Type propagation policy (#5081)

* Refs #21313: Substitute auto_fill_type_information with fastdds.type_propagation policy Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Rework DynamicPubSubType.hpp doxydoc Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Add minimal bandwidth type propagation Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Add registration only bandwidth type propagation Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Only init TypeLookupManager when required Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Add entry to versions.md Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Remove unrecheable code Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Improve tests Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Remove unnecessary includes Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Add RTPSParticipantImplt::type_propagation API to group code Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Rename RTPSParticipant attr getter to get_attributes Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313. Fix doxygen reference Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix tests Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #21313: Update doxygen documentation Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #21313. Fix after rebase Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #21313: Apply Miguel's suggestions Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix build with BUILD_DOCUMENTATION=ON Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix build with BUILD_DOCUMENTATION=ON and Fast CDR as thirdparty Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Uncrustify Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix uncrustify Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix failing tests Signed-off-by: eduponz <eduardoponz@eprosima.com> * Refs #21313: Fix potential ABBA between PDP and RTPSParticipantImpl mutexes Signed-off-by: eduponz <eduardoponz@eprosima.com> --------- Signed-off-by: eduponz <eduardoponz@eprosima.com> Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> Co-authored-by: Ricardo González Moreno <ricardo@richiware.dev>
eProsima · Jul 26, 2024 · 01cbcd1 · 01cbcd1
1 parent 9e4f961
commit 01cbcd1
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -484,7 +484,7 @@ if(BUILD_DOCUMENTATION)
     endif()
 
     # Target to create documentation directories
-    add_custom_target(docdirs
+    add_custom_target(fastdds_docdirs
         COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/doc
         COMMENT "Creating documentation directory" VERBATIM)
 
@@ -497,12 +497,12 @@ if(BUILD_DOCUMENTATION)
     # Configure the template doxyfile for or specific project
     configure_file(utils/doxygen/doxyfile.in ${PROJECT_BINARY_DIR}/doxyfile @ONLY IMMEDIATE)
     # Add custom target to run doxygen when ever the project is build
-    add_custom_target(doxygen
+    add_custom_target(fastdds_doxygen
         COMMAND "${DOXYGEN_EXECUTABLE}" "${PROJECT_BINARY_DIR}/doxyfile"
         SOURCES "${PROJECT_BINARY_DIR}/doxyfile"
         COMMENT "Generating API documentation with doxygen" VERBATIM)
 
-    add_dependencies(doxygen docdirs)
+    add_dependencies(fastdds_doxygen fastdds_docdirs)
 
     ### README html ########################
 
@@ -552,15 +552,15 @@ if(BUILD_DOCUMENTATION)
             COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/readthedocs_custom.cmake
             )
 
-        add_dependencies(readthedocs docdirs)
+        add_dependencies(readthedocs fastdds_docdirs)
     endif()
 
-    add_custom_target(doc ALL
+    add_custom_target(fastdds_doc ALL
         COMMENT "Generated project documentation" VERBATIM)
 
-    add_dependencies(doc doxygen)
+    add_dependencies(fastdds_doc fastdds_doxygen)
     if(NOT CHECK_DOCUMENTATION)
-        add_dependencies(doc readthedocs)
+        add_dependencies(fastdds_doc readthedocs)
     endif()
 endif()
 

diff --git a/examples/cpp/xtypes/CLIParser.hpp b/examples/cpp/xtypes/CLIParser.hpp
@@ -172,7 +172,7 @@ class CLIParser
                 }
                 else if (config.entity == CLIParser::EntityKind::SUBSCRIBER)
                 {
-                    EPROSIMA_LOG_ERROR(CLI_PARSER, "--xml-type flag available only for subscriber entity");
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "--xml-type flag available only for publisher entity");
                     print_help(EXIT_FAILURE);
                 }
                 else

diff --git a/examples/cpp/xtypes/PublisherApp.cpp b/examples/cpp/xtypes/PublisherApp.cpp
@@ -190,6 +190,9 @@ void PublisherApp::run()
                     return is_stopped();
                 });
     }
+
+    // Wait for acknowledgments with 500 ms timeout
+    writer_->wait_for_acknowledgments({0, 500000000});
 }
 
 bool PublisherApp::publish()

diff --git a/examples/cpp/xtypes/README.md b/examples/cpp/xtypes/README.md
@@ -127,20 +127,21 @@ This is accomplished by setting the environment variable ``FASTDDS_DEFAULT_PROFI
 * Ubuntu ( / MacOS )
 
     ```shell
-    user@machine:example_path$ export FASTDDS_DEFAULT_PROFILES_FILE=xtypes_profile.xml
+    user@machine:example_path$ export FASTDDS_DEFAULT_PROFILES_FILE=xtypes_complete_profile.xml
     ```
 
 * Windows
 
     ```powershell
-    example_path> set FASTDDS_DEFAULT_PROFILES_FILE=xtypes_profile.xml
+    example_path> set FASTDDS_DEFAULT_PROFILES_FILE=xtypes_complete_profile.xml
     ```
 
-The example provides with an XML profiles files with certain QoS:
+The example provides with two XML profiles files with certain QoS:
 
 - Reliable reliability: avoid sample loss.
 - Transient local durability: enable late-join subscriber applications to receive previous samples.
 - Keep-last history with high depth: ensure certain amount of previous samples for late-joiners.
+- Type propagation: Set to either complete of minimal depending on the used XML profiles file.
 
 Applying different configurations to the entities will change to a greater or lesser extent how the application behaves in relation to sample management.
 Even when these settings affect the behavior of the sample management, the applications' output will be the similar.
diff --git a/examples/cpp/xtypes/SubscriberApp.cpp b/examples/cpp/xtypes/SubscriberApp.cpp
@@ -20,8 +20,11 @@
 #include "SubscriberApp.hpp"
 
 #include <condition_variable>
+#include <mutex>
 #include <stdexcept>
 
+#include <fastcdr/exceptions/BadParamException.h>
+
 #include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
@@ -55,7 +58,7 @@ SubscriberApp::SubscriberApp(
     , reader_(nullptr)
     , samples_(config.samples)
     , received_samples_(0)
-    , type_discovered_(false)
+    , type_discovered_("")
     , stop_(false)
 {
     // Create the participant
@@ -114,11 +117,36 @@ void SubscriberApp::on_subscription_matched(
 void SubscriberApp::on_data_available(
         DataReader* reader)
 {
+    using eprosima::fastcdr::exception::BadParamException;
+
     SampleInfo info;
     while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&hello_, &info)))
     {
+        // Mininal type objects are registered with autogenerated member names that may containg non-utf-8 chars.
+        bool is_member_name_known = false;
+
+        // Extract type kind from remote type object
+        TypeKind type_kind = TK_NONE;
+
+        try
+        {
+            type_kind = remote_type_object_.complete()._d();
+            is_member_name_known = true;
+        }
+        catch (const BadParamException&)
+        {
+            try
+            {
+                type_kind = remote_type_object_.minimal()._d();
+            }
+            catch (const BadParamException&)
+            {
+                throw std::runtime_error("Cannot get type kind from remote type object");
+            }
+        }
+
         if (ALIVE_INSTANCE_STATE == info.instance_state && info.valid_data &&
-                TK_STRUCTURE == remote_type_object_.complete()._d())
+                TK_STRUCTURE == type_kind)
         {
             // Increase received samples
             received_samples_++;
@@ -136,7 +164,8 @@ void SubscriberApp::on_data_available(
             // Print all the members
             for (auto elem : members)
             {
-                std::cout << "  - " << elem.first << ": ";
+                std::string member_name = is_member_name_known ? elem.first.c_str() : "Unkown member name";
+                std::cout << "  - " << member_name << ": ";
 
                 MemberDescriptor::_ref_type member_descriptor = {traits<MemberDescriptor>::make_shared()};
 
@@ -197,49 +226,56 @@ void SubscriberApp::on_data_writer_discovery(
     // We don't want to ignore the writer
     should_be_ignored = false;
 
+    std::lock_guard<std::mutex> lck(mtx_);
+
     // Check if the discovered topic is the one we are interested in
-    if (topic_name_ == info.topic_name.to_string())
+    if ((type_discovered_ == "") && (topic_name_ == info.topic_name.to_string()))
     {
         // Get remote type information and use it to retrieve the type object
-        auto type_info = info.type_information.type_information;
-        auto type_id = type_info.complete().typeid_with_size().type_id();
-
-        if (RETCODE_OK != DomainParticipantFactory::get_instance()->type_object_registry().get_type_object(
-                    type_id,
-                    remote_type_object_))
+        remote_type_information_ = info.type_information.type_information;
+        auto type_id_complete = remote_type_information_.complete().typeid_with_size().type_id();
+        auto type_id_minimal = remote_type_information_.minimal().typeid_with_size().type_id();
+
+        if ((RETCODE_OK != DomainParticipantFactory::get_instance()->type_object_registry().get_type_object(
+                    type_id_complete,
+                    remote_type_object_)) &&
+                (RETCODE_OK != DomainParticipantFactory::get_instance()->type_object_registry().get_type_object(
+                    type_id_minimal,
+                    remote_type_object_)))
         {
             std::cout << "Cannot get discovered type from registry:" << std::endl;
             std::cout << "  - Topic name: " << info.topic_name << std::endl;
             std::cout << "  - Type name:  " << info.type_name << std::endl;
+            throw std::runtime_error("Error getting type object from registry");
         }
 
         // Notify run thread that type has been discovered
-        type_discovered_.store(true);
-        terminate_cv_.notify_one();
+        type_discovered_ = info.type_name.to_string();
+        cv_.notify_one();
     }
 }
 
 void SubscriberApp::run()
 {
     // Wait for type discovery
     {
-        std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
-        terminate_cv_.wait(lck, [&]
+        std::unique_lock<std::mutex> lck(mtx_);
+        cv_.wait(lck, [&]
                 {
-                    return is_stopped() || type_discovered_.load();
+                    return is_stopped() || (type_discovered_ != "");
                 });
     }
 
     // Create entities unless we need to exit
-    if (type_discovered_)
+    if (type_discovered_ != "")
     {
         initialize_entities();
     }
 
     // Wait for shutdown command
     {
-        std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
-        terminate_cv_.wait(lck, [&]
+        std::unique_lock<std::mutex> lck(mtx_);
+        cv_.wait(lck, [&]
                 {
                     return is_stopped();
                 });
@@ -254,7 +290,7 @@ bool SubscriberApp::is_stopped()
 void SubscriberApp::stop()
 {
     stop_.store(true);
-    terminate_cv_.notify_all();
+    cv_.notify_all();
 }
 
 void SubscriberApp::initialize_entities()
@@ -276,9 +312,9 @@ void SubscriberApp::initialize_entities()
         throw std::runtime_error("Error building type");
     }
 
-    TypeSupport dyn_type_support(new DynamicPubSubType(remote_type_));
+    TypeSupport dyn_type_support(new DynamicPubSubType(remote_type_, remote_type_information_));
 
-    if (RETCODE_OK != dyn_type_support.register_type(participant_))
+    if (RETCODE_OK != dyn_type_support.register_type(participant_, type_discovered_))
     {
         throw std::runtime_error("Error registering type");
     }
@@ -304,7 +340,7 @@ void SubscriberApp::initialize_entities()
     // Create the topic
     TopicQos topic_qos = TOPIC_QOS_DEFAULT;
     participant_->get_default_topic_qos(topic_qos);
-    topic_ = participant_->create_topic(topic_name_, dyn_type_support.get_type_name(), topic_qos);
+    topic_ = participant_->create_topic(topic_name_, type_discovered_, topic_qos);
 
     if (nullptr == topic_)
     {

diff --git a/examples/cpp/xtypes/SubscriberApp.hpp b/examples/cpp/xtypes/SubscriberApp.hpp
@@ -21,6 +21,8 @@
 #define FASTDDS_EXAMPLES_CPP_XTYPES__SUBSCRIBERAPP_HPP
 
 #include <condition_variable>
+#include <mutex>
+#include <string>
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
@@ -82,6 +84,8 @@ class SubscriberApp : public Application, public DomainParticipantListener
 
     ::xtypes::TypeObject remote_type_object_;
 
+    ::xtypes::TypeInformation remote_type_information_;
+
     DynamicType::_ref_type remote_type_;
 
     DomainParticipant* participant_;
@@ -98,13 +102,13 @@ class SubscriberApp : public Application, public DomainParticipantListener
 
     uint16_t received_samples_;
 
-    std::atomic<bool> type_discovered_;
+    std::string type_discovered_;
 
     std::atomic<bool> stop_;
 
-    mutable std::mutex terminate_cv_mtx_;
+    mutable std::mutex mtx_;
 
-    std::condition_variable terminate_cv_;
+    std::condition_variable cv_;
 
 };
 

diff --git a/examples/cpp/xtypes/xtypes_profile.xml → ...es/cpp/xtypes/xtypes_complete_profile.xml b/examples/cpp/xtypes/xtypes_profile.xml → ...es/cpp/xtypes/xtypes_complete_profile.xml
@@ -5,6 +5,15 @@
             <domainId>0</domainId>
             <rtps>
                 <name>xtypes_participant</name>
+                <propertiesPolicy>
+                    <properties>
+                        <!-- Explicitly activate complete type propagation -->
+                        <property>
+                            <name>fastdds.type_propagation</name>
+                            <value>enabled</value>
+                        </property>
+                    </properties>
+                </propertiesPolicy>
             </rtps>
         </participant>
         <data_writer profile_name="xtypes_datawriter_profile" is_default_profile="true">

diff --git a/examples/cpp/xtypes/xtypes_minimal_profile.xml b/examples/cpp/xtypes/xtypes_minimal_profile.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds xmlns="http://www.eprosima.com" >
+    <profiles>
+        <participant profile_name="xtypes_participant_profile" is_default_profile="true">
+            <domainId>0</domainId>
+            <rtps>
+                <name>xtypes_participant</name>
+                <propertiesPolicy>
+                    <properties>
+                        <!-- Activate minimal type propagation only -->
+                        <property>
+                            <name>fastdds.type_propagation</name>
+                            <value>minimal_bandwidth</value>
+                        </property>
+                    </properties>
+                </propertiesPolicy>
+            </rtps>
+        </participant>
+        <data_writer profile_name="xtypes_datawriter_profile" is_default_profile="true">
+            <qos>
+                <durability>
+                    <kind>TRANSIENT_LOCAL</kind>
+                </durability>
+                <reliability>
+                    <kind>RELIABLE</kind>
+                </reliability>
+            </qos>
+            <topic>
+                <historyQos>
+                    <kind>KEEP_LAST</kind>
+                    <depth>100</depth>
+                </historyQos>
+                <resourceLimitsQos>
+                    <max_samples>100</max_samples>
+                    <max_instances>1</max_instances>
+                    <max_samples_per_instance>100</max_samples_per_instance>
+                </resourceLimitsQos>
+            </topic>
+        </data_writer>
+
+        <data_reader profile_name="xtypes_datareader_profile" is_default_profile="true">
+            <qos>
+                <durability>
+                    <kind>TRANSIENT_LOCAL</kind>
+                </durability>
+                <reliability>
+                    <kind>RELIABLE</kind>
+                </reliability>
+            </qos>
+            <topic>
+                <historyQos>
+                    <kind>KEEP_LAST</kind>
+                    <depth>100</depth>
+                </historyQos>
+                <resourceLimitsQos>
+                    <max_samples>100</max_samples>
+                    <max_instances>1</max_instances>
+                    <max_samples_per_instance>100</max_samples_per_instance>
+                </resourceLimitsQos>
+            </topic>
+        </data_reader>
+    </profiles>
+
+    <types>
+        <type>
+            <struct name="HelloWorld">
+                <member name="index" type="uint32"/>
+                <member name="message" type="string"/>
+            </struct>
+        </type>
+    </types>
+</dds>
diff --git a/include/fastdds/dds/core/policy/ParameterTypes.hpp b/include/fastdds/dds/core/policy/ParameterTypes.hpp
@@ -1176,6 +1176,13 @@ const char* const parameter_policy_physical_data_process = "fastdds.physical_dat
  */
 const char* const parameter_enable_monitor_service = "fastdds.enable_monitor_service";
 
+/**
+ * Parameter property value for configuring type propagation
+ *
+ * @ingroup PARAMETER_MODULE
+ */
+const char* const parameter_policy_type_propagation = "fastdds.type_propagation";
+
 /**
  * @ingroup PARAMETER_MODULE
  */