Merge pull request #6 from robocomp/fastdds3.0

FastDDS 3.0 breaking changes

api/CMakeLists.txt

@@ -56,7 +56,7 @@ target_sources(dsr_api
 
 target_link_libraries(dsr_api
         PRIVATE
-        fastcdr fastrtps
+        fastcdr fastdds
         osgDB OpenThreads
         Qt6::Core
         PUBLIC

api/GHistorySaver.cpp

@@ -832,4 +832,4 @@ void GSerializer::add_change(ChangeInfo && c)
     total_size+=ser.size;
     used_size+=ser.p;
 
-}
+}

api/dsr_api.cpp

@@ -10,8 +10,8 @@
 #include <utility>
 #include <cmath>
 
-#include <fastrtps/transport/UDPv4TransportDescriptor.h>
-#include <fastrtps/Domain.h>
+#include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>
+#include <fastdds/rtps/RTPSDomain.hpp>
 
 
 #include <QtCore/qlogging.h>
@@ -41,21 +41,22 @@ DSRGraph::DSRGraph(std::string name, uint32_t id, const std::string &dsr_input_f
     // RTPS Create participant
     auto[suc, participant_handle] = dsrparticipant.init(agent_id, agent_name, all_same_host,
                                                         ParticipantChangeFunctor(this, [&](DSR::DSRGraph *graph,
-                                                                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info)
+                                                                eprosima::fastdds::rtps::ParticipantDiscoveryStatus status,
+                                                                const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& info)
                                                                 {
-                                                                    if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
+                                                                    if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
                                                                     {
                                                                         std::unique_lock<std::mutex> lck(participant_set_mutex);
-                                                                        std::cout << "Participant matched [" <<info.info.m_participantName.to_string() << "]" << std::endl;
-                                                                        graph->participant_set.insert({info.info.m_participantName.to_string(), false});
+                                                                        std::cout << "Participant matched [" << info.participant_name.to_string() << "]" << std::endl;
+                                                                        graph->participant_set.emplace(info.participant_name.to_string(), false);
                                                                     }
-                                                                    else if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT ||
-                                                                             info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT)
+                                                                    else if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+                                                                             status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
                                                                     {
                                                                         std::unique_lock<std::mutex> lck(participant_set_mutex);
-                                                                        graph->participant_set.erase(info.info.m_participantName.to_string());
-                                                                        std::cout << "Participant unmatched [" <<info.info.m_participantName.to_string() << "]" << std::endl;
-                                                                        graph->delete_node(info.info.m_participantName.to_string());
+                                                                        graph->participant_set.erase(info.participant_name.to_string());
+                                                                        std::cout << "Participant unmatched [" << info.participant_name.to_string() << "]" << std::endl;
+                                                                        graph->delete_node(info.participant_name.to_string());
                                                                     }
                                                                 }));
 
@@ -1532,7 +1533,7 @@ void DSRGraph::node_subscription_thread(bool showReceived)
             {
                 eprosima::fastdds::dds::SampleInfo m_info;
                 IDL::MvregNode sample;
-                if (reader->take_next_sample(&sample, &m_info) == ReturnCode_t::RETCODE_OK) {
+                if (reader->take_next_sample(&sample, &m_info) == 0) {
                     if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                         if (sample.agent_id() != agent_id) {
                             if (showReceived) {
@@ -1565,7 +1566,7 @@ void DSRGraph::edge_subscription_thread(bool showReceived)
             {
                 eprosima::fastdds::dds::SampleInfo m_info;
                 IDL::MvregEdge sample;
-                if (reader->take_next_sample(&sample, &m_info) == ReturnCode_t::RETCODE_OK) {
+                if (reader->take_next_sample(&sample, &m_info) == 0) {
                     if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                         if (sample.agent_id() != agent_id) {
                             if (showReceived) {
@@ -1599,7 +1600,7 @@ void DSRGraph::edge_attrs_subscription_thread(bool showReceived)
             {
                 eprosima::fastdds::dds::SampleInfo m_info;
                 IDL::MvregEdgeAttrVec samples;
-                if (reader->take_next_sample(&samples, &m_info) == ReturnCode_t::RETCODE_OK) {
+                if (reader->take_next_sample(&samples, &m_info) == 0) {
                     if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                         if (showReceived) {
                             qDebug() << name << " Received:" << samples.vec().size() << " edge attr from: "
@@ -1666,7 +1667,7 @@ void DSRGraph::node_attrs_subscription_thread(bool showReceived)
             {
                 eprosima::fastdds::dds::SampleInfo m_info;
                 IDL::MvregNodeAttrVec samples;
-                if (reader->take_next_sample(&samples, &m_info) == ReturnCode_t::RETCODE_OK) {
+                if (reader->take_next_sample(&samples, &m_info) == 0) {
                     if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                         if (showReceived) {
                             qDebug() << name << " Received:" << samples.vec().size() << " node attrs from: "
@@ -1730,7 +1731,7 @@ void DSRGraph::fullgraph_server_thread()
         {
             eprosima::fastdds::dds::SampleInfo m_info;
             IDL::GraphRequest sample;
-            if (reader->take_next_sample(&sample, &m_info) == ReturnCode_t::RETCODE_OK) {
+            if (reader->take_next_sample(&sample, &m_info) == 0) {
                 if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                     {
                         std::unique_lock<std::mutex> lck(participant_set_mutex);
@@ -1785,7 +1786,7 @@ std::pair<bool, bool> DSRGraph::fullgraph_request_thread()
         {
             eprosima::fastdds::dds::SampleInfo m_info;
             IDL::OrMap sample;
-            if (reader->take_next_sample(&sample, &m_info) == ReturnCode_t::RETCODE_OK) {
+            if (reader->take_next_sample(&sample, &m_info) == 0) {
                 if (m_info.instance_state == eprosima::fastdds::dds::ALIVE_INSTANCE_STATE) {
                     if (sample.id() != graph->get_agent_id()) {
                         if (sample.id() != static_cast<uint32_t>(-1)) {
@@ -1870,4 +1871,4 @@ std::unique_ptr<DSRGraph> DSRGraph::G_copy()
 bool DSRGraph::is_copy() const
 {
     return copy;
-}
+}

api/include/dsr/api/dsr_api.h

@@ -25,7 +25,7 @@
 #include "dsr/core/rtps/dsrparticipant.h"
 #include "dsr/core/rtps/dsrpublisher.h"
 #include "dsr/core/rtps/dsrsubscriber.h"
-#include "dsr/core/topics/IDLGraphPubSubTypes.h"
+#include "dsr/core/topics/IDLGraphPubSubTypes.hpp"
 #include "dsr/core/types/crdt_types.h"
 #include "dsr/core/types/user_types.h"
 #include "dsr/core/types/translator.h"
@@ -631,17 +631,19 @@ namespace DSR
         class ParticipantChangeFunctor {
         public:
             DSRGraph *graph{};
-            std::function<void(DSRGraph *graph_,eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&)> f;
+            std::function<void(DSRGraph *graph_,eprosima::fastdds::rtps::ParticipantDiscoveryStatus, const eprosima::fastdds::rtps::ParticipantBuiltinTopicData&)> f;
 
             ParticipantChangeFunctor(DSRGraph *graph_,
-                                     std::function<void(DSRGraph *graph_, eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&)> f_)
+                                     std::function<void(DSRGraph *graph_, eprosima::fastdds::rtps::ParticipantDiscoveryStatus,
+                                                        const eprosima::fastdds::rtps::ParticipantBuiltinTopicData&)> f_)
                     : graph(graph_), f(std::move(f_)) {}
 
             ParticipantChangeFunctor() = default;
 
-            void operator()(eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) const
+            void operator()(eprosima::fastdds::rtps::ParticipantDiscoveryStatus status,
+                            const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& info) const
             {
-                f(graph, std::forward<eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&>(info));
+                f(graph, status, info);
             };
         };
 

api/include/dsr/api/dsr_camera_api.h

@@ -1,7 +1,7 @@
 #ifndef CAMERA_API
 #define CAMERA_API
 
-#include <dsr/core/topics/IDLGraphPubSubTypes.h>
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 #include <dsr/core/types/user_types.h>
 #include <Eigen/Dense>
 #include <optional>
@@ -68,4 +68,4 @@ namespace DSR
     };
 }
 
-#endif
+#endif

api/include/dsr/api/dsr_exceptions.h

@@ -7,6 +7,7 @@
 #define DSR_EXCEPTIONS
 
 #include <exception>
+#include <string>
 #include <utility>
 
 /////////////////////////////////////////////////////////////////
@@ -27,4 +28,4 @@ namespace DSR
             std::string msg_;
     };
 }
-#endif
+#endif

api/include/dsr/api/dsr_inner_eigen_api.h

@@ -2,10 +2,13 @@
 #define INNER_EIGEN_API
 
 #include <QObject>
-#include <dsr/core/topics/IDLGraphPubSubTypes.h>
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 #include <dsr/api/dsr_eigen_defs.h>
 #include <dsr/api/dsr_rt_api.h>
 #include <optional>
+#include <cstdint>
+#include <tuple>
+#include <map>
 
 namespace DSR
 {
@@ -52,4 +55,4 @@ namespace DSR
     };
 }
 
-#endif
+#endif

api/include/dsr/api/dsr_rt_api.h

@@ -3,7 +3,7 @@
 
 #include <cassert>
 #include <QtCore>
-#include <dsr/core/topics/IDLGraphPubSubTypes.h>
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 #include <dsr/core/types/user_types.h>
 #include <dsr/core/types/type_checking/dsr_attr_name.h>
 #include <dsr/api/dsr_eigen_defs.h>

api/include/dsr/api/dsr_utils.h

@@ -4,7 +4,7 @@
 
 #include <string>
 #include <optional>
-#include <dsr/core/topics/IDLGraphPubSubTypes.h>
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 #include <dsr/core/types/crdt_types.h>
 #include <dsr/core/types/user_types.h>
 #include <dsr/api/dsr_exceptions.h>
@@ -37,4 +37,4 @@ namespace DSR
     };
 }
 
-#endif
+#endif

core/CMakeLists.txt

@@ -33,10 +33,10 @@ target_sources(dsr_core
         include/dsr/core/rtps/dsrsubscriber.h
 
         topics/IDLGraphPubSubTypes.cxx
-        topics/IDLGraph.cxx
+        #topics/IDLGraph.cxx
         topics/IDLGraphCdrAux.ipp
-        include/dsr/core/topics/IDLGraph.h
-        include/dsr/core/topics/IDLGraphPubSubTypes.h
+        include/dsr/core/topics/IDLGraph.hpp
+        include/dsr/core/topics/IDLGraphPubSubTypes.hpp
         include/dsr/core/topics/IDLGraphCdrAux.hpp
 
         include/dsr/core/crdt/delta_crdt.h
@@ -51,7 +51,7 @@ target_sources(dsr_core
 
 target_link_libraries(dsr_core
         PRIVATE
-        Qt6::Core fastcdr fastrtps osgDB OpenThreads Eigen3::Eigen)
+        Qt6::Core fastcdr fastdds osgDB OpenThreads Eigen3::Eigen)
 
 
 target_include_directories(dsr_core

core/include/dsr/core/crdt/delta_crdt.h

@@ -5,16 +5,11 @@ Reimplementation from https://github.com/CBaquero/delta-enabled-crdts
 #ifndef DELTA_CRDT
 #define DELTA_CRDT
 
-#include <set>
-#include <unordered_set>
-#include <map>
-#include <list>
-#include <tuple>
-#include <vector>
-#include <string>
 #include <iostream>
-#include <type_traits>
 #include <cassert>
+#include <cstdint>
+#include <map>
+#include <set>
 
 using key_type = uint64_t;
 
@@ -468,4 +463,4 @@ class mvreg    // Multi-value register, Optimized
 };
 
 
-#endif
+#endif

core/include/dsr/core/rtps/dsrparticipant.h

@@ -1,15 +1,13 @@
 #ifndef _PARTICIPANT_H_
 #define _PARTICIPANT_H_
 
-#include <fastrtps/fastrtps_fwd.h>
-#include <fastrtps/log/Log.h>
-#include <fastdds/rtps/RTPSDomain.h>
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/log/Log.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
+#include <fastdds/rtps/builtin/data/ParticipantBuiltinTopicData.hpp>
 
-#include <dsr/core/topics/IDLGraphPubSubTypes.h>
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 #include <dsr/core/rtps/dsrpublisher.h>
 #include <dsr/core/rtps/dsrsubscriber.h>
 
@@ -18,14 +16,14 @@ class DSRParticipant
 public:
     DSRParticipant();
     virtual ~DSRParticipant();
-    [[nodiscard]] std::tuple<bool, eprosima::fastdds::dds::DomainParticipant *> init(uint32_t agent_id, const std::string& agent_name, int localhost, std::function<void(eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&)> fn);
-    [[nodiscard]] const eprosima::fastrtps::rtps::GUID_t& getID() const;
-    [[nodiscard]] const char *getNodeTopicName()     const { return dsrgraphType->getName();}
-    [[nodiscard]] const char *getRequestTopicName()  const { return graphrequestType->getName();}
-    [[nodiscard]] const char *getAnswerTopicName()   const { return graphRequestAnswerType->getName();}
-    [[nodiscard]] const char *getEdgeTopicName()     const { return dsrEdgeType->getName();}
-    [[nodiscard]] const char *getNodeAttrTopicName() const { return dsrNodeAttrType->getName();}
-    [[nodiscard]] const char *getEdgeAttrTopicName() const { return dsrEdgeAttrType->getName();}
+    [[nodiscard]] std::tuple<bool, eprosima::fastdds::dds::DomainParticipant *> init(uint32_t agent_id, const std::string& agent_name, int localhost, std::function<void(eprosima::fastdds::rtps::ParticipantDiscoveryStatus, const eprosima::fastdds::rtps::ParticipantBuiltinTopicData&)> fn);
+    [[nodiscard]] const eprosima::fastdds::rtps::GUID_t& getID() const;
+    [[nodiscard]] const char *getNodeTopicName()     const { return dsrgraphType->get_name().data();}
+    [[nodiscard]] const char *getRequestTopicName()  const { return graphrequestType->get_name().data();}
+    [[nodiscard]] const char *getAnswerTopicName()   const { return graphRequestAnswerType->get_name().data();}
+    [[nodiscard]] const char *getEdgeTopicName()     const { return dsrEdgeType->get_name().data();}
+    [[nodiscard]] const char *getNodeAttrTopicName() const { return dsrNodeAttrType->get_name().data();}
+    [[nodiscard]] const char *getEdgeAttrTopicName() const { return dsrEdgeAttrType->get_name().data();}
 
     [[nodiscard]] eprosima::fastdds::dds::Topic*  getNodeTopic()          { return topic_node; }
     [[nodiscard]] eprosima::fastdds::dds::Topic*  getEdgeTopic()          { return topic_edge; }
@@ -67,23 +65,27 @@ class DSRParticipant
     class ParticpantListener : public eprosima::fastdds::dds::DomainParticipantListener
     {
     public:
-        explicit ParticpantListener(std::function<void(eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&)>&& fn)
+        explicit ParticpantListener(std::function<void(eprosima::fastdds::rtps::ParticipantDiscoveryStatus,
+                                                       const eprosima::fastdds::rtps::ParticipantBuiltinTopicData&)>&& fn)
             : eprosima::fastdds::dds::DomainParticipantListener(), f(std::move(fn)){};
         ~ParticpantListener() override = default;
 
          void on_participant_discovery  (
                 eprosima::fastdds::dds::DomainParticipant* participant,
-                eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override
+                eprosima::fastdds::rtps::ParticipantDiscoveryStatus status,
+                const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& info,
+                bool& should_be_ignored) override
         {
             //Callback
-            f(std::forward<eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&>(info));
+            f(status, info);
         }
 
 
-        std::function<void(eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&&)> f;
+        std::function<void(eprosima::fastdds::rtps::ParticipantDiscoveryStatus,
+                           const eprosima::fastdds::rtps::ParticipantBuiltinTopicData&)> f;
         //int n_matched;
     };
     std::unique_ptr<ParticpantListener> m_listener;
 };
 
-#endif // _Participant_H_
+#endif // _Participant_H_

core/include/dsr/core/rtps/dsrpublisher.h

@@ -3,24 +3,21 @@
 
 
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
-#include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/publisher/DataWriterListener.hpp>
-#include <fastrtps/utils/IPLocator.h>
 
-#include "../topics/IDLGraphPubSubTypes.h"
+#include <dsr/core/topics/IDLGraphPubSubTypes.hpp>
 
 class DSRPublisher
 {
 public:
     DSRPublisher();
     virtual ~DSRPublisher();
     [[nodiscard]] std::tuple<bool, eprosima::fastdds::dds::Publisher*, eprosima::fastdds::dds::DataWriter*> init(eprosima::fastdds::dds::DomainParticipant *mp_participant_, eprosima::fastdds::dds::Topic *topic,  bool isStreamData = false);
-    [[nodiscard]] eprosima::fastrtps::rtps::GUID_t getParticipantID() const;
+    [[nodiscard]] eprosima::fastdds::rtps::GUID_t getParticipantID() const;
     bool write(IDL::GraphRequest *object);
     bool write(IDL::MvregNode *object);
     bool write(IDL::OrMap *object);
@@ -45,4 +42,4 @@ class DSRPublisher
 
 };
 
-#endif // _PUBLISHER_H_
+#endif // _PUBLISHER_H_