Fast DDS statistics backend migration to Fast DDS v3.0 (#239)

* Enable CI for Fast DDS v3 Signed-off-by: Raul Sanchez-Mateos <[email protected]> * Migrate fastdds_statistics_backend to Fast DDS 3 Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Fix HelloWorldExample compilation Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Fix error in callbacks overriting Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Add documentation Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Exclude topic_types folder in doxygen-config Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Update documentation Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Fix DiscoveryServers in Monitor Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Update DataWriter Callback Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Refactor backend tests Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Add missing type_object_registry() method in DomainParticipantFactory mock class Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Fix InitMonitor tests Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Change mock TypeObjectRegistry Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Refactor Participant discovery structures Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Uncrustify Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Refactor communication example Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Uncrustify Signed-off-by: Carlosespicur <[email protected]> * #Refs: 21302: Fix deadlock caused by Subscriber destructor Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: Regenerate types with Gen v4.0.0 Signed-off-by: JesusPoderoso <[email protected]> * Refs #21302: Add review comments Signed-off-by: Carlosespicur <[email protected]> * Refs #21302: uncrustify Signed-off-by: Carlosespicur <[email protected]> --------- Signed-off-by: Raul Sanchez-Mateos <[email protected]> Signed-off-by: Carlosespicur <[email protected]> Signed-off-by: JesusPoderoso <[email protected]> Co-authored-by: Raul Sanchez-Mateos <[email protected]> Co-authored-by: JesusPoderoso <[email protected]>
eProsima · Sep 2, 2024 · b71a4f1 · b71a4f1
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diff --git a/.github/workflows/mirror.yml b/.github/workflows/mirror.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
           dest_branch:
-          - '1.x'
+          - '2.x'
     steps:
       - name: Mirror action step
         id: mirror

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -2,27 +2,23 @@
 name: nightly
 
 on:
+  workflow_dispatch:
   schedule:
     - cron: '0 5 * * *'
 
 jobs:
-
-  reusable_tests_v2:
-    name: reusable_tests_v2
+  reusable_tests:
+    strategy:
+      fail-fast: false
+      matrix:
+        - custom_version_build: 'v2'
+          ref: '1.x'
+        - custom_version_build: 'v3'
+          ref: 'main'
+    name: reusable_tests
     uses: ./.github/workflows/reusable-workflow.yml
     with:
-      custom_version_build: 'v2'
+      custom_version_build: ${{ matrix.custom_version_build }}
       dependencies_artifact_postfix: '_nightly'
-      ref: '1.x'
+      ref: ${{ matrix.ref }}
     secrets: inherit
-
-  # Uncomment this block to run the tests for Fast DDS v3 when Fast DDS Statistics Backend is updated
-  # Also specify here (and above) the workflow version/branch to use (@v0, @main, etc.)
-  # reusable_tests_v3:
-  #   name: reusable_tests_v3
-  #   uses: ./.github/workflows/reusable-workflow.yml
-  #   with:
-  #     custom_version_build: 'v3'
-  #     dependencies_artifact_postfix: '_nightly'
-  #     ref: 'main'
-  #   secrets: inherit
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -34,7 +34,7 @@ jobs:
     name: reusable_tests
     uses: ./.github/workflows/reusable-workflow.yml
     with:
-      custom_version_build: ${{ inputs.custom_version_build || 'v2' }}
+      custom_version_build: ${{ inputs.custom_version_build || 'v3' }}
       dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_nightly' }}
       ref: ${{ github.ref }}
     secrets: inherit
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -44,10 +44,10 @@ include(${PROJECT_SOURCE_DIR}/cmake/common/asan.cmake)
 ###############################################################################
 # Load external projects.
 ###############################################################################
-set(FASTDDS_MIN_VERSION "2.13.0")
+set(FASTDDS_MIN_VERSION "3.0.0")
 
 find_package(fastcdr REQUIRED)
-find_package(fastrtps ${FASTDDS_MIN_VERSION} REQUIRED)
+find_package(fastdds ${FASTDDS_MIN_VERSION} REQUIRED)
 
 ###############################################################################
 # Test system configuration

diff --git a/cmake/packaging/Config.cmake.in b/cmake/packaging/Config.cmake.in
@@ -12,8 +12,8 @@ if(NOT fastcdr_FOUND)
     find_package(fastcdr)
 endif()
 
-if(NOT fastrtps_FOUND)
-    find_package(fastrtps)
+if(NOT fastdds_FOUND)
+    find_package(fastdds)
 endif()
 
 include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake)
diff --git a/colcon.meta b/colcon.meta
@@ -1,7 +1,7 @@
 {
     "names":
     {
-        "fastrtps":
+        "fastdds":
         {
             "cmake-args":
             [
@@ -12,7 +12,7 @@
         {
             "cmake-args":
             [
-                "-DBUILD_DOCS=OFF",
+                "-DBUILD_DOCS=ON",
                 "-DCOMPILE_EXAMPLES=OFF",
             ]
         }

diff --git a/colcon.pkg b/colcon.pkg
@@ -1,5 +1,5 @@
 {
     "name": "fastdds_statistics_backend",
     "type": "cmake",
-    "build-dependencies": ["fastrtps"]
+    "build-dependencies": ["fastcdr", "fastdds"]
 }
diff --git a/docs/code/StatisticsBackendTests.cpp b/docs/code/StatisticsBackendTests.cpp
@@ -44,22 +44,13 @@ void init_monitor_examples()
                 StatisticsBackend::init_monitor(0);
 
         // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP as transport layer, and that uses the default GUID prefix
-        // eprosima::fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX.
+        // address 127.0.0.1 and port 11811 using UDP as transport layer.
         // The monitor has no listener associated.
         EntityId disc_server_monitor_id =
                 StatisticsBackend::init_monitor("UDPv4:[127.0.0.1]:11811");
-
-        // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP as transport layer, and that uses the GUID prefix
-        // "44.53.01.5f.45.50.52.4f.53.49.4d.41".
-        // The monitor has no listener associated.
-        EntityId disc_server_prefix_monitor_id =
-                StatisticsBackend::init_monitor("44.53.01.5f.45.50.52.4f.53.49.4d.41", "UDPv4:[localhost]:11811");
         //!--
         static_cast<void>(domain_monitor_id);
         static_cast<void>(disc_server_monitor_id);
-        static_cast<void>(disc_server_prefix_monitor_id);
     }
     {
         //CONF-INIT-MONITOR-LISTENER-EXAMPLE
@@ -70,23 +61,14 @@ void init_monitor_examples()
                 StatisticsBackend::init_monitor(0, &domain_listener);
 
         // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP as transport layer, and that uses the default GUID prefix
-        // eprosima::fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX.
+        // address 127.0.0.1 and port 11811 using UDP as transport layer.
         // The monitor uses a custom listener.
         EntityId disc_server_monitor_id =
                 StatisticsBackend::init_monitor("UDPv4:[127.0.0.1]:11811", &domain_listener);
 
-        // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP transport layer, and that uses the GUID prefix
-        // "44.53.01.5f.45.50.52.4f.53.49.4d.41".
-        // The monitor uses a custom listener.
-        EntityId disc_server_prefix_monitor_id =
-                StatisticsBackend::init_monitor("44.53.01.5f.45.50.52.4f.53.49.4d.41", "UDPv4:[127.0.0.1]:11811",
-                        &domain_listener);
         //!--
         static_cast<void>(domain_monitor_id);
         static_cast<void>(disc_server_monitor_id);
-        static_cast<void>(disc_server_prefix_monitor_id);
     }
     {
         //CONF-INIT-MONITOR-MASKS-EXAMPLE
@@ -103,24 +85,15 @@ void init_monitor_examples()
                 StatisticsBackend::init_monitor(0, &domain_listener, callback_mask, datakind_mask);
 
         // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP transport layer, and that uses the default GUID prefix
-        // eprosima::fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX.
+        // address 127.0.0.1 and port 11811 using UDP transport layer.
         // The monitor uses a custom listener, a CallbackMask, and a DataKindMask.
         EntityId disc_server_monitor_id =
                 StatisticsBackend::init_monitor("UDPv4:[localhost]:11811", &domain_listener, callback_mask,
                         datakind_mask);
 
-        // Init a monitor for a Fast DDS Discovery Server network which server is located in IPv4
-        // address 127.0.0.1 and port 11811 using UDP transport layer, and that uses the GUID prefix
-        // "44.53.01.5f.45.50.52.4f.53.49.4d.41".
-        // The monitor uses a custom listener, a CallbackMask, and a DataKindMask.
-        EntityId disc_server_prefix_monitor_id =
-                StatisticsBackend::init_monitor("44.53.01.5f.45.50.52.4f.53.49.4d.41", "UDPv4:[127.0.0.1]:11811",
-                        &domain_listener, callback_mask, datakind_mask);
         //!--
         static_cast<void>(domain_monitor_id);
         static_cast<void>(disc_server_monitor_id);
-        static_cast<void>(disc_server_prefix_monitor_id);
     }
 }
 

diff --git a/docs/conf.py b/docs/conf.py
@@ -40,7 +40,7 @@ def get_cmake_project_version(cmakelists):
         }
     """
     matches = re.findall(
-        'project\(.*VERSION\s+(\d+)\.(\d+)\.(\d+)',
+        r'project\(.*VERSION\s+(\d+)\.(\d+)\.(\d+)',
         "".join(open(cmakelists, 'r').readlines()),
         flags=re.MULTILINE)[0]
     return {
@@ -297,7 +297,7 @@ def configure_doxyfile(
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = 'en'
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:

diff --git a/docs/doxygen-config.in b/docs/doxygen-config.in
@@ -162,7 +162,8 @@ FILE_PATTERNS          = *.c \
 RECURSIVE              = YES
 EXCLUDE                =
 EXCLUDE_SYMLINKS       = NO
-EXCLUDE_PATTERNS       = "*/nlohmann-json/*"
+EXCLUDE_PATTERNS       = "*/nlohmann-json/*" \
+                         "*/topic_types/*
 EXCLUDE_SYMBOLS        =
 EXAMPLE_PATH           = "@PROJECT_SOURCE_DIR@"
 EXAMPLE_PATTERNS       = *

diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -2,18 +2,19 @@ breathe==4.35.0
 colcon-common-extensions==0.2.1
 colcon-mixin==0.2.0
 doc8==0.10.1
-docutils==0.16.0
+docutils==0.20.1
 GitPython==3.1.41
 setuptools==67.6.0
-sphinx_rtd_theme==0.5.2
-sphinx-tabs==3.2.0
-sphinx==4.3.1
-sphinxcontrib-applehelp==1.0.4
-sphinxcontrib-devhelp==1.0.2
-sphinxcontrib-htmlhelp==2.0.1
+sphinx_rtd_theme==2.0.0
+sphinx-tabs==3.4.5
+sphinx==7.3.6
+sphinxcontrib-applehelp==1.0.8
+sphinxcontrib-devhelp==1.0.6
+sphinxcontrib-htmlhelp==2.0.5
 sphinxcontrib-imagehelper==1.1.1
-sphinxcontrib-plantuml==0.22
-sphinxcontrib-qthelp==1.0.3
-sphinxcontrib-serializinghtml==1.1.5
-sphinxcontrib.spelling==7.2.1
+sphinxcontrib-plantuml==0.29
+sphinxcontrib-qthelp==1.0.7
+sphinxcontrib-serializinghtml==1.1.10
+sphinxcontrib.spelling==8.0.0
 vcstool==0.3.0
+xmlschema==2.1.1
diff --git a/docs/rst/notes/notes.rst b/docs/rst/notes/notes.rst
@@ -46,12 +46,12 @@ This release includes the following **dependencies update**:
         - `v2.14.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.14.0>`_
     *   - Fast DDS Gen
         - `eProsima/Fast-DDS-Gen <https://github.com/eProsima/Fast-DDS-Gen>`_
-        - `v3.0.0 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.0.0>`_
+        - `v3.0.0 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.0.0>`__
         - `v3.3.0 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.3.0>`_
     *   - IDL Parser
         - `eProsima/IDL-Parser <https://github.com/eProsima/IDL-Parser.git>`_
         - `v1.7.2 <https://github.com/eProsima/IDL-Parser/releases/tag/v1.7.2>`_
-        - `v3.0.0 <https://github.com/eProsima/IDL-Parser/releases/tag/v3.0.0>`_
+        - `v3.0.0 <https://github.com/eProsima/IDL-Parser/releases/tag/v3.0.0>`__
 
 
 Previous versions

diff --git a/docs/rst/notes/previous_versions/v1.0.0.rst b/docs/rst/notes/previous_versions/v1.0.0.rst
@@ -38,7 +38,7 @@ This release includes the following **dependencies update**:
     *   - Fast DDS Gen
         - `eProsima/Fast-DDS-Gen <https://github.com/eProsima/Fast-DDS-Gen>`_
         - `v2.5.1 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v2.5.1>`_
-        - `v3.0.0 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.0.0>`_
+        - `v3.0.0 <https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.0.0>`__
     *   - IDL Parser
         - `eProsima/IDL-Parser <https://github.com/eProsima/IDL-Parser.git>`_
         - `v1.6.0 <https://github.com/eProsima/IDL-Parser/releases/tag/v1.6.0>`_

diff --git a/docs/rst/statistics_backend/get_data.rst b/docs/rst/statistics_backend/get_data.rst
@@ -9,7 +9,7 @@ Get statistical data
 |DataKind-api| within a time frame (for more information about all the reported |DataKind-api|, please refer to
 :ref:`types_data_kind`).
 This time interval is evenly divided into the specified number of bins, each one with size
-:math:`(t_to - t_from)/(\# of bins)`.
+:math:`(t_{to} - t_{from})/(\# bins)`.
 For each of these bins, a new |StatisticsData-api| value is calculated applying the given |StatisticKind-api| to all the
 data points in it.
 The result is a collection of |StatisticsData-api| elements with size equal to the number of specified bins.

diff --git a/docs/rst/statistics_backend/init_monitor.rst b/docs/rst/statistics_backend/init_monitor.rst
@@ -9,7 +9,7 @@ Initializing a monitor on a certain Domain ID makes *eProsima Fast DDS Statistic
 start monitoring the statistics data and entity discoveries on that domain.
 No statistics data will be gathered unless there is a monitor initialized in the required domain.
 
-|StatisticsBackend-api| provides three overloads of |init_monitor-api| that can be used to start a monitorization on a
+|StatisticsBackend-api| provides two overloads of |init_monitor-api| that can be used to start a monitorization on a
 DDS domain or a *Fast DDS* Discovery Server network.
 
 .. literalinclude:: /code/StatisticsBackendTests.cpp

diff --git a/examples/cpp/HelloWorldExample/CMakeLists.txt b/examples/cpp/HelloWorldExample/CMakeLists.txt
@@ -25,8 +25,8 @@ if(NOT fastcdr_FOUND)
     find_package(fastcdr REQUIRED)
 endif()
 
-if(NOT fastrtps_FOUND)
-    find_package(fastrtps REQUIRED)
+if(NOT fastdds_FOUND)
+    find_package(fastdds REQUIRED)
 endif()
 
 if(NOT fastdds_statistics_backend_FOUND)
@@ -43,7 +43,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_CLANG OR
     endif()
 endif()
 
-message(STATUS "Configuring HelloWorld example...")
 file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CXX "*.cxx")
 file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CPP "*.cpp")
 
@@ -52,6 +51,7 @@ target_compile_definitions(HelloWorldExample PRIVATE
     $<$<AND:$<NOT:$<BOOL:${WIN32}>>,$<STREQUAL:"${CMAKE_BUILD_TYPE}","Debug">>:__DEBUG>
     $<$<BOOL:${INTERNAL_DEBUG}>:__INTERNALDEBUG> # Internal debug activated.
 )
-target_link_libraries(HelloWorldExample fastrtps fastcdr fastdds_statistics_backend)
+
+target_link_libraries(HelloWorldExample fastdds fastcdr fastdds_statistics_backend)
 install(TARGETS HelloWorldExample
     RUNTIME DESTINATION examples/cpp/HelloWorldExample/${BIN_INSTALL_DIR})