Update repository for Fast DDS 3.0.0 compatibility

Signed-off-by: Lucia Echevarria <[email protected]>

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 std::tuple<fastcdr::string_255, fastdds::dds::xtypes::TypeIdentifier>& type_ids_tuple) 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_;
 };

fastddsspy_participants/include/fastddsspy_participants/model/NetworkDatabase.hpp

@@ -14,7 +14,7 @@
 
 #pragma once
 
-#include <fastrtps/types/DynamicTypePtr.h>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 #include <cpp_utils/collection/database/SafeDatabase.hpp>
 #include <cpp_utils/types/Atomicable.hpp>

fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp

@@ -47,18 +47,18 @@ class SpyDdsParticipant : public ddspipe::participants::DynTypesParticipant
             const ddspipe::core::ITopic& topic) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_participant_discovery(
-            fastdds::dds::DomainParticipant* participant,
+    virtual void onParticipantDiscovery(
+            fastrtps::rtps::RTPSParticipant* participant,
             fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_subscriber_discovery(
-            fastdds::dds::DomainParticipant* participant,
+    virtual void onReaderDiscovery(
+            fastrtps::rtps::RTPSParticipant* participant,
             fastrtps::rtps::ReaderDiscoveryInfo&& info);
 
     FASTDDSSPY_PARTICIPANTS_DllAPI
-    virtual void on_publisher_discovery(
-            fastdds::dds::DomainParticipant* participant,
+    virtual void onWriterDiscovery(
+            fastrtps::rtps::RTPSParticipant* participant,
             fastrtps::rtps::WriterDiscoveryInfo&& info);
 
 protected:

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>
 

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>

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>
 
@@ -73,13 +72,16 @@ void DataStreamer::deactivate()
 }
 
 void DataStreamer::add_schema(
-        const fastrtps::types::DynamicType_ptr& dynamic_type)
+        const fastdds::dds::DynamicType::_ref_type& dynamic_type,
+        const std::tuple<fastcdr::string_255, fastdds::dds::xtypes::TypeIdentifier>& type_ids_tuple)
 {
+    static_cast<void>(type_ids_tuple);
+
     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;
+    types_discovered_[dynamic_type->get_name().to_string()] = dynamic_type;
 
     logInfo(FASTDDSSPY_DATASTREAMER, "\nAdding schema with name " << dynamic_type->get_name() << ".");
 }
@@ -90,7 +92,7 @@ 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_);

fastddsspy_participants/src/cpp/participant/SpyDdsParticipant.cpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
+#include <fastdds/rtps/builtin/data/ReaderProxyData.h>
+#include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/participant/RTPSParticipant.h>
 
 #include <ddspipe_participants/utils/utils.hpp>
@@ -56,31 +59,37 @@ std::shared_ptr<ddspipe::core::IReader> SpyDdsParticipant::create_reader(
     return ddspipe::participants::DynTypesParticipant::create_reader(topic);
 }
 
-void SpyDdsParticipant::on_participant_discovery(
-        fastdds::dds::DomainParticipant* participant,
+void SpyDdsParticipant::onParticipantDiscovery(
+        fastrtps::rtps::RTPSParticipant* participant,
         fastrtps::rtps::ParticipantDiscoveryInfo&& discovery_info)
 {
+    fastrtps::rtps::ParticipantProxyData proxy_copy_info(discovery_info.info);
+
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(discovery_info.info.m_guid))
+    if (come_from_this_participant_(proxy_copy_info.m_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;
+    info.name = std::string(proxy_copy_info.m_participantName);
+    info.guid = proxy_copy_info.m_guid;
+
+    ddspipe::participants::rtps::CommonParticipant::onParticipantDiscovery(participant, std::move(discovery_info));
 
     internal_notify_participant_discovered_(info);
 }
 
-void SpyDdsParticipant::on_subscriber_discovery(
-        fastdds::dds::DomainParticipant* participant,
+void SpyDdsParticipant::onReaderDiscovery(
+        fastrtps::rtps::RTPSParticipant* participant,
         fastrtps::rtps::ReaderDiscoveryInfo&& info)
 {
+    fastrtps::rtps::ReaderProxyData proxy_copy(info.info);
+
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.info.guid()))
+    if (come_from_this_participant_(proxy_copy.guid()))
     {
         return;
     }
@@ -90,15 +99,19 @@ void SpyDdsParticipant::on_subscriber_discovery(
     // If participant left or dropped, this notification arrives as well
     endpoint_info.active = !(info.status == fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERY_STATUS::REMOVED_READER);
 
+    ddspipe::participants::DynTypesParticipant::onReaderDiscovery(participant, std::move(info));
+
     internal_notify_endpoint_discovered_(endpoint_info);
 }
 
-void SpyDdsParticipant::on_publisher_discovery(
-        fastdds::dds::DomainParticipant* participant,
+void SpyDdsParticipant::onWriterDiscovery(
+        fastrtps::rtps::RTPSParticipant* participant,
         fastrtps::rtps::WriterDiscoveryInfo&& info)
 {
+    fastrtps::rtps::WriterProxyData proxy_copy(info.info);
+
     // If comes from this participant is not interesting
-    if (come_from_this_participant_(info.info.guid()))
+    if (come_from_this_participant_(proxy_copy.guid()))
     {
         return;
     }
@@ -108,6 +121,8 @@ void SpyDdsParticipant::on_publisher_discovery(
     // If participant left or dropped, this notification arrives as well
     endpoint_info.active = !(info.status == fastrtps::rtps::WriterDiscoveryInfo::DISCOVERY_STATUS::REMOVED_WRITER);
 
+    ddspipe::participants::DynTypesParticipant::onWriterDiscovery(participant, std::move(info));
+
     internal_notify_endpoint_discovered_(endpoint_info);
 }
 
@@ -140,9 +155,7 @@ 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 */

fastddsspy_participants/src/cpp/participant/SpyParticipant.cpp

@@ -75,7 +75,7 @@ utils::ReturnCode SpyParticipant::new_participant_info_(
     ParticipantInfo info = participant_info.info;
     ddspipe::core::types::Guid guid = info.guid;
     model_->participant_database_.add_or_modify(std::move(guid), std::move(info));
-    return utils::ReturnCode::RETCODE_OK;
+    return utils::ReturnCode::OK;
 }
 
 utils::ReturnCode SpyParticipant::new_endpoint_info_(
@@ -86,7 +86,7 @@ utils::ReturnCode SpyParticipant::new_endpoint_info_(
     EndpointInfo info = endpoint_info.info;
     ddspipe::core::types::Guid guid = info.guid;
     model_->endpoint_database_.add_or_modify(std::move(guid), std::move(info));
-    return utils::ReturnCode::RETCODE_OK;
+    return utils::ReturnCode::OK;
 }
 
 } /* namespace participants */

fastddsspy_tool/project_settings.cmake

@@ -25,7 +25,7 @@ set(MODULE_SUMMARY
 set(MODULE_FIND_PACKAGES
     yaml-cpp
     fastcdr
-    fastrtps
+    fastdds
     cpp_utils
     ddspipe_core
     ddspipe_participants

fastddsspy_tool/src/cpp/tool/Controller.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#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 <fastdds/dds/xtypes/utils.hpp>
 
 #include <cpp_utils/user_interface/CommandReader.hpp>
 #include <cpp_utils/macros/custom_enumeration.hpp>
@@ -111,25 +111,26 @@ void Controller::run_command_(
     }
 }
 
-fastrtps::types::DynamicData_ptr Controller::get_dynamic_data_(
-        const fastrtps::types::DynamicType_ptr& dyn_type,
+fastdds::dds::DynamicData::_ref_type Controller::get_dynamic_data_(
+        const fastdds::dds::DynamicType::_ref_type& dyn_type,
         const ddspipe::core::types::RtpsPayloadData& data) noexcept
 {
     // TODO fast this should not be done, but dyn types API is like it is.
     auto& data_no_const = const_cast<ddspipe::core::types::RtpsPayloadData&>(data);
 
     // Create PubSub Type
-    fastrtps::types::DynamicPubSubType pubsub_type(dyn_type);
-    fastrtps::types::DynamicData_ptr dyn_data(fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type));
+    fastdds::dds::DynamicPubSubType pubsub_type(dyn_type);
+    fastdds::dds::DynamicData::_ref_type dyn_data(fastdds::dds::DynamicDataFactory::get_instance()->create_data(dyn_type));
 
-    pubsub_type.deserialize(&data_no_const.payload, dyn_data.get());
+    // pubsub_type.deserialize(&data_no_const.payload, dyn_data.get());
+    pubsub_type.deserialize(&data_no_const.payload, &dyn_data);
 
     return dyn_data;
 }
 
 void Controller::data_stream_callback_(
         const ddspipe::core::types::DdsTopic& topic,
-        const fastrtps::types::DynamicType_ptr& dyn_type,
+        const fastdds::dds::DynamicType::_ref_type& dyn_type,
         const ddspipe::core::types::RtpsPayloadData& data)
 {
     // Block entrance so prints does not collapse
@@ -141,13 +142,16 @@ void Controller::data_stream_callback_(
     // TODO fast this does not make much sense as dynamictypes::print does not allow to choose target
     // change in dyn types to be able to print it in view
     view_.show("---");
-    fastrtps::types::DynamicDataHelper::print(dyn_data.get());
+    std::stringstream ss;
+    ss << std::setw(4);
+    auto ret = fastdds::dds::json_serialize(dyn_data, ss, fastdds::dds::DynamicDataJsonFormat::EPROSIMA);
+    std::cout << ss.str() << std::endl;
     view_.show("---\n");
 }
 
 void Controller::data_stream_callback_verbose_(
         const ddspipe::core::types::DdsTopic& topic,
-        const fastrtps::types::DynamicType_ptr& dyn_type,
+        const fastdds::dds::DynamicType::_ref_type& dyn_type,
         const ddspipe::core::types::RtpsPayloadData& data)
 {
     // Block entrance so prints does not collapse
@@ -170,7 +174,10 @@ void Controller::data_stream_callback_verbose_(
 
     // Print data
     view_.show("data:\n---");
-    fastrtps::types::DynamicDataHelper::print(dyn_data.get());
+    std::stringstream ss;
+    ss << std::setw(4);
+    auto ret = fastdds::dds::json_serialize(dyn_data, ss, fastdds::dds::DynamicDataJsonFormat::EPROSIMA);
+    std::cout << ss.str() << std::endl;
     view_.show("---\n");
 }
 
@@ -310,7 +317,7 @@ void Controller::print_command_(
             std::make_shared<participants::DataStreamer::CallbackType>(
                 [this](
                     const ddspipe::core::types::DdsTopic& topic,
-                    const fastrtps::types::DynamicType_ptr& dyn_type,
+                    const fastdds::dds::DynamicType::_ref_type& dyn_type,
                     const ddspipe::core::types::RtpsPayloadData& data
                     )
                 {
@@ -363,7 +370,7 @@ void Controller::print_command_(
             callback = std::make_shared<participants::DataStreamer::CallbackType>(
                 [this](
                     const ddspipe::core::types::DdsTopic& topic,
-                    const fastrtps::types::DynamicType_ptr& dyn_type,
+                    const fastdds::dds::DynamicType::_ref_type& dyn_type,
                     const ddspipe::core::types::RtpsPayloadData& data
                     )
                 {
@@ -375,7 +382,7 @@ void Controller::print_command_(
             callback = std::make_shared<participants::DataStreamer::CallbackType>(
                 [this](
                     const ddspipe::core::types::DdsTopic& topic,
-                    const fastrtps::types::DynamicType_ptr& dyn_type,
+                    const fastdds::dds::DynamicType::_ref_type& dyn_type,
                     const ddspipe::core::types::RtpsPayloadData& data
                     )
                 {