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Add support for FastDDS versions earlier than 2.13 #82

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merged 7 commits into from
Jan 23, 2024
Merged

Add support for FastDDS versions earlier than 2.13 #82

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9e6d5aa
Add support for FastDDS versions earlier than 2.13
irenebm Jan 10, 2024
95ba5ac
FASTDDS_SUBDIRECTORY -> DDS_TYPES_VERSION
irenebm Jan 12, 2024
a4b5e49
Apply changes
irenebm Jan 17, 2024
5dcfd24
Correct function names
irenebm Jan 17, 2024
4c0071e
Update FASTRTPS version check in CommonReader and CommonWriter
irenebm Jan 19, 2024
9253fc5
Uncrustify
irenebm Jan 19, 2024
dfcb11c
Compile test libraries in ddspipe_core
irenebm Jan 22, 2024
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4 changes: 1 addition & 3 deletions ddspipe_core/CMakeLists.txt
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Expand Up @@ -70,9 +70,7 @@ compile_library(
# Test
###############################################################################
# Compile tests if CMake options requires it
compile_test_library(
"${PROJECT_SOURCE_DIR}/test" # Test directory
)
compile_test_library("${PROJECT_SOURCE_DIR}/test/")

###############################################################################
# Packaging
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2 changes: 1 addition & 1 deletion ddspipe_core/project_settings.cmake
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Expand Up @@ -30,7 +30,7 @@ set(MODULE_FIND_PACKAGES
cpp_utils
)

set(fastrtps_MINIMUM_VERSION "2.8")
set(fastrtps_MINIMUM_VERSION "2.10")

set(MODULE_DEPENDENCIES
$<$<BOOL:${WIN32}>:iphlpapi$<SEMICOLON>Shlwapi>
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15 changes: 11 additions & 4 deletions ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt
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Expand Up @@ -18,8 +18,15 @@

set(TEST_NAME dtypes_idl_tests)

# Determine Fast DDS version
if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
set(DDS_TYPES_VERSION "v1")
else()
set(DDS_TYPES_VERSION "v2")
endif()

# Add to test sources every FastDDSGen file generated
file(GLOB DATATYPE_SOURCES_CXX "types/**/*.cxx")
file(GLOB DATATYPE_SOURCES_CXX "types/${DDS_TYPES_VERSION}/**/*.cxx")
set(TEST_SOURCES
dtypes_idl_tests.cpp
${PROJECT_SOURCE_DIR}/src/cpp/types/dynamic_types/schema_idl.cpp
Expand All @@ -42,7 +49,7 @@ file(
RESULT_SOURCES_IDL
RELATIVE
"${CMAKE_CURRENT_SOURCE_DIR}"
"types/idls/*.idl")
"types/${DDS_TYPES_VERSION}/idls/*.idl")

set(TEST_NEEDED_SOURCES
${RESULT_SOURCES_IDL}
Expand All @@ -63,7 +70,7 @@ add_unittest_executable(
set(TEST_NAME dtypes_msg_tests)

# Add to test sources every FastDDSGen file generated
file(GLOB DATATYPE_SOURCES_CXX "types/**/*.cxx")
file(GLOB DATATYPE_SOURCES_CXX "types/${DDS_TYPES_VERSION}/**/*.cxx")
set(TEST_SOURCES
dtypes_msg_tests.cpp
${PROJECT_SOURCE_DIR}/src/cpp/types/dynamic_types/schema_msg.cpp
Expand All @@ -86,7 +93,7 @@ file(
RESULT_SOURCES_MSG
RELATIVE
"${CMAKE_CURRENT_SOURCE_DIR}"
"types/msgs/*.msg")
"types/${DDS_TYPES_VERSION}/msgs/*.msg")

set(TEST_NEEDED_SOURCES
${RESULT_SOURCES_MSG}
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12 changes: 10 additions & 2 deletions ddspipe_core/test/unittest/types/dynamic_types/dtypes_idl_tests.cpp
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Expand Up @@ -24,7 +24,11 @@

#include <ddspipe_core/types/dynamic_types/schema.hpp>

#include "types/all_types.hpp"
#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
#include "types/v1/all_types.hpp"
#else
#include "types/v2/all_types.hpp"
#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13

using namespace eprosima;

Expand All @@ -39,7 +43,11 @@ std::string read_idl_from_file_(
std::string file_name_by_type(
SupportedType type)
{
return std::string("types/idls/") + to_string(type) + ".idl";
#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
return std::string("types/v1/idls/") + to_string(type) + ".idl";
#else
return std::string("types/v2/idls/") + to_string(type) + ".idl";
#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
}

void compare_schemas(
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12 changes: 10 additions & 2 deletions ddspipe_core/test/unittest/types/dynamic_types/dtypes_msg_tests.cpp
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Expand Up @@ -19,7 +19,11 @@
#include <cpp_utils/file/file_utils.hpp>
#include <fastrtps/types/DynamicTypePtr.h>
#include <ddspipe_core/types/dynamic_types/schema.hpp>
#include "types/all_types.hpp"
#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
#include "types/v1/all_types.hpp"
#else
#include "types/v2/all_types.hpp"
#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13

using namespace eprosima;

Expand All @@ -34,7 +38,11 @@ std::string read_msg_from_file_(
std::string file_name_by_type(
SupportedType type)
{
return std::string("types/msgs/") + to_string(type) + ".msg";
#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
return std::string("types/v1/msgs/") + to_string(type) + ".msg";
#else
return std::string("types/v2/msgs/") + to_string(type) + ".msg";
#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
}

void compare_schemas(
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0 ...t/types/dynamic_types/types/all_types.hpp → ...ypes/dynamic_types/types/v1/all_types.hpp
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0 ...types/types/idls/arrays_and_sequences.idl → ...es/types/v1/idls/arrays_and_sequences.idl
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0 ...c_types/types/idls/basic_array_struct.idl → ...ypes/types/v1/idls/basic_array_struct.idl
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0 ...dynamic_types/types/idls/basic_struct.idl → ...amic_types/types/v1/idls/basic_struct.idl
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0 ...ynamic_types/types/idls/char_sequence.idl → ...mic_types/types/v1/idls/char_sequence.idl
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0 ...ypes/types/idls/complex_nested_arrays.idl → ...s/types/v1/idls/complex_nested_arrays.idl
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0 .../dynamic_types/types/idls/enum_struct.idl → ...namic_types/types/v1/idls/enum_struct.idl
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0 ...pes/types/idls/float_bounded_sequence.idl → .../types/v1/idls/float_bounded_sequence.idl
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0 .../dynamic_types/types/idls/hello_world.idl → ...namic_types/types/v1/idls/hello_world.idl
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0 ...s/dynamic_types/types/idls/map_struct.idl → ...ynamic_types/types/v1/idls/map_struct.idl
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0 ...ynamic_types/types/idls/numeric_array.idl → ...mic_types/types/v1/idls/numeric_array.idl
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0 ...dynamic_types/types/idls/union_struct.idl → ...amic_types/types/v1/idls/union_struct.idl
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0 ...types/types/msgs/arrays_and_sequences.msg → ...es/types/v1/msgs/arrays_and_sequences.msg
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0 ...c_types/types/msgs/basic_array_struct.msg → ...ypes/types/v1/msgs/basic_array_struct.msg
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0 ...dynamic_types/types/msgs/basic_struct.msg → ...amic_types/types/v1/msgs/basic_struct.msg
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0 ...ynamic_types/types/msgs/char_sequence.msg → ...mic_types/types/v1/msgs/char_sequence.msg
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0 ...ypes/types/msgs/complex_nested_arrays.msg → ...s/types/v1/msgs/complex_nested_arrays.msg
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0 ...pes/types/msgs/float_bounded_sequence.msg → .../types/v1/msgs/float_bounded_sequence.msg
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0 .../dynamic_types/types/msgs/hello_world.msg → ...namic_types/types/v1/msgs/hello_world.msg
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0 ...ynamic_types/types/msgs/numeric_array.msg → ...mic_types/types/v1/msgs/numeric_array.msg
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