Create DomainParticipantExtendedQos

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

include/fastdds/dds/domain/DomainParticipantFactory.hpp

@@ -28,6 +28,7 @@
 #include <fastdds/dds/core/status/StatusMask.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 #include <fastdds/dds/xtypes/type_representation/ITypeObjectRegistry.hpp>
 #include <fastdds/LibrarySettings.hpp>
@@ -95,6 +96,19 @@ class DomainParticipantFactory
             DomainParticipantListener* listener = nullptr,
             const StatusMask& mask = StatusMask::all());
 
+    /**
+     * 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.)
+     */
+    FASTDDS_EXPORTED_API DomainParticipant* create_participant(
+            const DomainParticipantExtendedQos& extended_qos,
+            DomainParticipantListener* listener = nullptr,
+            const StatusMask& mask = StatusMask::all());
+
     /**
      * Create a Participant with default domain id and qos.
      *
@@ -216,6 +230,17 @@ class DomainParticipantFactory
             const std::string& profile_name,
             DomainParticipantQos& qos) const;
 
+    /**
+     * Fills the DomainParticipantExtendedQos with the values of the XML profile.
+     *
+     * @param profile_name DomainParticipant profile name.
+     * @param extended_qos DomainParticipantExtendedQos object where the domain and qos are returned.
+     * @return RETCODE_OK if the profile exists. RETCODE_BAD_PARAMETER otherwise.
+     */
+    FASTDDS_EXPORTED_API ReturnCode_t get_participant_extended_qos_from_profile(
+            const std::string& profile_name,
+            DomainParticipantExtendedQos& extended_qos) const;
+
     /**
      * Remove a Participant and all associated publishers and subscribers.
      *

include/fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp

@@ -0,0 +1,102 @@
+// Copyright 2024 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 DomainParticipantExtendedQos.hpp
+ *
+ */
+
+#ifndef _FASTDDS_PARTICIPANTEXTENDEDQOS_HPP_
+#define _FASTDDS_PARTICIPANTEXTENDEDQOS_HPP_
+
+#include <fastdds/fastdds_dll.hpp>
+
+#include "DomainParticipantQos.hpp"
+
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+
+class DomainParticipantExtendedQos : public DomainParticipantQos
+{
+public:
+
+    /**
+     * @brief Constructor
+     */
+    FASTDDS_EXPORTED_API DomainParticipantExtendedQos()
+    {
+    }
+
+    /**
+     * @brief Destructor
+     */
+    FASTDDS_EXPORTED_API virtual ~DomainParticipantExtendedQos()
+    {
+    }
+
+    DomainParticipantExtendedQos& operator=(
+            const DomainParticipantQos& qos)
+    {
+        static_cast<DomainParticipantQos&>(*this) = qos;
+
+        return *this;
+    }
+
+    bool operator ==(
+            const DomainParticipantExtendedQos& b) const
+    {
+        return (this->domainId_ == b.domainId()) &&
+               (DomainParticipantQos::operator==(b));
+    }
+
+    bool operator ==(
+            const DomainParticipantQos& b) const override
+    {
+        return (DomainParticipantQos::operator==(b));
+    }
+
+    /**
+     * Getter for domainId
+     *
+     * @return domainId reference
+     */
+    const uint32_t& domainId() const
+    {
+        return domainId_;
+    }
+
+    /**
+     * Getter for domainId
+     *
+     * @return domainId reference
+     */
+    uint32_t& domainId()
+    {
+        return domainId_;
+    }
+
+private:
+
+    //! DomainId to be used by the associated RTPSParticipant (default: 0)
+    uint32_t domainId_ = 0;
+
+};
+
+
+} /* namespace dds */
+} /* namespace fastdds */
+} /* namespace eprosima */
+
+#endif /* _FASTDDS_PARTICIPANTEXTENDEDQOS_HPP_ */

include/fastdds/dds/domain/qos/DomainParticipantQos.hpp

@@ -42,6 +42,8 @@ class DomainParticipantQos
 {
 public:
 
+    friend class DomainParticipantExtendedQos;
+
     /*!
      * User defined flow controllers to use alongside.
      *
@@ -73,7 +75,7 @@ class DomainParticipantQos
     {
     }
 
-    bool operator ==(
+    virtual bool operator ==(
             const DomainParticipantQos& b) const
     {
         return (this->user_data_ == b.user_data()) &&

src/cpp/fastdds/domain/DomainParticipantFactory.cpp

@@ -205,6 +205,14 @@ DomainParticipant* DomainParticipantFactory::create_participant(
     return dom_part;
 }
 
+DomainParticipant* DomainParticipantFactory::create_participant(
+        const DomainParticipantExtendedQos& extended_qos,
+        DomainParticipantListener* listener,
+        const StatusMask& mask)
+{
+    return create_participant(extended_qos.domainId(), extended_qos, listener, mask);
+}
+
 DomainParticipant* DomainParticipantFactory::create_participant_with_default_profile()
 {
     return create_participant_with_default_profile(nullptr, StatusMask::none());
@@ -335,6 +343,20 @@ ReturnCode_t DomainParticipantFactory::get_participant_qos_from_profile(
     return RETCODE_BAD_PARAMETER;
 }
 
+ReturnCode_t DomainParticipantFactory::get_participant_extended_qos_from_profile(
+        const std::string& profile_name,
+        DomainParticipantExtendedQos& extended_qos) const
+{
+    ParticipantAttributes attr;
+    if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(profile_name, attr, false))
+    {
+        utils::set_extended_qos_from_attributes(extended_qos, attr);
+        return RETCODE_OK;
+    }
+
+    return RETCODE_BAD_PARAMETER;
+}
+
 ReturnCode_t DomainParticipantFactory::load_profiles()
 {
     // NOTE: This could be done with a bool atomic to avoid taking the mutex in most cases, however the use of

src/cpp/fastdds/utils/QosConverters.cpp

@@ -183,6 +183,14 @@ void set_qos_from_attributes(
     qos.properties().binary_properties() = attr.properties.binary_properties();
 }
 
+void set_extended_qos_from_attributes(
+        DomainParticipantExtendedQos& extended_qos,
+        const eprosima::fastdds::ParticipantAttributes& attr)
+{
+    extended_qos.domainId() = attr.domainId;
+    set_qos_from_attributes(extended_qos, attr.rtps);
+}
+
 void set_attributes_from_qos(
         fastrtps::rtps::RTPSParticipantAttributes& attr,
         const DomainParticipantQos& qos)
@@ -216,6 +224,14 @@ void set_attributes_from_qos(
 #endif // if HAVE_SECURITY
 }
 
+void set_attributes_from_extended_qos(
+        eprosima::fastdds::ParticipantAttributes& attr,
+        const DomainParticipantExtendedQos& extended_qos)
+{
+    attr.domainId = extended_qos.domainId();
+    set_attributes_from_qos(attr.rtps, extended_qos);
+}
+
 void set_qos_from_attributes(
         TopicQos& qos,
         const TopicAttributes& attr)

src/cpp/fastdds/utils/QosConverters.hpp

@@ -22,13 +22,15 @@
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantExtendedQos.hpp>
 #include <fastdds/dds/domain/qos/ReplierQos.hpp>
 #include <fastdds/dds/domain/qos/RequesterQos.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
 #include <fastdds/rtps/attributes/TopicAttributes.h>
 
+#include <xmlparser/attributes/ParticipantAttributes.hpp>
 #include <xmlparser/attributes/PublisherAttributes.hpp>
 #include <xmlparser/attributes/ReplierAttributes.hpp>
 #include <xmlparser/attributes/RequesterAttributes.hpp>
@@ -79,6 +81,24 @@ void set_qos_from_attributes(
         DomainParticipantQos& qos,
         const eprosima::fastrtps::rtps::RTPSParticipantAttributes& attr);
 
+/**
+ * @brief Fill DomainParticipantExtendedQos from a given attributes ParticipantAttributes object
+ *
+ * For the case of the non-binary properties, instead of the ParticipantAttributes overriding the
+ * property list in the DomainParticipantExtendedQos, a merge is performed in the following manner:
+ *
+ * - If any property from the ParticipantAttributes is not in the DomainParticipantExtendedQos, then it is appended
+ *   to the DomainParticipantExtendedQos.
+ * - If any property from the ParticipantAttributes property is also in the DomainParticipantExtendedQos, then the
+ *   value in the DomainParticipantExtendedQos is overridden with that of the ParticipantAttributes.
+ *
+ * @param[in, out] extended_qos The DomainParticipantExtendedQos to set
+ * @param[in] attr The ParticipantAttributes from which the @c extended_qos is set.
+ */
+void set_extended_qos_from_attributes(
+        DomainParticipantExtendedQos& extended_qos,
+        const eprosima::fastdds::ParticipantAttributes& attr);
+
 /**
  * Obtains the RTPSParticipantAttributes from the DomainParticipantQos provided.
  *
@@ -89,6 +109,16 @@ void set_attributes_from_qos(
         fastrtps::rtps::RTPSParticipantAttributes& attr,
         const DomainParticipantQos& qos);
 
+/**
+ * Obtains the ParticipantAttributes from the DomainParticipantExtendedQos provided.
+ *
+ * @param[out] attr Pointer to the attributes from which to obtain data
+ * @param[in] extended_qos Pointer to the QoS to write on
+ */
+void set_attributes_from_extended_qos(
+        eprosima::fastdds::ParticipantAttributes& attr,
+        const DomainParticipantExtendedQos& extended_qos);
+
 /**
  * Obtains the TopicQos from the TopicAttributes provided.
  *