Improve X-Types interoperability (#4985)

* Refs #21222. X-Types changes to improve interoperability Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Regenerate source code Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Pass TypeInformation from other vendors Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Reply EK_MINIMAL if OpenDDS is the remote vendor Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Regenerated code Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Apply suggestions Signed-off-by: Ricardo González Moreno <[email protected]> * Refs #21222. Update submodule Signed-off-by: Ricardo González Moreno <[email protected]> --------- Signed-off-by: Ricardo González Moreno <[email protected]>
eProsima · Jul 9, 2024 · 67eefa2 · 67eefa2
1 parent 252ff37
commit 67eefa2
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diff --git a/include/fastdds/dds/xtypes/type_representation/detail/dds-xtypes_typeobject.idl b/include/fastdds/dds/xtypes/type_representation/detail/dds-xtypes_typeobject.idl
diff --git a/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobject.hpp b/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobject.hpp
diff --git a/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobjectCdrAux.hpp b/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobjectCdrAux.hpp
@@ -175,6 +175,9 @@ constexpr uint32_t eprosima_fastdds_dds_xtypes_CompleteEnumeratedHeader_max_key_
 constexpr uint32_t eprosima_fastdds_dds_xtypes_CompleteBitsetHeader_max_cdr_typesize {653UL};
 constexpr uint32_t eprosima_fastdds_dds_xtypes_CompleteBitsetHeader_max_key_cdr_typesize {0UL};
 
+constexpr uint32_t eprosima_fastdds_dds_xtypes_Dummy_max_cdr_typesize {0UL};
+constexpr uint32_t eprosima_fastdds_dds_xtypes_Dummy_max_key_cdr_typesize {0UL};
+
 constexpr uint32_t eprosima_fastdds_dds_xtypes_CompleteBitfield_max_cdr_typesize {1408UL};
 constexpr uint32_t eprosima_fastdds_dds_xtypes_CompleteBitfield_max_key_cdr_typesize {0UL};
 
@@ -426,6 +429,10 @@ eProsima_user_DllExport void serialize_key(
         eprosima::fastcdr::Cdr& scdr,
         const eprosima::fastdds::dds::xtypes::ExtendedTypeDefn& data);
 
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const eprosima::fastdds::dds::xtypes::Dummy& data);
+
 
 
 

diff --git a/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobjectPubSubTypes.hpp b/include/fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobjectPubSubTypes.hpp
@@ -1240,6 +1240,115 @@ class ExtendedTypeDefnPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 };
 
+/*!
+ * @brief This class represents the TopicDataType of the type Dummy defined by the user in the IDL file.
+ * @ingroup dds_xtypes_typeobject
+ */
+class DummyPubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef Dummy type;
+
+    eProsima_user_DllExport DummyPubSubType();
+
+    eProsima_user_DllExport ~DummyPubSubType() override;
+
+    eProsima_user_DllExport bool serialize(
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
+    {
+        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
+    }
+
+    eProsima_user_DllExport bool serialize(
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool deserialize(
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+            const void* const data) override
+    {
+        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
+    }
+
+    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool getKey(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport void* createData() override;
+
+    eProsima_user_DllExport void deleteData(
+            void* data) override;
+
+    //Register TypeObject representation in Fast DDS TypeObjectRegistry
+    eProsima_user_DllExport void register_type_object_representation() override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return true;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+    eProsima_user_DllExport inline bool is_plain() const override
+    {
+        return is_plain_xcdrv1_impl();
+    }
+
+    eProsima_user_DllExport inline bool is_plain(
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+    {
+        if (data_representation == eprosima::fastdds::dds::DataRepresentationId_t::XCDR2_DATA_REPRESENTATION)
+        {
+            return is_plain_xcdrv2_impl();
+        }
+        else
+        {
+            return is_plain_xcdrv1_impl();
+        }
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        new (memory) Dummy();
+        return true;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+    eprosima::fastdds::MD5 m_md5;
+    unsigned char* m_keyBuffer;
+
+private:
+
+    static constexpr bool is_plain_xcdrv1_impl()
+    {
+        return true;
+    }
+
+    static constexpr bool is_plain_xcdrv2_impl()
+    {
+        return true;
+    }
+
+};
+
 typedef std::vector<eprosima::fastdds::dds::xtypes::TypeIdentifier> TypeIdentifierSeq;
 typedef uint32_t MemberId;
 

diff --git a/include/fastdds/rtps/common/VendorId_t.hpp b/include/fastdds/rtps/common/VendorId_t.hpp
@@ -34,6 +34,7 @@ using VendorId_t = std::array<uint8_t, 2>;
 const VendorId_t c_VendorId_Unknown = {0x00, 0x00};
 const VendorId_t c_VendorId_eProsima = {0x01, 0x0F};
 const VendorId_t c_VendorId_rti_connext = {0x01, 0x01};
+const VendorId_t c_VendorId_opendds = {0x01, 0x03};
 
 } // namespace rtps
 } // namespace fastdds

diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
@@ -152,27 +152,28 @@ void TypeLookupRequestListener::process_requests()
 
         if (!requests_queue_.empty())
         {
-            TypeLookup_Request& request = requests_queue_.front();
+            std::pair<TypeLookup_Request, rtps::VendorId_t>& request = requests_queue_.front();
             {
                 // Process the TypeLookup_Request based on its type
-                switch (request.data()._d())
+                switch (request.first.data()._d())
                 {
                     case TypeLookup_getTypes_HashId:
                     {
-                        check_get_types_request(request.header().requestId(), request.data().getTypes());
+                        check_get_types_request(request.first.header().requestId(),
+                                request.first.data().getTypes(), request.second);
                         break;
                     }
                     case TypeLookup_getDependencies_HashId:
                     {
-                        check_get_type_dependencies_request(request.header().requestId(),
-                                request.data().getTypeDependencies());
+                        check_get_type_dependencies_request(request.first.header().requestId(),
+                                request.first.data().getTypeDependencies());
                         break;
                     }
                     default:
                         // If the type of request is not known, log an error and answer with an exception
                         EPROSIMA_LOG_WARNING(TYPELOOKUP_SERVICE_REQUEST_LISTENER,
                                 "Received unknown request in type lookup service.");
-                        answer_request(request.header().requestId(),
+                        answer_request(request.first.header().requestId(),
                                 rpc::RemoteExceptionCode_t::REMOTE_EX_UNKNOWN_OPERATION);
                         break;
                 }
@@ -185,7 +186,8 @@ void TypeLookupRequestListener::process_requests()
 
 void TypeLookupRequestListener::check_get_types_request(
         SampleIdentity request_id,
-        const TypeLookup_getTypes_In& request)
+        const TypeLookup_getTypes_In& request,
+        const rtps::VendorId_t& vendor_id)
 {
     // Always Sends EK_COMPLETE
     // TODO: Add a property to the participant to configure this behavior. Allowing it to respond with EK_MINIMAL when possible.
@@ -198,7 +200,7 @@ void TypeLookupRequestListener::check_get_types_request(
     for (const xtypes::TypeIdentifier& type_id : request.type_ids())
     {
         // If TypeIdentifier is EK_MINIMAL add complete_to_minimal to answer
-        if (type_id._d() == xtypes::EK_MINIMAL)
+        if (type_id._d() == xtypes::EK_MINIMAL && rtps::c_VendorId_opendds != vendor_id)
         {
             minimal_id = type_id;
             // Get complete TypeIdentifier from registry
@@ -438,7 +440,7 @@ void TypeLookupRequestListener::on_new_cache_change_added(
         {
             std::unique_lock<std::mutex> guard(request_processor_cv_mutex_);
             // Add request to the processing queue
-            requests_queue_.push(request);
+            requests_queue_.push({request, change->vendor_id});
             // Notify processor
             request_processor_cv_.notify_all();
         }

diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp
@@ -25,8 +25,10 @@
 #include <queue>
 #include <unordered_map>
 #include <unordered_set>
+#include <utility>
 
 #include <fastdds/builtin/type_lookup_service/detail/TypeLookupTypes.hpp>
+#include <fastdds/rtps/common/VendorId_t.hpp>
 #include <fastdds/rtps/reader/ReaderListener.hpp>
 #include <fastdds/rtps/writer/WriterListener.hpp>
 #include <fastdds/xtypes/type_representation/TypeIdentifierWithSizeHashSpecialization.h>
@@ -36,8 +38,7 @@
 
 namespace std {
 
-template <>
-struct hash<eprosima::fastdds::dds::xtypes::TypeIdentifierSeq>
+template <> struct hash<eprosima::fastdds::dds::xtypes::TypeIdentifierSeq>
 {
     std::size_t operator ()(
             const eprosima::fastdds::dds::xtypes::TypeIdentifierSeq& k) const
@@ -54,7 +55,7 @@ struct hash<eprosima::fastdds::dds::xtypes::TypeIdentifierSeq>
 
 };
 
-} // std
+} // namespace std
 
 namespace eprosima {
 namespace fastdds {
@@ -111,10 +112,12 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
      * @brief Gets TypeObject from TypeObjectRegistry, creates and sends reply.
      * @param request_id[in] The SampleIdentity of the request.
      * @param request[in] The request data.
+     * @param vendor_id[in] Vendor identifier that sent the request.
      */
     void check_get_types_request(
             SampleIdentity request_id,
-            const TypeLookup_getTypes_In& request);
+            const TypeLookup_getTypes_In& request,
+            const rtps::VendorId_t& vendor_id);
 
     /**
      * @brief Gets type dependencies from TypeObjectRegistry, creates and sends reply.
@@ -132,7 +135,8 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
      * @param continuation_point[in] The continuation point of the previous request.
      * @return The reply containing the dependent types.
      */
-    TypeLookup_getTypeDependencies_Out prepare_get_type_dependencies_response(
+    TypeLookup_getTypeDependencies_Out
+    prepare_get_type_dependencies_response(
             const xtypes::TypeIdentifierSeq& id_seq,
             const std::unordered_set<xtypes::TypeIdentfierWithSize>& type_dependencies,
             const std::vector<uint8_t>& continuation_point);
@@ -147,7 +151,8 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
             SampleIdentity request_id,
             rpc::RemoteExceptionCode_t exception_code,
             TypeLookup_getTypeDependencies_Out& out);
-    void answer_request(
+    void
+    answer_request(
             SampleIdentity request_id,
             rpc::RemoteExceptionCode_t exception_code,
             TypeLookup_getTypes_Out& out);
@@ -175,11 +180,11 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
     std::mutex requests_with_continuation_mutex_;
 
     //! Collection of the requests that needed continuation points.
-    std::unordered_map <xtypes::TypeIdentifierSeq,
-            std::unordered_set<xtypes::TypeIdentfierWithSize>> requests_with_continuation_;
+    std::unordered_map<xtypes::TypeIdentifierSeq, std::unordered_set<xtypes::TypeIdentfierWithSize>>
+    requests_with_continuation_;
 
     eprosima::thread request_processor_thread;
-    std::queue<TypeLookup_Request> requests_queue_;
+    std::queue<std::pair<TypeLookup_Request, rtps::VendorId_t>> requests_queue_;
     std::mutex request_processor_cv_mutex_;
     std::condition_variable request_processor_cv_;
     bool processing_ = false;

diff --git a/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypes.hpp b/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypes.hpp
@@ -640,7 +640,7 @@ class TypeLookup_getTypes_Result
             }
 
 
-    int32_t m__d {1};
+    int32_t m__d {2147483647};
 
     union
     {
@@ -1270,7 +1270,7 @@ class TypeLookup_getTypeDependencies_Result
             }
 
 
-    int32_t m__d {1};
+    int32_t m__d {2147483647};
 
     union
     {
@@ -1638,7 +1638,7 @@ class TypeLookup_Call
             }
 
 
-    int32_t m__d {0};
+    int32_t m__d {2147483647};
 
     union
     {
@@ -2187,7 +2187,7 @@ class TypeLookup_Return
             }
 
 
-    int32_t m__d {0};
+    int32_t m__d {2147483647};
 
     union
     {

diff --git a/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypes.idl b/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypes.idl
@@ -3,7 +3,7 @@
 #include "../../../../../../include/fastdds/dds/core/detail/DDSReturnCode.idl"
 #include "../../../../../../include/fastdds/dds/xtypes/type_representation/detail/dds-xtypes_typeobject.idl"
 #include "rpc_types.idl"
-    
+
 module dds {
 module builtin {
 
@@ -59,6 +59,7 @@ module builtin {
     };
 
     // @RPCRequestType // Annotation not defined
+    @final
     struct TypeLookup_Request {
         rpc::RequestHeader header;
         TypeLookup_Call data;
@@ -73,6 +74,7 @@ module builtin {
     };
 
     // @RPCReplyType // Annotation not defined
+    @final
     struct TypeLookup_Reply {
         rpc::ReplyHeader header;
         TypeLookup_Return return_value; //This name was changed from "return" to "return_value" to avoid problems in c++

diff --git a/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypesCdrAux.hpp b/src/cpp/fastdds/builtin/type_lookup_service/detail/TypeLookupTypesCdrAux.hpp
@@ -24,7 +24,7 @@
 
 #include "TypeLookupTypes.hpp"
 
-constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Reply_max_cdr_typesize {140UL};
+constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Reply_max_cdr_typesize {116UL};
 constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Reply_max_key_cdr_typesize {0UL};
 
 
@@ -78,6 +78,7 @@ constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_getTypes_In_max_key_c
 
 
 
+
 
 
 constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_getTypeDependencies_Out_max_cdr_typesize {72UL};
@@ -124,7 +125,7 @@ constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_getTypes_Out_max_key_
 
 
 
-constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Request_max_cdr_typesize {388UL};
+constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Request_max_cdr_typesize {364UL};
 constexpr uint32_t eprosima_fastdds_dds_builtin_TypeLookup_Request_max_key_cdr_typesize {0UL};