docs/rst/developer_manual/installation/sources/windows.rst b/docs/rst/developer_manual/installation/sources/windows.rst
@@ -25,7 +25,7 @@ The following packages will be installed:
 
 - ``foonathan_memory_vendor``, an STL compatible C++ memory allocation library.
 - ``fastcdr``, a C++ library that serializes according to the standard CDR serialization mechanism.
-- ``fastrtps``, the core library of eProsima Fast DDS library.
+- ``fastdds``, the core library of eProsima Fast DDS library.
 - ``cmake_utils``, an eProsima utils library for CMake.
 - ``cpp_utils``, an eProsima utils library for C++.
 - ``ddspipe``, an eProsima internal library that enables the communication of DDS interfaces.
@@ -255,7 +255,7 @@ There are two possibilities:
 However, when running an instance of a |spy| compiled using CMake, it must be linked with its dependencies where the packages have been installed.
 This can be done by opening the *Edit system environment variables* control panel and adding to the ``PATH`` the |espy|, *Fast DDS*, *Fast CDR*, *DDS Pipe* installation directories:
 
-*   *Fast DDS*: ``C:\\Program Files\\fastrtps``
+*   *Fast DDS*: ``C:\\Program Files\\fastdds``
 *   *Fast CDR*: ``C:\\Program Files\\fastcdr``
 *   *DDS Pipe*: ``C:\\Program Files\\ddspipe``
 *   |espy|: ``C:\\Program Files\\ddsrecord``

diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
@@ -364,10 +364,6 @@ The type of the logs published is defined as follows:
       string timestamp;
     };
 
-.. note::
-
-    The type of the logs can be published by setting ``publish-type: true``.
-
 **Example of usage**
 
 .. code-block:: yaml

diff --git a/fastddsspy_participants/include/fastddsspy_participants/model/DataStreamer.hpp b/fastddsspy_participants/include/fastddsspy_participants/model/DataStreamer.hpp
@@ -17,8 +17,11 @@
 #include <iostream>
 #include <functional>
 #include <shared_mutex>
+#include <tuple>
 
-#include <fastrtps/types/DynamicTypePtr.h>
+#include <fastcdr/cdr/fixed_size_string.hpp>
+
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 #include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
 #include <ddspipe_core/types/dds/Payload.hpp>
@@ -39,7 +42,7 @@ class DataStreamer : public TopicRateCalculator
 
     using CallbackType = std::function<void (
                         const ddspipe::core::types::DdsTopic&,
-                        const fastrtps::types::DynamicType_ptr&,
+                        const fastdds::dds::DynamicType::_ref_type&,
                         const ddspipe::core::types::RtpsPayloadData&)>;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
@@ -56,7 +59,8 @@ class DataStreamer : public TopicRateCalculator
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
     void add_schema(
-            const fastrtps::types::DynamicType_ptr& dynamic_type) override;
+            const fastdds::dds::DynamicType::_ref_type& dynamic_type,
+            const fastdds::dds::xtypes::TypeIdentifier& type_identifier) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
     void add_data(
@@ -80,7 +84,7 @@ class DataStreamer : public TopicRateCalculator
 
     ddspipe::core::types::DdsTopic activated_topic_;
 
-    std::map<std::string, fastrtps::types::DynamicType_ptr> types_discovered_;
+    std::map<std::string, fastdds::dds::DynamicType::_ref_type> types_discovered_;
 
     mutable std::shared_timed_mutex mutex_;
 };

diff --git a/fastddsspy_participants/include/fastddsspy_participants/model/NetworkDatabase.hpp b/fastddsspy_participants/include/fastddsspy_participants/model/NetworkDatabase.hpp
@@ -14,8 +14,6 @@
 
 #pragma once
 
-#include <fastrtps/types/DynamicTypePtr.h>
-
 #include <cpp_utils/collection/database/SafeDatabase.hpp>
 #include <cpp_utils/types/Atomicable.hpp>
 

diff --git a/fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp b/fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp
@@ -14,6 +14,14 @@
 
 #pragma once
 
+#include <fastdds/rtps/builtin/data/ParticipantBuiltinTopicData.hpp>
+#include <fastdds/rtps/builtin/data/PublicationBuiltinTopicData.hpp>
+#include <fastdds/rtps/builtin/data/SubscriptionBuiltinTopicData.hpp>
+#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
+#include <fastdds/rtps/participant/RTPSParticipant.hpp>
+#include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
+#include <fastdds/rtps/writer/WriterDiscoveryStatus.hpp>
+
 #include <ddspipe_participants/participant/dynamic_types/DynTypesParticipant.hpp>
 #include <ddspipe_core/types/dds/Endpoint.hpp>
 
@@ -47,19 +55,25 @@ class SpyDdsParticipant : public ddspipe::participants::DynTypesParticipant
             const ddspipe::core::ITopic& topic) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_participant_discovery(
-            fastdds::dds::DomainParticipant* participant,
-            fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
+    void on_participant_discovery(
+            fastdds::rtps::RTPSParticipant* participant,
+            fastdds::rtps::ParticipantDiscoveryStatus reason,
+            const fastdds::rtps::ParticipantBuiltinTopicData& info,
+            bool& should_be_ignored) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_subscriber_discovery(
-            fastdds::dds::DomainParticipant* participant,
-            fastrtps::rtps::ReaderDiscoveryInfo&& info);
+    void on_reader_discovery(
+            fastdds::rtps::RTPSParticipant* participant,
+            fastdds::rtps::ReaderDiscoveryStatus reason,
+            const fastdds::rtps::SubscriptionBuiltinTopicData& info,
+            bool& should_be_ignored) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_publisher_discovery(
-            fastdds::dds::DomainParticipant* participant,
-            fastrtps::rtps::WriterDiscoveryInfo&& info);
+    void on_writer_discovery(
+            fastdds::rtps::RTPSParticipant* participant,
+            fastdds::rtps::WriterDiscoveryStatus reason,
+            const fastdds::rtps::PublicationBuiltinTopicData& info,
+            bool& should_be_ignored) override;
 
 protected:
 

diff --git a/fastddsspy_participants/package.xml b/fastddsspy_participants/package.xml
@@ -21,7 +21,7 @@
   <depend>cpp_utils</depend>
   <depend>ddspipe_core</depend>
   <depend>ddspipe_participants</depend>
-  <depend>fastrtps</depend>
+  <depend>fastdds</depend>
 
   <doc_depend>doxygen</doc_depend>
 

diff --git a/fastddsspy_participants/project_settings.cmake b/fastddsspy_participants/project_settings.cmake
@@ -24,12 +24,12 @@ set(MODULE_SUMMARY
 
 set(MODULE_FIND_PACKAGES
     fastcdr
-    fastrtps
+    fastdds
     cpp_utils
     ddspipe_core
     ddspipe_participants)
 
-set(fastrtps_MINIMUM_VERSION "2.8")
+set(fastdds_MINIMUM_VERSION "3.0.0")
 
 set(MODULE_DEPENDENCIES
     $<$<BOOL:${WIN32}>:iphlpapi$<SEMICOLON>Shlwapi>

diff --git a/fastddsspy_participants/src/cpp/model/DataStreamer.cpp b/fastddsspy_participants/src/cpp/model/DataStreamer.cpp
@@ -14,11 +14,10 @@
 
 #include <mutex>
 
-#include <fastrtps/types/DynamicType.h>
-#include <fastrtps/types/DynamicPubSubType.h>
-#include <fastrtps/types/DynamicData.h>
-#include <fastrtps/types/DynamicDataFactory.h>
-#include <fastrtps/types/DynamicDataHelper.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicPubSubType.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
 
 #include <cpp_utils/utils.hpp>
 
@@ -48,7 +47,7 @@ bool DataStreamer::activate(
 {
     if (!is_topic_type_discovered(topic_to_activate))
     {
-        logWarning(FASTDDSSPY_DATASTREAMER,
+        EPROSIMA_LOG_WARNING(FASTDDSSPY_DATASTREAMER,
                 "Type <" << topic_to_activate.type_name <<
                 "> for topic <" << topic_to_activate.topic_name() << "> is not discovered.");
         return false;
@@ -73,15 +72,19 @@ void DataStreamer::deactivate()
 }
 
 void DataStreamer::add_schema(
-        const fastrtps::types::DynamicType_ptr& dynamic_type)
+        const fastdds::dds::DynamicType::_ref_type& dynamic_type,
+        const fastdds::dds::xtypes::TypeIdentifier& type_identifier)
 {
+    static_cast<void>(type_identifier);
+
     std::unique_lock<std::shared_timed_mutex> _(mutex_);
 
     // Add type to map if not yet
     // NOTE: it does not matter if it is already in set
-    types_discovered_[dynamic_type->get_name()] = dynamic_type;
+    auto const type_name = dynamic_type->get_name().to_string();
+    types_discovered_[type_name] = dynamic_type;
 
-    logInfo(FASTDDSSPY_DATASTREAMER, "\nAdding schema with name " << dynamic_type->get_name() << ".");
+    EPROSIMA_LOG_INFO(FASTDDSSPY_DATASTREAMER, "\nAdding schema with name " << type_name << ".");
 }
 
 void DataStreamer::add_data(
@@ -90,7 +93,7 @@ void DataStreamer::add_data(
 {
     TopicRateCalculator::add_data(topic, data);
 
-    fastrtps::types::DynamicType_ptr dyn_type;
+    fastdds::dds::DynamicType::_ref_type dyn_type;
 
     {
         std::shared_lock<std::shared_timed_mutex> _(mutex_);
@@ -106,7 +109,7 @@ void DataStreamer::add_data(
             if (!is_topic_type_discovered_nts_(topic))
             {
                 // If all activated, add it only if schema is available, otherwise skip
-                logWarning(
+                EPROSIMA_LOG_WARNING(
                     FASTDDSSPY_DATASTREAMER,
                     "All activated but schema not is available.");
                 return;
@@ -117,14 +120,14 @@ void DataStreamer::add_data(
             if (!(activated_topic_ == topic))
             {
                 // If not all activated, and this is not the activated topic skip
-                logWarning(
+                EPROSIMA_LOG_WARNING(
                     FASTDDSSPY_DATASTREAMER,
                     "Not all activated, and this is not the activated topic.");
                 return;
             }
         }
 
-        logInfo(
+        EPROSIMA_LOG_INFO(
             FASTDDSSPY_DATASTREAMER,
             "Adding data in topic " << topic);
 

diff --git a/fastddsspy_participants/src/cpp/participant/SpyDdsParticipant.cpp b/fastddsspy_participants/src/cpp/participant/SpyDdsParticipant.cpp
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <fastdds/rtps/participant/RTPSParticipant.h>
-
 #include <ddspipe_participants/utils/utils.hpp>
 
 #include <fastddsspy_participants/participant/SpyDdsParticipant.hpp>
@@ -57,56 +55,69 @@ std::shared_ptr<ddspipe::core::IReader> SpyDdsParticipant::create_reader(
 }
 
 void SpyDdsParticipant::on_participant_discovery(
-        fastdds::dds::DomainParticipant* participant,
-        fastrtps::rtps::ParticipantDiscoveryInfo&& discovery_info)
+        fastdds::rtps::RTPSParticipant* participant,
+        fastdds::rtps::ParticipantDiscoveryStatus reason,
+        const fastdds::rtps::ParticipantBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(discovery_info.info.m_guid))
+    if (come_from_this_participant_(info.guid))
     {
         return;
     }
 
-    ParticipantInfo info;
-    info.active = (discovery_info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT
-            || discovery_info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::CHANGED_QOS_PARTICIPANT);
-    info.name = std::string(discovery_info.info.m_participantName);
-    info.guid = discovery_info.info.m_guid;
+    ParticipantInfo participant_info;
+    participant_info.active = (reason == fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT
+            || reason == fastdds::rtps::ParticipantDiscoveryStatus::CHANGED_QOS_PARTICIPANT);
+    participant_info.name = std::string(info.participant_name);
+    participant_info.guid = info.guid;
+
+    ddspipe::participants::rtps::CommonParticipant::on_participant_discovery(participant, reason, info,
+            should_be_ignored);
 
-    internal_notify_participant_discovered_(info);
+    internal_notify_participant_discovered_(participant_info);
 }
 
-void SpyDdsParticipant::on_subscriber_discovery(
-        fastdds::dds::DomainParticipant* participant,
-        fastrtps::rtps::ReaderDiscoveryInfo&& info)
+void SpyDdsParticipant::on_reader_discovery(
+        fastdds::rtps::RTPSParticipant* participant,
+        fastdds::rtps::ReaderDiscoveryStatus reason,
+        const fastdds::rtps::SubscriptionBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.info.guid()))
+    if (come_from_this_participant_(info.guid))
     {
         return;
     }
 
     EndpointInfo endpoint_info = ddspipe::participants::detail::create_endpoint_from_info_(info, id());
 
     // If participant left or dropped, this notification arrives as well
-    endpoint_info.active = !(info.status == fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERY_STATUS::REMOVED_READER);
+    endpoint_info.active = !(reason == fastdds::rtps::ReaderDiscoveryStatus::REMOVED_READER);
+
+    ddspipe::participants::DynTypesParticipant::on_reader_discovery(participant, reason, info, should_be_ignored);
 
     internal_notify_endpoint_discovered_(endpoint_info);
 }
 
-void SpyDdsParticipant::on_publisher_discovery(
-        fastdds::dds::DomainParticipant* participant,
-        fastrtps::rtps::WriterDiscoveryInfo&& info)
+void SpyDdsParticipant::on_writer_discovery(
+        fastdds::rtps::RTPSParticipant* participant,
+        fastdds::rtps::WriterDiscoveryStatus reason,
+        const fastdds::rtps::PublicationBuiltinTopicData& info,
+        bool& should_be_ignored)
 {
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.info.guid()))
+    if (come_from_this_participant_(info.guid))
     {
         return;
     }
 
     EndpointInfo endpoint_info = ddspipe::participants::detail::create_endpoint_from_info_(info, id());
 
     // If participant left or dropped, this notification arrives as well
-    endpoint_info.active = !(info.status == fastrtps::rtps::WriterDiscoveryInfo::DISCOVERY_STATUS::REMOVED_WRITER);
+    endpoint_info.active = !(reason == fastdds::rtps::WriterDiscoveryStatus::REMOVED_WRITER);
+
+    ddspipe::participants::DynTypesParticipant::on_writer_discovery(participant, reason, info, should_be_ignored);
 
     internal_notify_endpoint_discovered_(endpoint_info);
 }
@@ -140,9 +151,7 @@ void SpyDdsParticipant::internal_notify_endpoint_discovered_(
 bool SpyDdsParticipant::come_from_this_participant_(
         const ddspipe::core::types::Guid& guid) const noexcept
 {
-    return (guid.guid_prefix() == dds_participant_->guid().guidPrefix
-           ||  guid.guid_prefix() == rtps_participant_->getGuid().guidPrefix
-           );
+    return (guid.guid_prefix() == rtps_participant_->getGuid().guidPrefix);
 }
 
 } /* namespace participants */

diff --git a/fastddsspy_participants/src/cpp/testing/random_values.cpp b/fastddsspy_participants/src/cpp/testing/random_values.cpp
@@ -22,7 +22,7 @@ ddspipe::core::types::Guid random_guid_same_prefix(
         unsigned int seed /* = 1 */)
 {
     ddspipe::core::types::Guid guid;
-    guid.entityId.value[3] = static_cast<eprosima::fastrtps::rtps::octet>(seed);
+    guid.entityId.value[3] = static_cast<eprosima::fastdds::rtps::octet>(seed);
     guid.guidPrefix.value[0] = 0x01;
     guid.guidPrefix.value[1] = 0x0f;
     return guid;

diff --git a/fastddsspy_participants/test/blackbox/model/CMakeLists.txt b/fastddsspy_participants/test/blackbox/model/CMakeLists.txt
@@ -36,7 +36,7 @@ set(TEST_LIST
 
 set(TEST_EXTRA_LIBRARIES
         fastcdr
-        fastrtps
+        fastdds
         cpp_utils
         ddspipe_core
         ddspipe_participants
@@ -80,7 +80,7 @@ set(TEST_LIST
 
 set(TEST_EXTRA_LIBRARIES
         fastcdr
-        fastrtps
+        fastdds
         cpp_utils
         ddspipe_core
         ddspipe_participants

diff --git a/fastddsspy_participants/test/unittest/model/CMakeLists.txt b/fastddsspy_participants/test/unittest/model/CMakeLists.txt
@@ -31,7 +31,7 @@ set(TEST_LIST
 
 set(TEST_EXTRA_LIBRARIES
         fastcdr
-        fastrtps
+        fastdds
         cpp_utils
         ddspipe_core
         ddspipe_participants