Some more backports to 010x

.azure/templates/build-test.yml

@@ -27,27 +27,21 @@ steps:
         echo "###vso[task.setvariable variable=build_type;]Debug"
     name: setup
   - bash: |
-      echo "###vso[task.setvariable variable=pip_cache;]${HOME}/.cache/pip"
-      echo "###vso[task.setvariable variable=conan_cache;]${HOME}/.conan/data"
       echo "###vso[task.setvariable variable=PATH;]$(python3 -m site --user-base)/bin:${PATH}"
       echo "###vso[task.setvariable variable=build_tool_options;]-j 4"
-      sudo apt-get install -y clang clang-tools clang-tidy
+      sudo apt install -y clang clang-tools clang-tidy libboost-dev
     condition: eq(variables['Agent.OS'], 'Linux')
     name: setup_linux
   - bash: |
-      echo "###vso[task.setvariable variable=pip_cache;]${HOME}/Library/Caches/pip"
-      echo "###vso[task.setvariable variable=conan_cache;]${HOME}/.conan/data"
       echo "###vso[task.setvariable variable=PATH;]$(python3 -m site --user-base)/bin:${PATH}"
       echo "###vso[task.setvariable variable=build_tool_options;]-j 4"
       sudo /usr/libexec/ApplicationFirewall/socketfilterfw --setglobalstate off
-      brew install bison
+      brew install googletest
     condition: eq(variables['Agent.OS'], 'Darwin')
     name: setup_macos
   # Use PowerShell rather than Bash to ensure Windows-style paths
   - pwsh: |
       $python_bin = python -m site --user-base
-      Write-Host "###vso[task.setvariable variable=pip_cache;]${env:LOCALAPPDATA}\\pip\\Cache"
-      Write-Host "###vso[task.setvariable variable=conan_cache;]${env:USERPROFILE}\\.conan\\data"
       Write-Host "###vso[task.setvariable variable=PATH;]$python_bin\\bin;${env:PATH}"
       # Visual Studio is most likely used on Windows agents
       if (${env:GENERATOR} -match "2019" -and -not ${env:PLATFORM}) {
@@ -61,29 +55,27 @@ steps:
         }
       }
       Write-Host "###vso[task.setvariable variable=build_tool_options;]-nologo -verbosity:minimal -maxcpucount:4 -p:CL_MPCount=4"
-      choco install winflexbison3
     condition: eq(variables['Agent.OS'], 'Windows_NT')
     name: setup_windows
-  - task: Cache@2
-    inputs:
-      key: pip | 2 | $(Agent.OS)
-      path: $(pip_cache)
-    name: cache_pip
-  - task: Cache@2
-    inputs:
-      key: conan | 2 | $(Agent.OS) | $(arch) | $(build_type)
-      path: $(conan_cache)
-    name: cache_conan
-  - bash: |
-      set -e -x
-      pip install "conan==1.59.0" --user
-      conan profile new default --detect
-    name: install_conan
+  - pwsh: |
+      # boost-msvc-14.1 for VS 2017
+      # boost-msvc-14.2 for VS 2019
+      # boost-msvc-14.3 for VS 2022
+      choco install -y boost-msvc-14.2
+    condition: and(eq(variables['Agent.OS'], 'Windows_NT'), eq(variables['legacy'], 'on'))
+    name: setup_windows_boost
+  # Google Test doesn't seem to be available in Chocolatey
+  # Google Test 1.12.1 is the latest one to support C++11 (only relevant if legacy=on)
+  # and "apt install googletest" doesn't seem to do the trick on Linux
   - bash: |
-      set -e -x
-      conan profile update settings.compiler.libcxx=libstdc++11 default
-    condition: eq(variables['Agent.OS'], 'Linux')
-    name: update_conan_cxx_library
+      git clone --depth 1 --branch release-1.12.1 https://github.com/google/googletest.git
+      mkdir googletest/build
+      cd googletest/build
+      cmake -DCMAKE_INSTALL_PREFIX=install -DBUILD_SHARED_LIBS=on \
+        ${GENERATOR:+-G} "${GENERATOR}" -A "${PLATFORM}" -T "${TOOLSET}" ..
+      cmake --build . --config ${BUILD_TYPE} --target install -- ${BUILD_TOOL_OPTIONS}
+    condition: or(eq(variables['Agent.OS'], 'Linux'), eq(variables['Agent.OS'], 'Windows_NT'))
+    name: setup_googletest
   - bash: |
       set -e -x
       sudo apt-get install libacl1-dev libncurses5-dev pkg-config
@@ -109,7 +101,6 @@ steps:
                 cyclonedds
       mkdir cyclonedds/build
       cd cyclonedds/build
-      conan install -b missing -s arch=${ARCH} -s build_type=${BUILD_TYPE} ..
       cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
             -DCMAKE_INSTALL_PREFIX=install \
             -DCMAKE_PREFIX_PATH="${BUILD_SOURCESDIRECTORY}/iceoryx/build/install" \
@@ -122,10 +113,9 @@ steps:
       set -e -x
       mkdir build
       cd build
-      conan install -b missing -s arch=${ARCH} -s build_type=${BUILD_TYPE} ..
       cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
             -DCMAKE_INSTALL_PREFIX=install \
-            -DCMAKE_PREFIX_PATH="${BUILD_SOURCESDIRECTORY}/cyclonedds/build/install;${BUILD_SOURCESDIRECTORY}/iceoryx/build/install" \
+            -DCMAKE_PREFIX_PATH="${BUILD_SOURCESDIRECTORY}/cyclonedds/build/install;${BUILD_SOURCESDIRECTORY}/iceoryx/build/install;${BUILD_SOURCESDIRECTORY}/googletest/build/install" \
             -DANALYZER=${ANALYZER:-off} \
             -DSANITIZER=${SANITIZER:-none} \
             -DENABLE_SHM=${ICEORYX:-off} \

CMakeLists.txt

@@ -10,37 +10,10 @@
 # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
 #
 cmake_minimum_required(VERSION 3.16)
-project(CycloneDDS-CXX VERSION 0.10.3 LANGUAGES C CXX)
+project(CycloneDDS-CXX VERSION 0.10.4 LANGUAGES C CXX)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
 
-# Conan
-if(EXISTS "${CMAKE_BINARY_DIR}/conanbuildinfo.cmake" AND NOT CONAN_DEPENDENCIES)
-  include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
-  if(APPLE)
-    # By default Conan strips all RPATHs (see conanbuildinfo.cmake), which
-    # causes tests to fail as the executables cannot find the library target.
-    # By setting KEEP_RPATHS, Conan does not set CMAKE_SKIP_RPATH and the
-    # resulting binaries still have the RPATH information. This is fine because
-    # CMake will strip the build RPATH information in the install step.
-    #
-    # NOTE:
-    # Conan's default approach is to use the "imports" feature, which copies
-    # all the dependencies into the bin directory. Of course, this doesn't work
-    # quite that well for libraries generated in this Project (see Conan
-    # documentation).
-    #
-    # See the links below for more information.
-    # https://github.com/conan-io/conan/issues/337
-    # https://docs.conan.io/en/latest/howtos/manage_shared_libraries/rpaths.html
-    # https://gitlab.kitware.com/cmake/community/wikis/doc/cmake/RPATH-handling
-    conan_basic_setup(KEEP_RPATHS)
-  else()
-    conan_basic_setup()
-  endif()
-  conan_define_targets()
-endif()
-
 # By default don't treat warnings as errors, else anyone building it with a
 # different compiler that just happens to generate a warning, as well as
 # anyone adding or modifying something and making a small mistake would run
@@ -165,6 +138,9 @@ if(SANITIZER)
       add_compile_options("-fno-omit-frame-pointer")
       add_link_options("-fno-omit-frame-pointer")
     endif()
+    if(san STREQUAL "undefined")
+      add_compile_options("-fno-sanitize-recover=all")
+    endif()
     if(san AND NOT san STREQUAL "none")
       message(STATUS "Enabling sanitizer: ${san}")
       add_compile_options("-fsanitize=${san}")

README.md

@@ -126,22 +126,10 @@ variable `BUILD_TESTING` to on when configuring, e.g.:
     $ cmake --build .
     $ ctest
 
-Such a build requires the presence of [Google Test][7]. You can install this
-yourself, or you can choose to instead rely on the [Conan][8] package manager
-that the CI build infrastructure also uses. In that case, install Conan and do:
-
-    $ conan install .. --build missing
-
-in the build directory prior to running `cmake`. This will automatically
-download and/or build Google Test.
-
-For Windows, depending on the generator, you might also need to add switches
-to select the architecture and build type, e.g.,
-
-    $ conan install -s arch=x86_64 -s build_type=Debug ..
+Such a build requires the presence of [Google Test][7]. You need to install this
+yourself.
 
 [7]: https://github.com/google/googletest
-[8]: https://conan.io/
 
 ## Documentation
 

azure-pipelines.yml

@@ -42,10 +42,33 @@ strategy:
     'Ubuntu 20.04 LTS with Clang 10 (Release, x86_64)':
       image: ubuntu-20.04
       build_type: Release
-      cc: clang-10
-      cxx: clang++-10
-    'macOS 10.15 with Clang 12 (Debug, x86_64)':
-      image: macOS-10.15
+      sanitizer: address,undefined
+      cc: clang-12
+      cxx: clang++-12
+    'Ubuntu 22.04 LTS with CLang 12 (Release, x86_64, Iceoryx)':
+      image: ubuntu-22.04
+      build_type: Release
+      iceoryx: on
+      sanitizer: address,undefined
+      cc: clang-12
+      cxx: clang++-12
+    # C++11 requires boost, installing boost on Windows takes forever, so use Linux
+    # Google test requires C++14 at minimum, so we can't build tests ...
+    'Ubuntu 22.04 LTS with CLang 12 (Debug, x86_64, C++11)':
+      image: ubuntu-22.04
+      build_type: Debug
+      cc: clang-12
+      cxx: clang++-12
+      legacy: on
+    'Ubuntu 22.04 LTS with GCC 12 (Debug, x86_64, no type discovery)':
+      image: ubuntu-22.04
+      sanitizer: address
+      cc: gcc-12
+      cxx: g++-12
+      type_discovery: off
+      topic_discovery: off
+    'macOS 11 with Clang 12 (Debug, x86_64)':
+      image: macOS-11
       sanitizer: address
       cc: clang
       cxx: clang++
@@ -58,7 +81,6 @@ strategy:
     #'Windows 2019 with Visual Studio 2019 (Visual Studio 2017, Debug, x86)':
     #  arch: x86
     #  image: windows-2019
-    #  conanfile: conanfile102.txt
     #  generator: 'Visual Studio 16 2019'
     #  toolkit: v141
     'Windows 2019 with Visual Studio 2019 (Debug, x86_64)':
@@ -69,11 +91,12 @@ strategy:
       image: windows-2019
       build_type: Release
       generator: 'Visual Studio 16 2019'
-    'Windows 2019 with Visual Studio 2019 (Release, x86_64, c++11)':
-      image: windows-2019
-      build_type: Release
-      generator: 'Visual Studio 16 2019'
-      legacy: on
+    #C++11 needs boost, installing boost takes forever on Windows
+    #'Windows 2019 with Visual Studio 2019 (Release, x86_64, c++11)':
+    #  image: windows-2019
+    #  build_type: Release
+    #  generator: 'Visual Studio 16 2019'
+    #  legacy: on
 
 pool:
   vmImage: $(image)

src/ddscxx/include/dds/core/policy/CorePolicy.hpp

@@ -152,6 +152,9 @@ UserData;
 typedef dds::core::policy::detail::WriterDataLifecycle
 WriterDataLifecycle;
 
+typedef dds::core::policy::detail::WriterBatching
+WriterBatching;
+
 #ifdef  OMG_DDS_PERSISTENCE_SUPPORT
 typedef ::dds::core::policy::detail::DurabilityService
 DurabilityService;
@@ -192,6 +195,7 @@ OMG_DDS_POLICY_TRAITS(DurabilityService,    22)
 OMG_DDS_POLICY_TRAITS(DataRepresentation,   23)
 OMG_DDS_POLICY_TRAITS(TypeConsistencyEnforcement, 24)
 #endif  // OMG_DDS_EXTENSIBLE_AND_DYNAMIC_TOPIC_TYPE_SUPPORT
+OMG_DDS_POLICY_TRAITS(WriterBatching,       25)
 
 }
 }

src/ddscxx/include/dds/core/policy/TCorePolicy.hpp

@@ -842,6 +842,66 @@ class TWriterDataLifecycle : public dds::core::Value<D>
      */
     static TWriterDataLifecycle ManuallyDisposeUnregisteredInstances();
 
+};
+//==============================================================================
+
+template <typename D>
+class TWriterBatching : public dds::core::Value<D>
+{
+public:
+    /**
+     * Creates a WriterBatching QoS instance
+     *
+     * @param batch_updates a boolean indicating if updates should be batched
+     * before being explicitly flushed
+     */
+    explicit TWriterBatching(bool batch_updates = false);
+
+    /**
+     * Copies a WriterBatching QoS instance
+     *
+     * @param other the WriterBatching QoS instance to copy
+     */
+    TWriterBatching(const TWriterBatching& other);
+
+    /**
+     * Copies a WriterBatching QoS instance
+     *
+     * @param other the WriterBatching QoS instance to copy
+     *
+     * @return reference to the WriterBatching QoS instance that was copied to
+     */
+    TWriterBatching& operator=(const TWriterBatching& other) = default;
+
+public:
+    /**
+     * Gets a boolean indicating if updates should be batched
+     *
+     * @return a boolean indicating if updates should be batched
+     */
+    bool batch_updates() const;
+
+    /**
+     * Sets a boolean indicating if updates should be batched
+     *
+     * @param batch_updates a boolean indicating if updates should be batched
+     */
+    TWriterBatching& batch_updates(
+        bool batch_updates);
+
+public:
+    /**
+     * @return a WriterBatching QoS instance with batch_updates
+     * set to true
+     */
+    static TWriterBatching BatchUpdates();
+
+    /**
+     * @return a WriterBatching QoS instance with batch_updates
+     * set to false
+     */
+    static TWriterBatching DoNotBatchUpdates();
+
 };
 
 //==============================================================================

src/ddscxx/include/dds/core/policy/detail/CorePolicy.hpp

@@ -105,6 +105,9 @@ namespace dds { namespace core { namespace policy { namespace detail {
 
     typedef dds::core::policy::TWriterDataLifecycle<org::eclipse::cyclonedds::core::policy::WriterDataLifecycleDelegate>
     WriterDataLifecycle;
+
+    typedef dds::core::policy::TWriterBatching<org::eclipse::cyclonedds::core::policy::WriterBatchingDelegate>
+    WriterBatching;
 } } } } // namespace dds::core::policy::detail
 
 

src/ddscxx/include/dds/core/policy/detail/TCorePolicyImpl.hpp

@@ -501,6 +501,45 @@ TWriterDataLifecycle<D> TWriterDataLifecycle<D>::ManuallyDisposeUnregisteredInst
     return TWriterDataLifecycle(false);
 }
 
+//TWriterBatching
+template <typename D>
+TWriterBatching<D>::TWriterBatching(bool batch_updates): dds::core::Value<D>(batch_updates)
+{
+}
+
+template <typename D>
+TWriterBatching<D>::TWriterBatching(const TWriterBatching& other): dds::core::Value<D>(other.delegate())
+{
+}
+
+template <typename D>
+bool TWriterBatching<D>::batch_updates() const
+{
+    return this->delegate().batch_updates();
+}
+
+template <typename D>
+TWriterBatching<D>& TWriterBatching<D>::batch_updates(
+        bool batch_updates)
+{
+    this->delegate().batch_updates(batch_updates);
+    return *this;
+}
+
+template <typename D>
+TWriterBatching<D> TWriterBatching<D>::BatchUpdates()
+{
+  return TWriterBatching(true);
+}
+
+
+template <typename D>
+TWriterBatching<D> TWriterBatching<D>::DoNotBatchUpdates()
+{
+  return TWriterBatching(false);
+}
+
+
 //TReaderDataLifecycle
 template <typename D>
 TReaderDataLifecycle<D>::TReaderDataLifecycle(const dds::core::Duration& autopurge_nowriter_samples_delay, const dds::core::Duration& autopurge_disposed_samples_delay)

src/ddscxx/include/dds/pub/detail/DataWriter.hpp

@@ -61,9 +61,7 @@ class dds::pub::detail::DataWriter : public ::org::eclipse::cyclonedds::pub::Any
 
     DataWriter(const dds::pub::Publisher& pub,
                const ::dds::topic::Topic<T>& topic,
-               const dds::pub::qos::DataWriterQos& qos,
-               dds::pub::DataWriterListener<T>* listener,
-               const dds::core::status::StatusMask& mask);
+               const dds::pub::qos::DataWriterQos& qos);
 
     virtual ~DataWriter();