Participant discovery structures refactor (#5042)

* Refs #21295: changing the name of the callback from onParticipantDiscovery to on_participant_discovery Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Change listener signature and DISCOVERY_STATUS to PARTICIPANT_DISCOVERY_STATUS Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Move PARTICIPANT_DISCOVERY_STATUS out of ParticipantDiscoveryInfo Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Substitute ParticipantDiscoveryInfo with ParticipantProxyData Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Remove ParticiapntDiscoveryInfo Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Extend ParticipantBuiltinTopicData Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Create ParticipantBuiltinTopicData in rtps namespace Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Create from_proxy_to_builtin method for participant Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Substitute ParticipantProxyData with ParticipantBuiltinTopicData Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Make ParticipantProxyData private Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Update version.md Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Uncrustify Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Fix compilation error after rebase Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Change name in camel case ParticipantDiscoveryStatus Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Change signature of fill_discovery_data_from_cdr_message Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Apply changes to new example Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Apply suggestions Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Apply suggestions Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295. Fix communication test build. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21295. Fix include order. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21295. Additional change on versions.md. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Refs #21295: Add missing guid conversion in the converter Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21295: Adjust after rebase Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> --------- Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> Signed-off-by: Miguel Company <miguelcompany@eprosima.com> Co-authored-by: Miguel Company <miguelcompany@eprosima.com>
eProsima · Jul 24, 2024 · aa80b72 · aa80b72
1 parent c2dc6d2
commit aa80b72
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Showing 103 changed files with 546 additions and 441 deletions.
diff --git a/examples/cpp/discovery_server/ServerApp.cpp b/examples/cpp/discovery_server/ServerApp.cpp
@@ -210,19 +210,20 @@ ServerApp::~ServerApp()
 
 void ServerApp::on_participant_discovery(
         DomainParticipant*,
-        fastdds::rtps::ParticipantDiscoveryInfo&& info,
+        fastdds::rtps::ParticipantDiscoveryStatus status,
+        const ParticipantBuiltinTopicData& info,
         bool& should_be_ignored)
 {
     static_cast<void>(should_be_ignored);
-    if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
+    if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
     {
-        std::cout << "Discovered Participant with GUID " << info.info.m_guid << std::endl;
+        std::cout << "Discovered Participant with GUID " << info.guid << std::endl;
         ++matched_;
     }
-    else if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
-            info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
+    else if (status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT ||
+            status == eprosima::fastdds::rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT)
     {
-        std::cout << "Dropped Participant with GUID " << info.info.m_guid << std::endl;
+        std::cout << "Dropped Participant with GUID " << info.guid << std::endl;
         --matched_;
     }
 }

diff --git a/examples/cpp/discovery_server/ServerApp.hpp b/examples/cpp/discovery_server/ServerApp.hpp
@@ -22,6 +22,7 @@
 
 #include <condition_variable>
 
+#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
@@ -49,7 +50,8 @@ class ServerApp : public Application, public DomainParticipantListener
     //! Publisher matched method
     void on_participant_discovery(
             DomainParticipant* participant,
-            fastdds::rtps::ParticipantDiscoveryInfo&& info,
+            fastdds::rtps::ParticipantDiscoveryStatus status,
+            const fastdds::rtps::ParticipantBuiltinTopicData& info,
             bool& should_be_ignored) override;
 
     //! Run publisher

diff --git a/examples/cpp/request_reply/ClientApp.cpp b/examples/cpp/request_reply/ClientApp.cpp
@@ -143,17 +143,18 @@ void ClientApp::stop()
 
 void ClientApp::on_participant_discovery(
         DomainParticipant* /* participant */,
-        rtps::ParticipantDiscoveryInfo&& info,
+        rtps::ParticipantDiscoveryStatus status,
+        const ParticipantBuiltinTopicData& info,
         bool& should_be_ignored)
 {
     std::lock_guard<std::mutex> lock(mtx_);
 
     should_be_ignored = false;
 
-    rtps::GuidPrefix_t remote_participant_guid_prefix = info.info.m_guid.guidPrefix;
-    std::string status_str = TypeConverter::to_string(info.status);
+    rtps::GuidPrefix_t remote_participant_guid_prefix = info.guid.guidPrefix;
+    std::string status_str = TypeConverter::to_string(status);
 
-    if (info.info.m_userData.data_vec().size() != 1)
+    if (info.user_data.data_vec().size() != 1)
     {
         should_be_ignored = true;
         request_reply_debug("ClientApp", "Ignoring participant with invalid user data: "
@@ -162,7 +163,7 @@ void ClientApp::on_participant_discovery(
 
     if (!should_be_ignored)
     {
-        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.info.m_userData.data_vec()[0]);
+        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.user_data.data_vec()[0]);
         if (CLIParser::EntityKind::SERVER != entity_kind)
         {
             should_be_ignored = true;
@@ -176,12 +177,12 @@ void ClientApp::on_participant_discovery(
     {
         std::string server_str = CLIParser::parse_entity_kind(CLIParser::EntityKind::SERVER);
 
-        if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT)
+        if (status == rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
         {
             request_reply_debug("ClientApp", server_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }
-        else if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT ||
-                info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT)
+        else if (status == rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+                status == rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
         {
             request_reply_debug("ClientApp", server_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }

diff --git a/examples/cpp/request_reply/ClientApp.hpp b/examples/cpp/request_reply/ClientApp.hpp
@@ -71,7 +71,8 @@ class ClientApp : public Application, public DomainParticipantListener
     //! Participant discovery method
     void on_participant_discovery(
             DomainParticipant* participant,
-            rtps::ParticipantDiscoveryInfo&& info,
+            rtps::ParticipantDiscoveryStatus status,
+            const ParticipantBuiltinTopicData& info,
             bool& should_be_ignored) override;
 
     //! Publication matched method

diff --git a/examples/cpp/request_reply/ServerApp.cpp b/examples/cpp/request_reply/ServerApp.cpp
@@ -130,17 +130,18 @@ void ServerApp::stop()
 
 void ServerApp::on_participant_discovery(
         DomainParticipant* /* participant */,
-        rtps::ParticipantDiscoveryInfo&& info,
+        rtps::ParticipantDiscoveryStatus status,
+        const ParticipantBuiltinTopicData& info,
         bool& should_be_ignored)
 {
     std::lock_guard<std::mutex> lock(mtx_);
 
     should_be_ignored = false;
 
-    rtps::GuidPrefix_t remote_participant_guid_prefix = info.info.m_guid.guidPrefix;
-    std::string status_str = TypeConverter::to_string(info.status);
+    rtps::GuidPrefix_t remote_participant_guid_prefix = info.guid.guidPrefix;
+    std::string status_str = TypeConverter::to_string(status);
 
-    if (info.info.m_userData.data_vec().size() != 1)
+    if (info.user_data.data_vec().size() != 1)
     {
         should_be_ignored = true;
         request_reply_debug("ServerApp", "Ignoring participant with invalid user data: "
@@ -149,7 +150,7 @@ void ServerApp::on_participant_discovery(
 
     if (!should_be_ignored)
     {
-        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.info.m_userData.data_vec()[0]);
+        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.user_data.data_vec()[0]);
         if (CLIParser::EntityKind::CLIENT != entity_kind)
         {
             should_be_ignored = true;
@@ -163,12 +164,12 @@ void ServerApp::on_participant_discovery(
     {
         std::string client_str = CLIParser::parse_entity_kind(CLIParser::EntityKind::CLIENT);
 
-        if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT)
+        if (status == rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
         {
             request_reply_debug("ServerApp", client_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }
-        else if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT ||
-                info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT)
+        else if (status == rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+                status == rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
         {
             client_matched_status_.match_reply_reader(remote_participant_guid_prefix, false);
             client_matched_status_.match_request_writer(remote_participant_guid_prefix, false);

diff --git a/examples/cpp/request_reply/ServerApp.hpp b/examples/cpp/request_reply/ServerApp.hpp
@@ -68,7 +68,8 @@ class ServerApp : public Application, public DomainParticipantListener
     //! Participant discovery method
     void on_participant_discovery(
             DomainParticipant* participant,
-            rtps::ParticipantDiscoveryInfo&& info,
+            rtps::ParticipantDiscoveryStatus status,
+            const ParticipantBuiltinTopicData& info,
             bool& should_be_ignored) override;
 
     //! Publication matched method

diff --git a/examples/cpp/request_reply/app_utils.hpp b/examples/cpp/request_reply/app_utils.hpp
@@ -225,25 +225,25 @@ struct TypeConverter
     }
 
     static std::string to_string(
-            const rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS& info)
+            const rtps::ParticipantDiscoveryStatus& info)
     {
         std::string info_str = "Unknown";
 
         switch (info)
         {
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
                 info_str = "discovered";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::CHANGED_QOS_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::CHANGED_QOS_PARTICIPANT:
                 info_str = "changed QoS";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
                 info_str = "removed";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
                 info_str = "dropped";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::IGNORED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::IGNORED_PARTICIPANT:
                 info_str = "ignored";
                 break;
             default:

diff --git a/include/fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp b/include/fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp
@@ -20,24 +20,14 @@
 #ifndef FASTDDS_DDS_BUILTIN_TOPIC__PARTICIPANTBUILTINTOPICDATA_HPP
 #define FASTDDS_DDS_BUILTIN_TOPIC__PARTICIPANTBUILTINTOPICDATA_HPP
 
-#include <fastdds/dds/builtin/topic/BuiltinTopicKey.hpp>
-#include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/rtps/builtin/data/ParticipantBuiltinTopicData.hpp>
 
 namespace eprosima {
 namespace fastdds {
 namespace dds {
-namespace builtin {
 
-struct ParticipantBuiltinTopicData
-{
-    //! Builtin topic Key
-    BuiltinTopicKey_t key;
+using ParticipantBuiltinTopicData = rtps::ParticipantBuiltinTopicData;
 
-    //! UserData QoS
-    UserDataQosPolicy user_data;
-};
-
-} // builtin
 } // dds
 } // fastdds
 } // eprosima

diff --git a/include/fastdds/dds/domain/DomainParticipant.hpp b/include/fastdds/dds/domain/DomainParticipant.hpp
@@ -698,7 +698,7 @@ class DomainParticipant : public Entity
      * @warning Not supported yet. Currently returns RETCODE_UNSUPPORTED
      */
     FASTDDS_EXPORTED_API ReturnCode_t get_discovered_participant_data(
-            builtin::ParticipantBuiltinTopicData& participant_data,
+            ParticipantBuiltinTopicData& participant_data,
             const InstanceHandle_t& participant_handle) const;
 
     /**

diff --git a/include/fastdds/dds/domain/DomainParticipantListener.hpp b/include/fastdds/dds/domain/DomainParticipantListener.hpp
@@ -25,6 +25,7 @@
 #include <fastdds/dds/publisher/PublisherListener.hpp>
 #include <fastdds/dds/subscriber/SubscriberListener.hpp>
 #include <fastdds/dds/topic/TopicListener.hpp>
+#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
 #include <fastdds/rtps/reader/ReaderDiscoveryStatus.hpp>
 #include <fastdds/rtps/writer/WriterDiscoveryStatus.hpp>
@@ -34,6 +35,7 @@ namespace fastdds {
 namespace dds {
 
 class DomainParticipant;
+class ParticipantProxyData;
 
 /**
  * Class DomainParticipantListener, overrides behaviour towards certain events.
@@ -66,16 +68,20 @@ class DomainParticipantListener :
      * its QOS or is removed.
      *
      * @param [out] participant Pointer to the Participant which discovered the remote participant.
+     * @param [out] reason Reason of the change in the status of the discovered participant.
      * @param [out] info Remote participant information. User can take ownership of the object.
      * @param [out] should_be_ignored Flag to indicate the library to automatically ignore the discovered Participant.
      */
     virtual void on_participant_discovery(
             DomainParticipant* participant,
-            rtps::ParticipantDiscoveryInfo&& info,
+            fastdds::rtps::ParticipantDiscoveryStatus reason,
+            const ParticipantBuiltinTopicData& info,
             bool& should_be_ignored)
     {
         static_cast<void>(participant);
+        static_cast<void>(reason);
         static_cast<void>(info);
+
         should_be_ignored = false;
     }
 

diff --git a/include/fastdds/rtps/builtin/data/ParticipantBuiltinTopicData.hpp b/include/fastdds/rtps/builtin/data/ParticipantBuiltinTopicData.hpp
@@ -0,0 +1,68 @@
+// 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 ParticipantBuiltinTopicData.hpp
+ *
+ */
+
+#ifndef FASTDDS_RTPS_BUILTIN_DATA__PARTICIPANTBUILTINTOPICDATA_HPP
+#define FASTDDS_RTPS_BUILTIN_DATA__PARTICIPANTBUILTINTOPICDATA_HPP
+
+#include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/rtps/builtin/data/BuiltinTopicKey.hpp>
+#include <fastdds/rtps/common/RemoteLocators.hpp>
+
+namespace eprosima {
+namespace fastdds {
+namespace rtps {
+
+struct ParticipantBuiltinTopicData
+{
+    /// Builtin topic Key
+    BuiltinTopicKey_t key;
+
+    /// UserData QoS
+    dds::UserDataQosPolicy user_data;
+
+    /// Participant GUID
+    GUID_t guid;
+
+    /// Properties
+    dds::ParameterPropertyList_t properties;
+
+    /// Participant name
+    fastcdr::string_255 participant_name;
+
+    /// Metatraffic locators
+    RemoteLocatorList metatraffic_locators;
+
+    /// Default locators
+    RemoteLocatorList default_locators;
+
+    /// Lease Duration
+    dds::Duration_t lease_duration;
+
+    /// Vendor id
+    VendorId_t vendor_id;
+
+    /// Participant domain id
+    dds::DomainId_t domain_id;
+};
+
+} // rtps
+} // fastdds
+} // eprosima
+
+#endif // FASTDDS_RTPS_BUILTIN_DATA__PARTICIPANTBUILTINTOPICDATA_HPP