Create DomainParticipantExtendedQos.i (#146)

* Refs #20869: Create DomainParticipantExtendedQos.i

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

* Refs #20869: Add create_participant test with ExtendedQos

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

* Extend DomainParticipantFactory.i API

Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>

---------

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>
Signed-off-by: Lucia Echevarria <luciaechevarria@eprosima.com>
Co-authored-by: elianalf <62831776+elianalf@users.noreply.github.com>

fastdds_python/src/swig/fastdds.i

@@ -226,6 +226,7 @@ namespace xtypes {
 %include "fastdds/dds/domain/DomainParticipantListener.i"
 %include "fastdds/dds/domain/qos/DomainParticipantFactoryQos.i"
 %include "fastdds/dds/domain/qos/DomainParticipantQos.i"
+%include "fastdds/dds/domain/qos/DomainParticipantExtendedQos.i"
 %include "fastdds/dds/domain/qos/ReplierQos.i"
 %include "fastdds/dds/domain/qos/RequesterQos.i"
 %include "fastdds/dds/domain/DomainParticipant.i"

fastdds_python/src/swig/fastdds/dds/domain/DomainParticipantFactory.i

@@ -48,6 +48,34 @@
         return self->create_participant(domain_id, qos, listener, mask);
     }
 
+    /**
+     * Create a Participant.
+     *
+     * @param extended_qos DomainParticipantExtendedQos Reference.
+     * @param listener DomainParticipantListener Pointer (default: nullptr)
+     * @param mask StatusMask Reference (default: all)
+     * @return DomainParticipant pointer. (nullptr if not created.)
+     */
+    DomainParticipant* create_participant(
+            const DomainParticipantExtendedQos& extended_qos,
+            DomainParticipantListener* listener = nullptr,
+            const StatusMask& mask = eprosima::fastdds::dds::StatusMask::all())
+    {
+        if (nullptr != listener)
+        {
+            Swig::Director* director = SWIG_DIRECTOR_CAST(listener);
+
+            if (nullptr != director)
+            {
+                SWIG_PYTHON_THREAD_BEGIN_BLOCK;
+                Py_INCREF(director->swig_get_self());
+                SWIG_PYTHON_THREAD_END_BLOCK;
+            }
+        }
+
+        return self->create_participant(extended_qos.domainId(), extended_qos, listener, mask);
+    }
+
     /**
      * Create a Participant.
      *

fastdds_python/src/swig/fastdds/dds/domain/qos/DomainParticipantExtendedQos.i

@@ -0,0 +1,19 @@
+// Copyright 2022 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.
+
+%{
+#include "fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp"
+%}
+
+%include "fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp"

fastdds_python/test/api/test_domainparticipantfactory.py

@@ -111,6 +111,16 @@ def test(status_mask_1, status_mask_2, listnr=None):
          m,
          listener)
 
+    # Overload 4
+    extended_qos = fastdds.DomainParticipantExtendedQos()
+    participant = factory.create_participant(
+            extended_qos)
+    assert(participant.is_enabled())
+    assert(fastdds.StatusMask.all() == participant.get_status_mask())
+    assert(participant is not None)
+    assert(fastdds.RETCODE_OK ==
+           factory.delete_participant(participant))
+
 
 def test_create_participant_with_profile():
     """