[20595] DynamicType implementation

examples/cpp/dds/CMakeLists.txt

@@ -39,7 +39,6 @@ add_subdirectory(SampleConfig_Controller)
 add_subdirectory(SampleConfig_Events)
 add_subdirectory(SampleConfig_Multimedia)
 add_subdirectory(StaticHelloWorldExample)
-add_subdirectory(TypeLookupService)
 add_subdirectory(WriterLoansExample)
 add_subdirectory(ZeroCopyExample)
 

examples/cpp/dds/DynamicHelloWorldExample/HelloWorldPublisher.cpp

@@ -26,7 +26,9 @@
 #include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
-#include <fastrtps/types/DynamicDataFactory.h>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 using namespace eprosima::fastdds::dds;
 
@@ -47,33 +49,21 @@ bool HelloWorldPublisher::init()
         return false;
     }
 
-    eprosima::fastrtps::types::DynamicTypeBuilder* type;
+    DynamicType::_ref_type dyn_type;
     if (RETCODE_OK !=
-            DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("HelloWorld", type))
+            DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("HelloWorld",
+            dyn_type))
     {
         std::cout <<
             "Error getting dynamic type \"HelloWorld\"." << std::endl;
         return false;
     }
 
-    eprosima::fastrtps::types::DynamicType_ptr dyn_type = type->build();
-    TypeSupport m_type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
-    m_Hello = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type);
-
-    m_Hello->set_string_value("Hello DDS Dynamic World", 0);
-    m_Hello->set_uint32_value(0, 1);
-    eprosima::fastrtps::types::DynamicData* array = m_Hello->loan_value(2);
-    array->set_uint32_value(10, array->get_array_index({0, 0}));
-    array->set_uint32_value(20, array->get_array_index({1, 0}));
-    array->set_uint32_value(30, array->get_array_index({2, 0}));
-    array->set_uint32_value(40, array->get_array_index({3, 0}));
-    array->set_uint32_value(50, array->get_array_index({4, 0}));
-    array->set_uint32_value(60, array->get_array_index({0, 1}));
-    array->set_uint32_value(70, array->get_array_index({1, 1}));
-    array->set_uint32_value(80, array->get_array_index({2, 1}));
-    array->set_uint32_value(90, array->get_array_index({3, 1}));
-    array->set_uint32_value(100, array->get_array_index({4, 1}));
-    m_Hello->return_loaned_value(array);
+    TypeSupport m_type(new DynamicPubSubType(dyn_type));
+    m_Hello = DynamicDataFactory::get_instance()->create_data(dyn_type);
+    m_Hello->set_string_value(m_Hello->get_member_id_by_name("message"), "Hello DDS Dynamic World");
+    m_Hello->set_uint32_value(m_Hello->get_member_id_by_name("index"), 0);
+    m_Hello->set_uint32_values(m_Hello->get_member_id_by_name("array"), {10, 20, 30, 40, 50, 60, 70, 80, 90, 100});
 
     DomainParticipantQos pqos;
     pqos.name("Participant_pub");
@@ -98,7 +88,7 @@ bool HelloWorldPublisher::init()
         return false;
     }
 
-    topic_ = mp_participant->create_topic("DDSDynHelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
+    topic_ = mp_participant->create_topic("DDSDynHelloWorldTopic", m_type->getName(), TOPIC_QOS_DEFAULT);
 
     if (topic_ == nullptr)
     {
@@ -167,23 +157,23 @@ void HelloWorldPublisher::runThread(
             if (publish(false))
             {
                 std::string message;
-                m_Hello->get_string_value(message, 0);
-                uint32_t index;
-                m_Hello->get_uint32_value(index, 1);
+                m_Hello->get_string_value(message, m_Hello->get_member_id_by_name("message"));
+                uint32_t index {0};
+                m_Hello->get_uint32_value(index, m_Hello->get_member_id_by_name("index"));
+                UInt32Seq array;
+                m_Hello->get_uint32_values(array, m_Hello->get_member_id_by_name("array"));
                 std::string aux_array = "[";
-                eprosima::fastrtps::types::DynamicData* array = m_Hello->loan_value(2);
+
                 for (uint32_t i = 0; i < 5; ++i)
                 {
                     aux_array += "[";
                     for (uint32_t j = 0; j < 2; ++j)
                     {
-                        uint32_t elem;
-                        array->get_uint32_value(elem, array->get_array_index({i, j}));
-                        aux_array += std::to_string(elem) + (j == 1 ? "]" : ", ");
+                        aux_array += std::to_string(array.at((i * 5) + j)) + (j == 1 ? "]" : ", ");
                     }
                     aux_array += (i == 4 ? "]" : "], ");
                 }
-                m_Hello->return_loaned_value(array);
+
                 std::cout << "Message: " << message << " with index: " << index
                           << " array: " << aux_array << " SENT" << std::endl;
             }
@@ -201,23 +191,23 @@ void HelloWorldPublisher::runThread(
             else
             {
                 std::string message;
-                m_Hello->get_string_value(message, 0);
-                uint32_t index;
-                m_Hello->get_uint32_value(index, 1);
+                m_Hello->get_string_value(message, m_Hello->get_member_id_by_name("message"));
+                uint32_t index {0};
+                m_Hello->get_uint32_value(index, m_Hello->get_member_id_by_name("index"));
+                UInt32Seq array;
+                m_Hello->get_uint32_values(array, m_Hello->get_member_id_by_name("array"));
                 std::string aux_array = "[";
-                eprosima::fastrtps::types::DynamicData* array = m_Hello->loan_value(2);
+
                 for (uint32_t i = 0; i < 5; ++i)
                 {
                     aux_array += "[";
                     for (uint32_t j = 0; j < 2; ++j)
                     {
-                        uint32_t elem;
-                        array->get_uint32_value(elem, array->get_array_index({i, j}));
-                        aux_array += std::to_string(elem) + (j == 1 ? "]" : ", ");
+                        aux_array += std::to_string(array.at((i * 5) + j)) + (j == 1 ? "]" : ", ");
                     }
                     aux_array += (i == 4 ? "]" : "], ");
                 }
-                m_Hello->return_loaned_value(array);
+
                 std::cout << "Message: " << message << " with index: " << index
                           << " array: " << aux_array << " SENT" << std::endl;
             }
@@ -251,23 +241,13 @@ bool HelloWorldPublisher::publish(
     if (m_listener.firstConnected || !waitForListener || m_listener.n_matched > 0)
     {
         uint32_t index;
-        m_Hello->get_uint32_value(index, 1);
-        m_Hello->set_uint32_value(index + 1, 1);
-
-        eprosima::fastrtps::types::DynamicData* array = m_Hello->loan_value(2);
-        array->set_uint32_value(10 + index, array->get_array_index({0, 0}));
-        array->set_uint32_value(20 + index, array->get_array_index({1, 0}));
-        array->set_uint32_value(30 + index, array->get_array_index({2, 0}));
-        array->set_uint32_value(40 + index, array->get_array_index({3, 0}));
-        array->set_uint32_value(50 + index, array->get_array_index({4, 0}));
-        array->set_uint32_value(60 + index, array->get_array_index({0, 1}));
-        array->set_uint32_value(70 + index, array->get_array_index({1, 1}));
-        array->set_uint32_value(80 + index, array->get_array_index({2, 1}));
-        array->set_uint32_value(90 + index, array->get_array_index({3, 1}));
-        array->set_uint32_value(100 + index, array->get_array_index({4, 1}));
-        m_Hello->return_loaned_value(array);
-
-        writer_->write(m_Hello.get());
+        m_Hello->get_uint32_value(index, m_Hello->get_member_id_by_name("index"));
+        m_Hello->set_uint32_value(m_Hello->get_member_id_by_name("index"), index + 1);
+        m_Hello->set_uint32_values(m_Hello->get_member_id_by_name(
+                    "array"),
+                {10 + index, 20 + index, 30 + index, 40 + index, 50 + index, 60 + index, 70 + index, 80 + index, 90 + index,
+                 100 + index});
+        writer_->write(&m_Hello);
         return true;
     }
     return false;

examples/cpp/dds/DynamicHelloWorldExample/HelloWorldPublisher.h

@@ -20,6 +20,8 @@
 #ifndef HELLOWORLDPUBLISHER_H_
 #define HELLOWORLDPUBLISHER_H_
 
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
+
 #include <fastdds/dds/publisher/DataWriterListener.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 
@@ -45,7 +47,7 @@ class HelloWorldPublisher
 
 private:
 
-    eprosima::fastrtps::types::DynamicData_ptr m_Hello;
+    eprosima::fastdds::dds::DynamicData::_ref_type m_Hello;
 
     eprosima::fastdds::dds::DomainParticipant* mp_participant;
 

examples/cpp/dds/DynamicHelloWorldExample/HelloWorldSubscriber.cpp

@@ -27,8 +27,8 @@
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-#include <fastrtps/types/DynamicDataFactory.h>
-#include <fastrtps/types/DynamicDataHelper.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
 
 using namespace eprosima::fastdds::dds;
 
@@ -114,16 +114,15 @@ void HelloWorldSubscriber::SubListener::on_data_available(
 
     if (dit != subscriber_->datas_.end())
     {
-        eprosima::fastrtps::types::DynamicData_ptr data = dit->second;
+        DynamicData::_ref_type data {dit->second};
         SampleInfo info;
-        if (reader->take_next_sample(data.get(), &info) == RETCODE_OK)
+        if (reader->take_next_sample(&data, &info) == RETCODE_OK)
         {
             if (info.instance_state == ALIVE_INSTANCE_STATE)
             {
-                eprosima::fastrtps::types::DynamicType_ptr type = subscriber_->readers_[reader];
+                const DynamicType::_ref_type type {subscriber_->readers_[reader]};
                 this->n_samples++;
                 std::cout << "Received data of type " << type->get_name() << std::endl;
-                eprosima::fastrtps::types::DynamicDataHelper::print(data);
             }
         }
     }
@@ -133,7 +132,7 @@ void HelloWorldSubscriber::initialize_entities()
 {
     auto type = m_listener.received_type_;
     std::cout << "Initializing DDS entities for type: " << type->get_name() << std::endl;
-    TypeSupport m_type(new eprosima::fastrtps::types::DynamicPubSubType(type));
+    TypeSupport m_type(new DynamicPubSubType(type));
     m_type.register_type(mp_participant);
 
     if (mp_subscriber == nullptr)
@@ -167,8 +166,7 @@ void HelloWorldSubscriber::initialize_entities()
 
     topics_[reader] = topic;
     readers_[reader] = type;
-    eprosima::fastrtps::types::DynamicData_ptr data(
-        eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(type));
+    DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(type)};
     datas_[reader] = data;
 }
 

examples/cpp/dds/DynamicHelloWorldExample/HelloWorldSubscriber.h

@@ -29,6 +29,8 @@
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 class HelloWorldSubscriber
 {
@@ -59,9 +61,9 @@ class HelloWorldSubscriber
 
     std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::Topic*> topics_;
 
-    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicType_ptr> readers_;
+    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::DynamicType::_ref_type> readers_;
 
-    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicData_ptr> datas_;
+    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::DynamicData::_ref_type> datas_;
 
     eprosima::fastdds::dds::DataReaderQos qos_;
 
@@ -99,7 +101,7 @@ class HelloWorldSubscriber
 
         std::condition_variable types_cv_;
 
-        eprosima::fastrtps::types::DynamicType_ptr received_type_;
+        eprosima::fastdds::dds::DynamicType::_ref_type received_type_;
 
         std::atomic<bool> reception_flag_{false};
 

examples/cpp/dds/FlowControlExample/FlowControlExample.hpp

@@ -79,9 +79,9 @@ class FlowControlExample
     eProsima_user_DllExport FlowControlExample(
             const FlowControlExample& x)
     {
-                    m_message = x.m_message;
+        m_message = x.m_message;
 
-                    m_wasFast = x.m_wasFast;
+        m_wasFast = x.m_wasFast;
 
     }
 
@@ -104,9 +104,9 @@ class FlowControlExample
             const FlowControlExample& x)
     {
 
-                    m_message = x.m_message;
+        m_message = x.m_message;
 
-                    m_wasFast = x.m_wasFast;
+        m_wasFast = x.m_wasFast;
 
         return *this;
     }
@@ -132,7 +132,7 @@ class FlowControlExample
             const FlowControlExample& x) const
     {
         return (m_message == x.m_message &&
-           m_wasFast == x.m_wasFast);
+               m_wasFast == x.m_wasFast);
     }
 
     /*!
@@ -183,7 +183,6 @@ class FlowControlExample
         return m_message;
     }
 
-
     /*!
      * @brief This function sets a value in member wasFast
      * @param _wasFast New value for member wasFast
@@ -212,11 +211,9 @@ class FlowControlExample
         return m_wasFast;
     }
 
-
-
 private:
 
-    std::array<char, 600000> m_message{0};
+    std::array<char, 600000> m_message;
     char m_wasFast{0};
 
 };

examples/cpp/dds/Keys/samplePubSubTypes.cxx

@@ -36,10 +36,10 @@ samplePubSubType::samplePubSubType()
     setName("sample");
     uint32_t type_size =
 #if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(sample::getMaxCdrSerializedSize());
+            static_cast<uint32_t>(sample::getMaxCdrSerializedSize());
 #else
-        sample_max_cdr_typesize;
-#endif
+            sample_max_cdr_typesize;
+#endif // if FASTCDR_VERSION_MAJOR == 1
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
     m_typeSize = type_size + 4; /*encapsulation*/
     m_isGetKeyDefined = true;
@@ -150,8 +150,8 @@ std::function<uint32_t()> samplePubSubType::getSerializedSizeProvider(
                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
                    size_t current_alignment {0};
                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<sample*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
+                              *static_cast<sample*>(data), current_alignment)) +
+                          4u /*encapsulation*/;
                }
                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
                {
@@ -189,7 +189,8 @@ bool samplePubSubType::getKey(
             sample_max_key_cdr_typesize);
 
     // Object that serializes the data.
-    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS,
+            eprosima::fastcdr::CdrVersion::XCDRv1);
 #if FASTCDR_VERSION_MAJOR == 1
     p_type->serializeKey(ser);
 #else
@@ -224,6 +225,5 @@ void samplePubSubType::register_type_object_representation() const
     register_sample_type_objects();
 }
 
-
 // Include auxiliary functions like for serializing/deserializing.
 #include "sampleCdrAux.ipp"