qos_provider support (#1955)

* qos_provider support added
* qos_provider tests
* qos_provider documentation
* qos_provider build flag
* system definition parsing support

Signed-off-by: Splinter1984 <[email protected]>

* fix #1955 remarks
* CI analyzer comliant fixes

Signed-off-by: Splinter1984 <[email protected]>

---------

Signed-off-by: Splinter1984 <[email protected]>

README.md

@@ -148,6 +148,7 @@ There are some configuration options specified using CMake defines in addition t
 * `-DENABLE_SOURCE_SPECIFIC_MULTICAST=NO`: to disable support for source-specific multicast (disabling this and `-DENABLE_IPV6=NO` may be needed for QNX builds)
 * `-DENABLE_IPV6=NO`: to disable ipv6 support (disabling this and `-DENABLE_SOURCE_SPECIFIC_MULTICAST=NO` may be needed for QNX builds)
 * `-DBUILD_IDLC_XTESTS=NO`: Include a set of tests for the IDL compiler that use the C back-end to compile an idl file at (test) runtime, and use the C compiler to build a test application for the generated types, that is executed to do the actual testing (not supported on Windows)
+* `-DENABLE_QOS_PROVIDER=NO`: to disable support for qos provider
 
 ### For application developers
 

docs/manual/about_dds/eclipse_cyclone_dds.rst

@@ -22,6 +22,7 @@
    datareaders
    datawriters
    qos
+   qos_provider
    listener
    waitset
    status
@@ -30,28 +31,28 @@
    ddsi_concepts
    contributing
 
-|var-project| is a performant and robust OMG-compliant **Data Distribution Service** 
-(DDS) implementation (see |url::dds_spec|). |var-project-short| is developed 
-completely in the open as an Eclipse IoT project (see |url::cyclone_dds-link|) with a 
-growing list of |url::cyclone_adopters|. It is a tier-1 middleware for the Robot 
+|var-project| is a performant and robust OMG-compliant **Data Distribution Service**
+(DDS) implementation (see |url::dds_spec|). |var-project-short| is developed
+completely in the open as an Eclipse IoT project (see |url::cyclone_dds-link|) with a
+growing list of |url::cyclone_adopters|. It is a tier-1 middleware for the Robot
 Operating System |url::ros2|.
 
-The core of |var-project-short| is implemented in C and provides C-APIs to applications. 
+The core of |var-project-short| is implemented in C and provides C-APIs to applications.
 Through its C++ package, the |url::omg.org| 2003 language binding is also supported.
 
 .. index:: About DDS
 
 About DDS
 =========
 
-DDS is the best-kept secret in distributed systems, one that has been around for much 
+DDS is the best-kept secret in distributed systems, one that has been around for much
 longer than most publish-subscribe messaging systems and still outclasses so many of them.
-DDS is used in a wide variety of systems, including air-traffic control, jet engine 
-testing, railway control, medical systems, naval command-and-control, smart greenhouses 
-and much more. In short, it is well-established in aerospace and defense but no longer 
+DDS is used in a wide variety of systems, including air-traffic control, jet engine
+testing, railway control, medical systems, naval command-and-control, smart greenhouses
+and much more. In short, it is well-established in aerospace and defense but no longer
 limited to that. And yet it is easy to use!
 
-Types are usually defined in IDL and preprocessed with the IDL compiler included in Cyclone, 
+Types are usually defined in IDL and preprocessed with the IDL compiler included in Cyclone,
 but our |url::python-link2| allows you to define data types on the fly:
 
 .. code-block:: python
@@ -96,30 +97,30 @@ but our |url::python-link2| allows you to define data types on the fly:
          print("Read ", sample)
       sleep(rng.exponential())
 
-Today DDS is also popular in robotics and autonomous vehicles because those really 
-depend on high-throughput, low-latency control systems without introducing a single 
-point of failure by having a message broker in the middle. Indeed, it is by far the 
-most used and the default middleware choice in ROS 2. It is used to transfer commands, 
+Today DDS is also popular in robotics and autonomous vehicles because those really
+depend on high-throughput, low-latency control systems without introducing a single
+point of failure by having a message broker in the middle. Indeed, it is by far the
+most used and the default middleware choice in ROS 2. It is used to transfer commands,
 sensor data and even video and point clouds between components.
 
-The OMG DDS specifications cover everything one needs to build systems using 
-publish-subscribe messaging. They define a structural type system that allows 
-automatic endianness conversion and type checking between readers and writers. This 
-type system also supports type evolution. The interoperable networking protocol and 
-standard C++ API make it easy to build systems that integrate multiple DDS 
-implementations. Zero-configuration discovery is also included in the standard and 
+The OMG DDS specifications cover everything one needs to build systems using
+publish-subscribe messaging. They define a structural type system that allows
+automatic endianness conversion and type checking between readers and writers. This
+type system also supports type evolution. The interoperable networking protocol and
+standard C++ API make it easy to build systems that integrate multiple DDS
+implementations. Zero-configuration discovery is also included in the standard and
 supported by all implementations.
 
-DDS actually brings more: publish-subscribe messaging is a nice abstraction over 
-"ordinary" networking, but plain publish-subscribe doesn't affect how one *thinks* 
-about systems. A very powerful architecture that truly changes the perspective on 
-distributed systems is that of the "shared data space", in itself an old idea, and 
-really just a distributed database. Most shared data space designs have failed 
-miserably in real-time control systems because they provided strong consistency 
-guarantees and sacrificed too much performance and flexibility. The *eventually 
-consistent* shared data space of DDS has been very successful in helping with building 
-systems that need to satisfy many "ilities": dependability, maintainability, 
-extensibility, upgradeability, ... Truth be told, that's why it was invented, and 
+DDS actually brings more: publish-subscribe messaging is a nice abstraction over
+"ordinary" networking, but plain publish-subscribe doesn't affect how one *thinks*
+about systems. A very powerful architecture that truly changes the perspective on
+distributed systems is that of the "shared data space", in itself an old idea, and
+really just a distributed database. Most shared data space designs have failed
+miserably in real-time control systems because they provided strong consistency
+guarantees and sacrificed too much performance and flexibility. The *eventually
+consistent* shared data space of DDS has been very successful in helping with building
+systems that need to satisfy many "ilities": dependability, maintainability,
+extensibility, upgradeability, ... Truth be told, that's why it was invented, and
 publish-subscribe messaging was simply an implementation technique.
 
 |var-project| aims at full coverage of the specs and today already covers most of this.
@@ -136,8 +137,8 @@ With references to the individual OMG specifications, the following is available
 - |url::dds_xtypes| - the structural type system (some [caveats](docs/dev/xtypes_relnotes.md) here)
 - |url::dds2.5| - the interoperable network protocol
 
-The network stack in |var-project| has been around for over a decade in one form or 
-another and has proven itself in many systems, including large, high-availability 
+The network stack in |var-project| has been around for over a decade in one form or
+another and has proven itself in many systems, including large, high-availability
 ones and systems where inter-operation with other implementations was needed.
 
 .. include:: disclaimer.part.rst