Add support for FastDDS versions earlier than 2.13

controller/controller_tool/CMakeLists.txt

@@ -52,8 +52,17 @@ if (BUILD_DDSRECORDER_CONTROLLER)
     ###############################################################################
     # Build and install types
     ###############################################################################
-    add_subdirectory(ddstypes/DdsRecorderCommand)
-    add_subdirectory(ddstypes/DdsRecorderStatus)
+
+    # Determine Fast DDS version
+    if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
+        set(DDS_TYPES_VERSION "v1")
+    else()
+        set(DDS_TYPES_VERSION "v2")
+    endif()
+
+    # Add subdirectory based on Fast DDS version
+    add_subdirectory(ddstypes/${DDS_TYPES_VERSION}/DdsRecorderCommand)
+    add_subdirectory(ddstypes/${DDS_TYPES_VERSION}/DdsRecorderStatus)
 
     ###############################################################################
     # Install Tool

controller/controller_tool/ddstypes/v1/DdsRecorderCommand/CMakeLists.txt

@@ -0,0 +1,112 @@
+
+cmake_minimum_required(VERSION 3.16.3)
+
+# SWIG: use standard target name.
+if(POLICY CMP0078)
+  cmake_policy(SET CMP0078 NEW)
+endif()
+
+# SWIG: use SWIG_MODULE_NAME property.
+if(POLICY CMP0086)
+  cmake_policy(SET CMP0086 NEW)
+endif()
+
+###############################################################################
+# Library for types defined in DdsRecorderCommand IDL
+###############################################################################
+
+message(STATUS "Configuring python wrapper for types in DdsRecorderCommand...")
+
+###############################################################################
+# Type library on C++
+
+project(DdsRecorderCommand)
+
+find_package(fastcdr REQUIRED)
+find_package(fastrtps REQUIRED)
+
+
+set(${PROJECT_NAME}_FILES
+    DdsRecorderCommand.cxx
+    DdsRecorderCommandPubSubTypes.cxx
+    )
+
+include_directories()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+#Create library for C++ types
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_FILES})
+if(WIN32)
+    target_compile_definitions(${PROJECT_NAME} PRIVATE EPROSIMA_USER_DLL_EXPORT)
+endif(WIN32)
+target_link_libraries(${PROJECT_NAME} PUBLIC fastcdr fastrtps)
+
+###############################################################################
+# Python bindings for type
+
+find_package(SWIG REQUIRED)
+include(${SWIG_USE_FILE})
+set(CMAKE_SWIG_FLAGS "")
+
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+set(PYTHON_INCLUDE_PATH ${Python3_INCLUDE_DIRS})
+set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+set(PYTHON_LIBRARIES ${Python3_LIBRARIES})
+
+include_directories(${PYTHON_INCLUDE_PATH})
+
+set(${PROJECT_NAME}_MODULE
+    DdsRecorderCommandWrapper
+    )
+
+set(${PROJECT_NAME}_MODULE_FILES
+    ${PROJECT_NAME}.i
+    )
+
+SET_SOURCE_FILES_PROPERTIES(
+    ${${PROJECT_NAME}_MODULE_FILES}
+    PROPERTIES CPLUSPLUS ON
+    USE_TARGET_INCLUDE_DIRECTORIES TRUE
+    )
+
+include_directories(
+    ${PROJECT_SOURCE_DIR}
+    )
+
+SWIG_ADD_LIBRARY(${${PROJECT_NAME}_MODULE}
+    TYPE SHARED
+    LANGUAGE python
+    SOURCES ${${PROJECT_NAME}_MODULE_FILES})
+
+if(UNIX AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set_property(TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_COMPILE_DEFINITIONS SWIGWORDSIZE64)
+endif()
+
+SWIG_LINK_LIBRARIES(${${PROJECT_NAME}_MODULE}
+    Python3::Module
+    fastrtps
+    ${PROJECT_NAME}
+    )
+
+# Find the installation path
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(plat_specific=True, prefix='${CMAKE_INSTALL_PREFIX}'))"
+    OUTPUT_VARIABLE _ABS_PYTHON_MODULE_PATH
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+get_filename_component (_ABS_PYTHON_MODULE_PATH ${_ABS_PYTHON_MODULE_PATH} ABSOLUTE)
+file (RELATIVE_PATH _REL_PYTHON_MODULE_PATH ${CMAKE_INSTALL_PREFIX} ${_ABS_PYTHON_MODULE_PATH})
+SET (PYTHON_MODULE_PATH
+    ${_REL_PYTHON_MODULE_PATH}
+    )
+
+# Install
+install(TARGETS ${PROJECT_NAME}
+    RUNTIME DESTINATION bin/
+    LIBRARY DESTINATION lib/
+    ARCHIVE DESTINATION lib/
+    )
+install(TARGETS ${${PROJECT_NAME}_MODULE} DESTINATION ${PYTHON_MODULE_PATH})
+get_property(support_files TARGET ${${PROJECT_NAME}_MODULE} PROPERTY SWIG_SUPPORT_FILES)
+install(FILES ${support_files} DESTINATION ${PYTHON_MODULE_PATH})

controller/controller_tool/ddstypes/v1/DdsRecorderCommand/DdsRecorderCommand.cxx

@@ -0,0 +1,234 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file DdsRecorderCommand.cxx
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace {
+char dummy;
+}  // namespace
+#endif  // _WIN32
+
+#include "DdsRecorderCommand.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+#define DdsRecorderCommand_max_cdr_typesize 520ULL;
+#define DdsRecorderCommand_max_key_cdr_typesize 0ULL;
+
+DdsRecorderCommand::DdsRecorderCommand()
+{
+    // string m_command
+    m_command ="";
+    // string m_args
+    m_args ="";
+
+}
+
+DdsRecorderCommand::~DdsRecorderCommand()
+{
+
+
+}
+
+DdsRecorderCommand::DdsRecorderCommand(
+        const DdsRecorderCommand& x)
+{
+    m_command = x.m_command;
+    m_args = x.m_args;
+}
+
+DdsRecorderCommand::DdsRecorderCommand(
+        DdsRecorderCommand&& x) noexcept
+{
+    m_command = std::move(x.m_command);
+    m_args = std::move(x.m_args);
+}
+
+DdsRecorderCommand& DdsRecorderCommand::operator =(
+        const DdsRecorderCommand& x)
+{
+
+    m_command = x.m_command;
+    m_args = x.m_args;
+
+    return *this;
+}
+
+DdsRecorderCommand& DdsRecorderCommand::operator =(
+        DdsRecorderCommand&& x) noexcept
+{
+
+    m_command = std::move(x.m_command);
+    m_args = std::move(x.m_args);
+
+    return *this;
+}
+
+bool DdsRecorderCommand::operator ==(
+        const DdsRecorderCommand& x) const
+{
+
+    return (m_command == x.m_command && m_args == x.m_args);
+}
+
+bool DdsRecorderCommand::operator !=(
+        const DdsRecorderCommand& x) const
+{
+    return !(*this == x);
+}
+
+size_t DdsRecorderCommand::getMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return DdsRecorderCommand_max_cdr_typesize;
+}
+
+size_t DdsRecorderCommand::getCdrSerializedSize(
+        const DdsRecorderCommand& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.command().size() + 1;
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.args().size() + 1;
+
+
+    return current_alignment - initial_alignment;
+}
+
+void DdsRecorderCommand::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+
+    scdr << m_command.c_str();
+    scdr << m_args.c_str();
+
+}
+
+void DdsRecorderCommand::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+
+    dcdr >> m_command;
+    dcdr >> m_args;
+}
+
+/*!
+ * @brief This function copies the value in member command
+ * @param _command New value to be copied in member command
+ */
+void DdsRecorderCommand::command(
+        const std::string& _command)
+{
+    m_command = _command;
+}
+
+/*!
+ * @brief This function moves the value in member command
+ * @param _command New value to be moved in member command
+ */
+void DdsRecorderCommand::command(
+        std::string&& _command)
+{
+    m_command = std::move(_command);
+}
+
+/*!
+ * @brief This function returns a constant reference to member command
+ * @return Constant reference to member command
+ */
+const std::string& DdsRecorderCommand::command() const
+{
+    return m_command;
+}
+
+/*!
+ * @brief This function returns a reference to member command
+ * @return Reference to member command
+ */
+std::string& DdsRecorderCommand::command()
+{
+    return m_command;
+}
+/*!
+ * @brief This function copies the value in member args
+ * @param _args New value to be copied in member args
+ */
+void DdsRecorderCommand::args(
+        const std::string& _args)
+{
+    m_args = _args;
+}
+
+/*!
+ * @brief This function moves the value in member args
+ * @param _args New value to be moved in member args
+ */
+void DdsRecorderCommand::args(
+        std::string&& _args)
+{
+    m_args = std::move(_args);
+}
+
+/*!
+ * @brief This function returns a constant reference to member args
+ * @return Constant reference to member args
+ */
+const std::string& DdsRecorderCommand::args() const
+{
+    return m_args;
+}
+
+/*!
+ * @brief This function returns a reference to member args
+ * @return Reference to member args
+ */
+std::string& DdsRecorderCommand::args()
+{
+    return m_args;
+}
+
+
+size_t DdsRecorderCommand::getKeyMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return DdsRecorderCommand_max_key_cdr_typesize;
+}
+
+bool DdsRecorderCommand::isKeyDefined()
+{
+    return false;
+}
+
+void DdsRecorderCommand::serializeKey(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    (void) scdr;
+}