Rebase fix

Signed-off-by: tempate <[email protected]>

ddsrecorder/test/blackbox/FileCreationTest.hpp

@@ -43,18 +43,13 @@
 
 #include <ddsrecorder_yaml/recorder/YamlReaderConfiguration.hpp>
 
-#if FASTRTPS_VERSION_MAJOR < 2 || (FASTRTPS_VERSION_MAJOR == 2 && FASTRTPS_VERSION_MINOR < 13)
-    #include "../resources/types/hello_world/v1/HelloWorld.h"
-    #include "../resources/types/hello_world/v1/HelloWorldPubSubTypes.h"
-#else
-    #include "../resources/types/hello_world/v2/HelloWorld.h"
-    #include "../resources/types/hello_world/v2/HelloWorldPubSubTypes.h"
-#endif // if FASTRTPS_VERSION_MAJOR < 2 || (FASTRTPS_VERSION_MAJOR == 2 && FASTRTPS_VERSION_MINOR < 13)
-
 #include <tool/DdsRecorder.hpp>
 
 #include "constants.hpp"
 
+#include "../resources/types/hello_world/HelloWorld.hpp"
+#include "../resources/types/hello_world/HelloWorldPubSubTypes.h"
+
 using namespace eprosima;
 using DdsRecorderState = ddsrecorder::recorder::DdsRecorderStateCode;
 
@@ -114,7 +109,7 @@ class FileCreationTest : public testing::Test
 
 protected:
 
-    std::vector<std::shared_ptr<fastrtps::rtps::SerializedPayload_t>> record_messages_(
+    std::vector<std::shared_ptr<fastdds::rtps::SerializedPayload_t>> record_messages_(
             const std::string& file_name,
             const unsigned int messages1,
             const DdsRecorderState state1 = DdsRecorderState::RUNNING,
@@ -189,7 +184,7 @@ class FileCreationTest : public testing::Test
         return sent_messages;
     }
 
-    std::vector<std::shared_ptr<fastrtps::rtps::SerializedPayload_t>> send_messages_(
+    std::vector<std::shared_ptr<fastdds::rtps::SerializedPayload_t>> send_messages_(
             const unsigned int number_of_messages)
     {
         // Create the DataWriter
@@ -199,7 +194,7 @@ class FileCreationTest : public testing::Test
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
 
         // Send the messages
-        std::vector<std::shared_ptr<fastrtps::rtps::SerializedPayload_t>> sent_messages;
+        std::vector<std::shared_ptr<fastdds::rtps::SerializedPayload_t>> sent_messages;
 
         for (std::uint32_t i = 0; i < number_of_messages; i++)
         {
@@ -213,7 +208,7 @@ class FileCreationTest : public testing::Test
             // Serialize the message
             HelloWorldPubSubType pubsubType;
             const auto payload_size = pubsubType.getSerializedSizeProvider(&hello)();
-            auto payload = std::make_shared<fastrtps::rtps::SerializedPayload_t>(payload_size);
+            auto payload = std::make_shared<fastdds::rtps::SerializedPayload_t>(payload_size);
             pubsubType.serialize(&hello, payload.get());
 
             // Store the serialized message

ddsrecorder/test/blackbox/mcap/McapFileCreationTest.cpp

@@ -256,7 +256,7 @@ TEST_F(McapFileCreationTest, mcap_data_num_msgs)
     const std::string OUTPUT_FILE_NAME = "mcap_data_num_msgs";
     const auto OUTPUT_FILE_PATH = get_output_file_path_(OUTPUT_FILE_NAME + ".mcap");
 
-    constexpr auto NUMBER_OF_MESSAGES = 10;
+    constexpr auto NUMBER_OF_MESSAGES = 128;
 
     ASSERT_TRUE(delete_file_(OUTPUT_FILE_PATH));
 
@@ -276,7 +276,7 @@ TEST_F(McapFileCreationTest, mcap_data_num_msgs_downsampling)
     const std::string OUTPUT_FILE_NAME = "mcap_data_num_msgs_downsampling";
     const auto OUTPUT_FILE_PATH = get_output_file_path_(OUTPUT_FILE_NAME + ".mcap");
 
-    constexpr auto NUMBER_OF_MESSAGES = 10;
+    constexpr auto NUMBER_OF_MESSAGES = 128;
     constexpr int DOWNSAMPLING = 2;
 
     ASSERT_TRUE(delete_file_(OUTPUT_FILE_PATH));

ddsrecorder/test/blackbox/sql/SqlFileCreationTest.cpp

@@ -294,7 +294,7 @@ TEST_F(SqlFileCreationTest, sql_data_num_msgs_downsampling)
     const std::string OUTPUT_FILE_NAME = "sql_data_num_msgs_downsampling";
     const auto OUTPUT_FILE_PATH = get_output_file_path_(OUTPUT_FILE_NAME + ".db");
 
-    constexpr auto NUMBER_OF_MESSAGES = 10;
+    constexpr auto NUMBER_OF_MESSAGES = 128;
     constexpr int DOWNSAMPLING = 2;
 
     ASSERT_TRUE(delete_file_(OUTPUT_FILE_PATH));

ddsrecorder_participants/include/ddsrecorder_participants/common/serialize/Serializer.hpp

@@ -56,15 +56,13 @@ class DDSRECORDER_PARTICIPANTS_DllAPI Serializer
 protected:
 
     /**
-     * @brief Serialize a \c TypeObject or a \c TypeIdentifier into a \c SerializedPayload_t.
+     * @brief Serialize a \c TypeObject or a \c TypeIdentifier into a string.
      *
      * @param [in] object \c TypeObject or \c TypeIdentifier to serialize
-     * @return \c SerializedPayload_t with the serialization
      */
     template <typename T>
     static std::string type_data_to_type_str_(
-            const T& data,
-            const size_t size);
+            const T& data);
 
     /**
      * @brief Deserialize \c type_str into a \c TypeObject or a \c TypeIdentifier.

ddsrecorder_participants/include/ddsrecorder_participants/common/time_utils.hpp

@@ -81,7 +81,7 @@ mcap::Timestamp to_mcap_timestamp(
  */
 DDSRECORDER_PARTICIPANTS_DllAPI
 std::string to_sql_timestamp(
-        const fastrtps::rtps::Time_t& time,
+        const fastdds::rtps::Time_t& time,
         const bool local_time = false);
 
 /**

ddsrecorder_participants/include/ddsrecorder_participants/recorder/message/SqlMessage.hpp

@@ -22,7 +22,7 @@
 #include <string>
 
 #include <fastdds/rtps/common/SequenceNumber.h>
-#include <fastrtps/types/DynamicType.h>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 #include <ddspipe_core/efficiency/payload/PayloadPool.hpp>
 #include <ddspipe_core/types/data/RtpsPayloadData.hpp>
@@ -66,13 +66,13 @@ struct SqlMessage : public BaseMessage
      * @param dynamic_type DynamicType of the message.
      */
     void set_key(
-            fastrtps::types::DynamicType_ptr dynamic_type);
+            fastdds::dds::DynamicType::_ref_type dynamic_type);
 
     // Writer GUID
     ddspipe::core::types::Guid writer_guid;
 
     // Sequence number
-    fastrtps::rtps::SequenceNumber_t sequence_number;
+    fastdds::rtps::SequenceNumber_t sequence_number;
 
     // Hashed value identifying the instance
     ddspipe::core::types::InstanceHandle instance_handle;

ddsrecorder_participants/include/ddsrecorder_participants/recorder/output/BaseHandler.hpp

@@ -32,7 +32,7 @@
 
 #include <cpp_utils/macros/custom_enumeration.hpp>
 
-#include <fastrtps/types/DynamicType.h>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 #include <ddspipe_core/efficiency/payload/PayloadPool.hpp>
 #include <ddspipe_participants/participant/dynamic_types/ISchemaHandler.hpp>
@@ -366,7 +366,7 @@ class BaseHandler : public ddspipe::participants::ISchemaHandler
     //////////////////////////////
 
     //! Received types set
-    std::map<std::string, fastrtps::types::DynamicType_ptr> received_types_;
+    std::map<std::string, fastdds::dds::DynamicType::_ref_type> received_types_;
 
     //! Dynamic types collection
     DynamicTypesCollection dynamic_types_;

ddsrecorder_participants/include/ddsrecorder_participants/recorder/sql/SqlHandler.hpp

@@ -24,7 +24,8 @@
 #include <set>
 #include <string>
 
-#include <fastrtps/types/DynamicType.h>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
+#include <fastdds/dds/xtypes/type_representation/detail/dds_xtypes_typeobject.hpp>
 
 #include <ddspipe_core/efficiency/payload/PayloadPool.hpp>
 #include <ddspipe_core/types/data/RtpsPayloadData.hpp>
@@ -96,7 +97,9 @@ class SqlHandler : public BaseHandler
      */
     DDSRECORDER_PARTICIPANTS_DllAPI
     void add_schema(
-            const fastrtps::types::DynamicType_ptr& dynamic_type) override;
+            const fastdds::dds::DynamicType::_ref_type& dynamic_type,
+            const std::string& type_name,
+            const fastdds::dds::xtypes::TypeIdentifier& type_id) override;
 
     /**
      * @brief Add a data sample to the given \c topic.

ddsrecorder_participants/include/ddsrecorder_participants/recorder/sql/SqlWriter.hpp

@@ -23,15 +23,10 @@
 #include <vector>
 
 #include <cstdint>
+#include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollection.hpp>
 #include <ddsrecorder_participants/library/library_dll.h>
 #include <ddsrecorder_participants/recorder/output/BaseWriter.hpp>
 
-#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v1/DynamicTypesCollection.hpp>
-#else
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v2/DynamicTypesCollection.hpp>
-#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-
 namespace eprosima {
 namespace ddsrecorder {
 namespace participants {

ddsrecorder_participants/include/ddsrecorder_participants/replayer/BaseReaderParticipant.hpp

@@ -38,15 +38,10 @@
 
 #include <ddspipe_participants/reader/auxiliar/InternalReader.hpp>
 
+#include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollection.hpp>
 #include <ddsrecorder_participants/library/library_dll.h>
 #include <ddsrecorder_participants/replayer/BaseReaderParticipantConfiguration.hpp>
 
-#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v1/DynamicTypesCollection.hpp>
-#else
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v2/DynamicTypesCollection.hpp>
-#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-
 namespace eprosima {
 namespace ddsrecorder {
 namespace participants {

ddsrecorder_participants/include/ddsrecorder_participants/replayer/McapReaderParticipant.hpp

@@ -23,16 +23,11 @@
 
 #include <ddspipe_core/efficiency/payload/PayloadPool.hpp>
 
+#include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollection.hpp>
 #include <ddsrecorder_participants/library/library_dll.h>
 #include <ddsrecorder_participants/replayer/BaseReaderParticipant.hpp>
 #include <ddsrecorder_participants/replayer/BaseReaderParticipantConfiguration.hpp>
 
-#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v1/DynamicTypesCollection.hpp>
-#else
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v2/DynamicTypesCollection.hpp>
-#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-
 namespace eprosima {
 namespace ddsrecorder {
 namespace participants {

ddsrecorder_participants/include/ddsrecorder_participants/replayer/SqlReaderParticipant.hpp

@@ -27,16 +27,11 @@
 #include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
 #include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
 
+#include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollection.hpp>
 #include <ddsrecorder_participants/library/library_dll.h>
 #include <ddsrecorder_participants/replayer/BaseReaderParticipant.hpp>
 #include <ddsrecorder_participants/replayer/BaseReaderParticipantConfiguration.hpp>
 
-#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v1/DynamicTypesCollection.hpp>
-#else
-    #include <ddsrecorder_participants/common/types/dynamic_types_collection/v2/DynamicTypesCollection.hpp>
-#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
-
 namespace eprosima {
 namespace ddsrecorder {
 namespace participants {

ddsrecorder_participants/src/cpp/common/serialize/Serializer.cpp

@@ -26,6 +26,7 @@
 
 #include <ddsrecorder_participants/common/serialize/Serializer.hpp>
 #include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollection.hpp>
+#include <ddsrecorder_participants/common/types/dynamic_types_collection/DynamicTypesCollectionPubSubTypes.h>
 #include <ddsrecorder_participants/constants.hpp>
 
 namespace eprosima {

ddsrecorder_participants/src/cpp/common/time_utils.cpp

@@ -69,7 +69,7 @@ utils::Timestamp to_std_timestamp(
 }
 
 mcap::Timestamp to_mcap_timestamp(
-        const fastrtps::rtps::Time_t& time)
+        const fastdds::rtps::Time_t& time)
 {
     return time.seconds() * NS_PER_SEC + time.nanosec();
 }
@@ -81,7 +81,7 @@ mcap::Timestamp to_mcap_timestamp(
 }
 
 std::string to_sql_timestamp(
-        const fastrtps::rtps::Time_t& time,
+        const fastdds::rtps::Time_t& time,
         const bool local_time /* = false */)
 {
     char datetime_str[30];

ddsrecorder_participants/src/cpp/recorder/mcap/McapHandler.cpp

@@ -93,8 +93,6 @@ void McapHandler::add_schema(
         return;
     }
 
-    // const std::string type_name = dynamic_type->get_name();
-
     // Check if it exists already
     if (received_types_.find(type_name) != received_types_.end())
     {