eProsima · EduPonz · May 24, 2024 · Apr 3, 2024 · Apr 3, 2024 · Apr 4, 2024
diff --git a/include/fastdds/dds/core/policy/ParameterTypes.hpp b/include/fastdds/dds/core/policy/ParameterTypes.hpp
@@ -28,7 +28,6 @@
 
 #include <fastdds/rtps/common/all_common.h>
 #include <fastdds/rtps/common/Token.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 
 #if HAVE_SECURITY
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>

diff --git a/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp b/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp
@@ -26,15 +26,15 @@
 #include <vector>
 
 #include <fastdds/rtps/common/Guid.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 
 namespace eprosima {
 namespace fastrtps {
 namespace rtps {
 
+struct CDRMessage_t;
+
 /**
- * An interface used in \ref RTPSMessageGroup to handle destinations management
- * and message sending.
+ * Interface to handle destinations management and message sending.
  */
 class RTPSMessageSenderInterface
 {

diff --git a/include/fastdds/rtps/reader/StatefulReader.h b/include/fastdds/rtps/reader/StatefulReader.h
@@ -25,7 +25,6 @@
 
 #include <fastdds/rtps/common/CDRMessage_t.h>
 #include <fastdds/rtps/common/VendorId_t.hpp>
-#include <fastdds/rtps/messages/RTPSMessageGroup.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
 #include <fastdds/utils/collections/ResourceLimitedVector.hpp>
 

diff --git a/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h b/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
@@ -16,12 +16,20 @@
 #define _FASTDDS_TEST_UDPV4_TRANSPORT_DESCRIPTOR_
 
 #include <functional>
+#include <atomic>
 
 #include <fastdds/rtps/transport/SocketTransportDescriptor.h>
 #include <fastdds/rtps/common/SequenceNumber.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+
+
 
 namespace eprosima {
+namespace fastrtps {
+namespace rtps {
+
+struct CDRMessage_t;
+} //rtps
+} //fastrtps
 namespace fastdds {
 namespace rtps {
 
@@ -32,7 +40,7 @@ namespace rtps {
 struct test_UDPv4TransportDescriptor : public SocketTransportDescriptor
 {
     //! Custom message filtering functions
-    typedef std::function<bool (fastrtps::rtps::CDRMessage_t& msg)> filter;
+    typedef std::function<bool (eprosima::fastrtps::rtps::CDRMessage_t& msg)> filter;
     //! Locator filtering function
     typedef std::function<bool (const Locator& destination)> DestinationLocatorFilter;
 

diff --git a/include/fastdds/rtps/writer/RTPSWriter.h b/include/fastdds/rtps/writer/RTPSWriter.h
@@ -34,7 +34,6 @@
 #include <fastdds/rtps/common/VendorId_t.hpp>
 #include <fastdds/rtps/Endpoint.h>
 #include <fastdds/rtps/interfaces/IReaderDataFilter.hpp>
-#include <fastdds/rtps/messages/RTPSMessageGroup.h>
 #include <fastdds/rtps/writer/DeliveryRetCode.hpp>
 #include <fastdds/rtps/writer/LocatorSelectorSender.hpp>
 #include <fastdds/statistics/rtps/monitor_service/connections_fwd.hpp>
@@ -61,6 +60,7 @@ namespace rtps {
 class WriterListener;
 class WriterHistory;
 class DataSharingNotifier;
+class RTPSMessageGroup;
 struct CacheChange_t;
 
 /**
@@ -588,49 +588,6 @@ class RTPSWriter
 
     bool is_pool_initialized() const;
 
-    template<typename Functor>
-    bool send_data_or_fragments(
-            RTPSMessageGroup& group,
-            CacheChange_t* change,
-            bool inline_qos,
-            Functor sent_fun)
-    {
-        bool sent_ok = true;
-
-        uint32_t n_fragments = change->getFragmentCount();
-        if (n_fragments > 0)
-        {
-            for (FragmentNumber_t frag = 1; frag <= n_fragments; frag++)
-            {
-                sent_ok &= group.add_data_frag(*change, frag, inline_qos);
-                if (sent_ok)
-                {
-                    sent_fun(change, frag);
-                }
-                else
-                {
-                    EPROSIMA_LOG_ERROR(RTPS_WRITER,
-                            "Error sending fragment (" << change->sequenceNumber << ", " << frag << ")");
-                    break;
-                }
-            }
-        }
-        else
-        {
-            sent_ok = group.add_data(*change, inline_qos);
-            if (sent_ok)
-            {
-                sent_fun(change, 0);
-            }
-            else
-            {
-                EPROSIMA_LOG_ERROR(RTPS_WRITER, "Error sending change " << change->sequenceNumber);
-            }
-        }
-
-        return sent_ok;
-    }
-
     void add_statistics_sent_submessage(
             CacheChange_t* change,
             size_t num_locators);

diff --git a/include/fastdds/rtps/writer/ReaderLocator.h b/include/fastdds/rtps/writer/ReaderLocator.h
@@ -24,7 +24,7 @@
 #include <fastdds/rtps/common/Locator.h>
 #include <fastdds/rtps/common/Guid.h>
 #include <fastdds/rtps/common/SequenceNumber.h>
-#include <fastdds/rtps/messages/RTPSMessageGroup.h>
+#include <fastdds/rtps/messages/RTPSMessageSenderInterface.hpp>
 #include <fastdds/rtps/common/LocatorSelectorEntry.hpp>
 
 namespace eprosima {

diff --git a/include/fastdds/rtps/writer/StatelessWriter.h b/include/fastdds/rtps/writer/StatelessWriter.h
@@ -38,6 +38,7 @@ namespace eprosima {
 namespace fastrtps {
 namespace rtps {
 
+class RTPSMessageGroup;
 
 /**
  * Class StatelessWriter, specialization of RTPSWriter that manages writers that don't keep state of the matched readers.
@@ -46,6 +47,7 @@ namespace rtps {
 class StatelessWriter : public RTPSWriter
 {
     friend class RTPSParticipantImpl;
+    friend class RTPSMessageGroup;
 
 protected:
 

diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
@@ -139,6 +139,7 @@ set(${PROJECT_NAME}_source_files
     rtps/history/TopicPayloadPool.cpp
     rtps/history/TopicPayloadPoolRegistry.cpp
     rtps/history/WriterHistory.cpp
+    rtps/messages/CDRMessage.cpp
     rtps/messages/MessageReceiver.cpp
     rtps/messages/RTPSGapBuilder.cpp
     rtps/messages/RTPSMessageCreator.cpp

diff --git a/src/cpp/fastdds/core/policy/ParameterList.hpp b/src/cpp/fastdds/core/policy/ParameterList.hpp
@@ -20,13 +20,13 @@
 #define _FASTDDS_DDS_QOS_PARAMETERLIST_HPP_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
+#include <functional>
+
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
-#include <fastdds/rtps/messages/RTPS_messages.h>
-#include <fastdds/rtps/common/CDRMessage_t.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/common/CacheChange.h>
+#include <fastdds/rtps/messages/RTPS_messages.h>
 
-#include <functional>
+#include <rtps/messages/CDRMessage.hpp>
 
 namespace eprosima {
 namespace fastdds {

diff --git a/src/cpp/fastdds/topic/ContentFilterInfo.hpp b/src/cpp/fastdds/topic/ContentFilterInfo.hpp
@@ -26,7 +26,7 @@
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/rtps/common/SerializedPayload.h>
 #include <fastdds/rtps/common/CDRMessage_t.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.hpp>
 
 namespace eprosima {
 namespace fastdds {

diff --git a/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp b/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp
@@ -25,11 +25,11 @@
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/subscriber/DataReaderImpl.hpp>
 #include <fastdds/topic/ContentFilterUtils.hpp>
 #include <fastdds/topic/TopicProxy.hpp>
 #include <fastdds/utils/md5.h>
+#include <rtps/messages/CDRMessage.hpp>
 
 namespace eprosima {
 namespace fastdds {

diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.h b/src/cpp/rtps/builtin/discovery/participant/PDPClient.h
@@ -21,12 +21,11 @@
 #define _FASTDDS_RTPS_PDPCLIENT_H_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/messages/RTPSMessageGroup.h>
-
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp>
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp>
 #include <rtps/builtin/discovery/participant/PDP.h>
 #include <rtps/builtin/discovery/participant/timedevent/DSClientEvent.h>
+#include <rtps/messages/RTPSMessageGroup.hpp>
 
 namespace eprosima {
 namespace fastdds {

diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPServer.hpp b/src/cpp/rtps/builtin/discovery/participant/PDPServer.hpp
@@ -36,6 +36,7 @@
 #include <rtps/builtin/discovery/database/DiscoveryDataFilter.hpp>
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp>
 #include <rtps/builtin/discovery/participant/timedevent/DServerEvent.hpp>
+#include <rtps/messages/RTPSMessageGroup.hpp>
 
 namespace eprosima {
 namespace fastdds {

diff --git a/src/cpp/rtps/builtin/liveliness/WLPListener.cpp b/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
@@ -32,12 +32,12 @@
 #include <fastdds/rtps/common/SerializedPayload.h>
 #include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/discovery/participant/PDPSimple.h>
 #include <rtps/builtin/liveliness/WLP.h>
+#include <rtps/messages/CDRMessage.hpp>
 #include <rtps/writer/LivelinessManager.hpp>
 
 namespace eprosima {

diff --git a/src/cpp/rtps/flowcontrol/FlowControllerImpl.hpp b/src/cpp/rtps/flowcontrol/FlowControllerImpl.hpp
@@ -15,6 +15,7 @@
 #include <fastdds/utils/TimedMutex.hpp>
 
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/messages/RTPSMessageGroup.hpp>
 #include <utils/thread.hpp>
 #include <utils/threading.hpp>
 

diff --git a/src/cpp/rtps/history/WriterHistory.cpp b/src/cpp/rtps/history/WriterHistory.cpp
@@ -18,12 +18,13 @@
 
 #include <fastdds/rtps/history/WriterHistory.h>
 
+#include <mutex>
+
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/writer/RTPSWriter.h>
 #include <fastdds/rtps/common/WriteParams.h>
 #include <fastdds/core/policy//ParameterSerializer.hpp>
-
-#include <mutex>
+#include <rtps/messages/RTPSMessageGroup.hpp>
 
 namespace eprosima {
 namespace fastrtps {