Refs #21357. Remove WriterQos from register_writer.

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
eProsima · Jul 24, 2024 · b73d265 · b73d265
1 parent c119820
commit b73d265
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Showing 17 changed files with 64 additions and 70 deletions.
diff --git a/examples/cpp/rtps/WriterApp.cpp b/examples/cpp/rtps/WriterApp.cpp
@@ -108,13 +108,11 @@ WriterApp::WriterApp(
     PublicationBuiltinTopicData pub_builtin_data;
     pub_builtin_data.type_name = "HelloWorld";
     pub_builtin_data.topic_name = topic_name;
-
-    eprosima::fastdds::dds::WriterQos writer_qos;
-    writer_qos.m_durability.kind = eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
-    writer_qos.m_reliability.kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
+    pub_builtin_data.durability.kind = eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    pub_builtin_data.reliability.kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
     // Register entity
-    if (!rtps_participant_->register_writer(rtps_writer_, pub_builtin_data, writer_qos))
+    if (!rtps_participant_->register_writer(rtps_writer_, pub_builtin_data))
     {
         throw std::runtime_error("Entity registration failed");
     }

diff --git a/include/fastdds/rtps/participant/RTPSParticipant.hpp b/include/fastdds/rtps/participant/RTPSParticipant.hpp
@@ -142,13 +142,11 @@ class FASTDDS_EXPORTED_API RTPSParticipant
      * Register a Writer in the BuiltinProtocols.
      * @param rtps_writer Pointer to the RTPSWriter.
      * @param pub_builtin_data Contains the discovery information of the writer.
-     * @param wqos WriterQos.
      * @return True if correctly registered.
      */
     bool register_writer(
             RTPSWriter* rtps_writer,
-            const PublicationBuiltinTopicData& pub_builtin_data,
-            const fastdds::dds::WriterQos& wqos);
+            const PublicationBuiltinTopicData& pub_builtin_data);
 
     /**
      * Register a Reader in the BuiltinProtocols.

diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -457,23 +457,23 @@ ReturnCode_t DataWriterImpl::enable()
     }
 
     // REGISTER THE WRITER
-    WriterQos wqos = qos_.get_writerqos(get_publisher()->get_qos(), topic_->get_qos());
+    auto builtin_topic_data = get_publication_builtin_topic_data();
     if (!is_data_sharing_compatible_)
     {
-        wqos.data_sharing.off();
+        builtin_topic_data.data_sharing.off();
     }
     if (endpoint_partitions)
     {
         std::istringstream partition_string(*endpoint_partitions);
         std::string partition_name;
-        wqos.m_partition.clear();
+        builtin_topic_data.partition.clear();
 
         while (std::getline(partition_string, partition_name, ';'))
         {
-            wqos.m_partition.push_back(partition_name.c_str());
+            builtin_topic_data.partition.push_back(partition_name.c_str());
         }
     }
-    publisher_->rtps_participant()->register_writer(writer_, get_publication_builtin_topic_data(), wqos);
+    publisher_->rtps_participant()->register_writer(writer_, builtin_topic_data);
 
     return RETCODE_OK;
 }
@@ -1700,6 +1700,7 @@ PublicationBuiltinTopicData DataWriterImpl::get_publication_builtin_topic_data()
     {
         pub_builtin_data.topic_name = topic_->get_name();
         pub_builtin_data.type_name = topic_->get_type_name();
+        pub_builtin_data.topic_data = topic_->get_qos().topic_data();
     }
 
     // DataWriter qos
@@ -1765,6 +1766,17 @@ PublicationBuiltinTopicData DataWriterImpl::get_publication_builtin_topic_data()
     }
     pub_builtin_data.representation = qos_.representation();
 
+    // eProsima extensions
+
+    pub_builtin_data.disable_positive_acks = qos_.reliable_writer_qos().disable_positive_acks;
+    pub_builtin_data.data_sharing = qos_.data_sharing();
+
+    if (pub_builtin_data.data_sharing.kind() != OFF &&
+        pub_builtin_data.data_sharing.domain_ids().empty())
+    {
+        pub_builtin_data.data_sharing.add_domain_id(utils::default_domain_id());
+    }
+
     pub_builtin_data.guid = guid();
     if (publisher_is_valid)
     {

diff --git a/src/cpp/rtps/builtin/BuiltinProtocols.cpp b/src/cpp/rtps/builtin/BuiltinProtocols.cpp
@@ -196,14 +196,13 @@ void BuiltinProtocols::filter_server_remote_locators(
 
 bool BuiltinProtocols::add_writer(
         RTPSWriter* rtps_writer,
-        const PublicationBuiltinTopicData& pub_builtin_data,
-        const fastdds::dds::WriterQos& wqos)
+        const PublicationBuiltinTopicData& pub_builtin_data)
 {
     bool ok = true;
 
     if (nullptr != mp_PDP)
     {
-        ok = mp_PDP->get_edp()->new_writer_proxy_data(rtps_writer, pub_builtin_data, wqos);
+        ok = mp_PDP->get_edp()->new_writer_proxy_data(rtps_writer, pub_builtin_data);
 
         if (!ok)
         {
@@ -218,7 +217,7 @@ bool BuiltinProtocols::add_writer(
 
     if (nullptr != mp_WLP)
     {
-        ok &= mp_WLP->add_local_writer(rtps_writer, wqos);
+        ok &= mp_WLP->add_local_writer(rtps_writer, pub_builtin_data.liveliness);
     }
     else
     {

diff --git a/src/cpp/rtps/builtin/BuiltinProtocols.h b/src/cpp/rtps/builtin/BuiltinProtocols.h
@@ -129,15 +129,13 @@ class BuiltinProtocols
 
     /**
      * Add a local writer to the BuiltinProtocols.
-     * @param writer   Pointer to the RTPSWriter
-     * @param topicAtt Attributes of the associated topic
-     * @param wqos     QoS policies dictated by the publisher
+     * @param writer            Pointer to the RTPSWriter
+     * @param pub_builtin_data  QoS policies dictated by the publisher
      * @return True if correct.
      */
     bool add_writer(
             RTPSWriter* rtps_writer,
-            const PublicationBuiltinTopicData& pub_builtin_data,
-            const fastdds::dds::WriterQos& wqos);
+            const PublicationBuiltinTopicData& pub_builtin_data);
     /**
      * Add a local reader to the BuiltinProtocols.
      * @param rtps_reader       Pointer to the RTPSReader.

diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp
@@ -240,14 +240,13 @@ bool EDP::new_reader_proxy_data(
 
 bool EDP::new_writer_proxy_data(
         RTPSWriter* rtps_writer,
-        const PublicationBuiltinTopicData& pub_builtin_data,
-        const fastdds::dds::WriterQos& wqos)
+        const PublicationBuiltinTopicData& pub_builtin_data)
 {
     EPROSIMA_LOG_INFO(RTPS_EDP,
             "Adding " << rtps_writer->getGuid().entityId << " in topic " <<
             pub_builtin_data.topic_name.to_string());
 
-    auto init_fun = [this, rtps_writer, &pub_builtin_data, &wqos](
+    auto init_fun = [this, rtps_writer, &pub_builtin_data](
         WriterProxyData* wpd,
         bool updating,
         const ParticipantProxyData& participant_data)
@@ -260,6 +259,8 @@ bool EDP::new_writer_proxy_data(
                     return false;
                 }
 
+                from_builtin_to_proxy(pub_builtin_data, *wpd);
+
                 const NetworkFactory& network = mp_RTPSParticipant->network_factory();
                 const auto& watt = rtps_writer->getAttributes();
 
@@ -320,7 +321,7 @@ bool EDP::new_writer_proxy_data(
                 BaseWriter* base_writer = BaseWriter::downcast(rtps_writer);
                 assert(base_writer->get_history() != nullptr);
                 wpd->typeMaxSerialized(base_writer->get_history()->getTypeMaxSerialized());
-                wpd->m_qos.setQos(wqos, true);
+                wpd->m_qos.setQos(wpd->m_qos, true);
                 wpd->userDefinedId(watt.getUserDefinedID());
                 wpd->persistence_guid(watt.persistence_guid);
 #if HAVE_SECURITY

diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDP.h b/src/cpp/rtps/builtin/discovery/endpoint/EDP.h
@@ -179,15 +179,13 @@ class EDP
             const fastdds::rtps::ContentFilterProperty* content_filter = nullptr);
     /**
      * Create a new ReaderPD for a local Writer.
-     * @param rtps_writer      Pointer to the RTPSWriter.
-     * @param pub_builtin_data Publication data for the writer.
-     * @param qos              QoS policies dictated by the publisher.
+     * @param rtps_writer       Pointer to the RTPSWriter.
+     * @param pub_builtin_data  QoS policies dictated by the publisher.
      * @return True if correct.
      */
     bool new_writer_proxy_data(
             RTPSWriter* rtps_writer,
-            const PublicationBuiltinTopicData& pub_builtin_data,
-            const fastdds::dds::WriterQos& qos);
+            const PublicationBuiltinTopicData& pub_builtin_data);
     /**
      * A previously created Reader has been updated
      * @param rtps_reader      Pointer to the RTPSReader.

diff --git a/src/cpp/rtps/builtin/liveliness/WLP.cpp b/src/cpp/rtps/builtin/liveliness/WLP.cpp
@@ -618,18 +618,17 @@ void WLP::removeRemoteEndpoints(
 
 bool WLP::add_local_writer(
         RTPSWriter* writer,
-        const fastdds::dds::WriterQos& wqos)
+        const fastdds::dds::LivelinessQosPolicy& qos)
 {
     std::lock_guard<std::recursive_mutex> guard(*mp_builtinProtocols->mp_PDP->getMutex());
 
     EPROSIMA_LOG_INFO(RTPS_LIVELINESS, writer->getGuid().entityId << " to Liveliness Protocol");
 
     BaseWriter* base_writer = BaseWriter::downcast(writer);
 
-    double wAnnouncementPeriodMilliSec(fastdds::rtps::TimeConv::Duration_t2MilliSecondsDouble(wqos.m_liveliness.
-                    announcement_period));
+    double wAnnouncementPeriodMilliSec(TimeConv::Duration_t2MilliSecondsDouble(qos.announcement_period));
 
-    if (wqos.m_liveliness.kind == dds::AUTOMATIC_LIVELINESS_QOS )
+    if (qos.kind == dds::AUTOMATIC_LIVELINESS_QOS )
     {
         if (automatic_liveliness_assertion_ == nullptr)
         {
@@ -656,7 +655,7 @@ bool WLP::add_local_writer(
         }
         automatic_writers_.push_back(base_writer);
     }
-    else if (wqos.m_liveliness.kind == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    else if (qos.kind == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
         if (manual_liveliness_assertion_ == nullptr)
         {
@@ -685,21 +684,21 @@ bool WLP::add_local_writer(
 
         if (!pub_liveliness_manager_->add_writer(
                     writer->getGuid(),
-                    wqos.m_liveliness.kind,
-                    wqos.m_liveliness.lease_duration))
+                    qos.kind,
+                    qos.lease_duration))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not add writer " << writer->getGuid() << " to liveliness manager");
         }
     }
-    else if (wqos.m_liveliness.kind == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    else if (qos.kind == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
     {
         manual_by_topic_writers_.push_back(base_writer);
 
         if (!pub_liveliness_manager_->add_writer(
                     writer->getGuid(),
-                    wqos.m_liveliness.kind,
-                    wqos.m_liveliness.lease_duration))
+                    qos.kind,
+                    qos.lease_duration))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not add writer " << writer->getGuid() << " to liveliness manager");

diff --git a/src/cpp/rtps/builtin/liveliness/WLP.hpp b/src/cpp/rtps/builtin/liveliness/WLP.hpp
@@ -109,12 +109,12 @@ class WLP
     /**
      * Add a local writer to the liveliness protocol.
      * @param writer Pointer to the RTPSWriter.
-     * @param wqos Quality of service policies for the writer.
+     * @param qos Quality of service policies for the writer.
      * @return True if correct.
      */
     bool add_local_writer(
             RTPSWriter* writer,
-            const fastdds::dds::WriterQos& wqos);
+            const fastdds::dds::LivelinessQosPolicy& qos);
     /**
      * Remove a local writer from the liveliness protocol.
      * @param writer Pointer to the RTPSWriter.

diff --git a/src/cpp/rtps/participant/RTPSParticipant.cpp b/src/cpp/rtps/participant/RTPSParticipant.cpp
@@ -77,10 +77,9 @@ uint32_t RTPSParticipant::getRTPSParticipantID() const
 
 bool RTPSParticipant::register_writer(
         RTPSWriter* writer,
-        const PublicationBuiltinTopicData& pub_builtin_data,
-        const fastdds::dds::WriterQos& wqos)
+        const PublicationBuiltinTopicData& pub_builtin_data)
 {
-    return mp_impl->register_writer(writer, pub_builtin_data, wqos);
+    return mp_impl->register_writer(writer, pub_builtin_data);
 }
 
 bool RTPSParticipant::register_reader(

diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
@@ -1406,10 +1406,9 @@ void RTPSParticipantImpl::disableReader(
 
 bool RTPSParticipantImpl::register_writer(
         RTPSWriter* rtps_writer,
-        const PublicationBuiltinTopicData& pub_builtin_data,
-        const fastdds::dds::WriterQos& wqos)
+        const PublicationBuiltinTopicData& pub_builtin_data)
 {
-    return this->mp_builtinProtocols->add_writer(rtps_writer, pub_builtin_data, wqos);
+    return this->mp_builtinProtocols->add_writer(rtps_writer, pub_builtin_data);
 }
 
 bool RTPSParticipantImpl::register_reader(
@@ -2865,9 +2864,9 @@ const fastdds::statistics::rtps::IStatusObserver* RTPSParticipantImpl::create_mo
                 },
                 [&](RTPSWriter* w,
                 const PublicationBuiltinTopicData& pub_builtin_data,
-                const fastdds::dds::WriterQos& wqos) -> bool
+                const fastdds::dds::WriterQos& /*wqos*/) -> bool
                 {
-                    return this->register_writer(w, pub_builtin_data, wqos);
+                    return this->register_writer(w, pub_builtin_data);
                 },
                 getEventResource()
                 ));

diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.h b/src/cpp/rtps/participant/RTPSParticipantImpl.h
@@ -887,13 +887,11 @@ class RTPSParticipantImpl
      * Register a Writer in the BuiltinProtocols.
      * @param Writer Pointer to the RTPSWriter.
      * @param pub_builtin_data Contains the discovery information of the writer.
-     * @param wqos WriterQos.
      * @return True if correctly registered.
      */
     bool register_writer(
             RTPSWriter* Writer,
-            const PublicationBuiltinTopicData& pub_builtin_data,
-            const fastdds::dds::WriterQos& wqos);
+            const PublicationBuiltinTopicData& pub_builtin_data);
 
     /**
      * Register a Reader in the BuiltinProtocols.

diff --git a/test/blackbox/common/RTPSBlackboxTestsBasic.cpp b/test/blackbox/common/RTPSBlackboxTestsBasic.cpp
@@ -819,8 +819,7 @@ TEST(RTPS, MultithreadedWriterCreation)
                 pub_builtin_data.type_name = "string";
                 pub_builtin_data.topic_name = "test_topic";
                 /* Register writer in participant */
-                eprosima::fastdds::dds::WriterQos writer_qos;
-                ASSERT_EQ(rtps_participant->register_writer(writer, pub_builtin_data, writer_qos), true);
+                ASSERT_EQ(rtps_participant->register_writer(writer, pub_builtin_data), true);
 
                 {
                     /* Wait for test completion request */

diff --git a/test/blackbox/common/RTPSWithRegistrationWriter.hpp b/test/blackbox/common/RTPSWithRegistrationWriter.hpp
@@ -178,7 +178,7 @@ class RTPSWithRegistrationWriter
             return;
         }
 
-        ASSERT_EQ(participant_->register_writer(writer_, pub_builtin_data_, writer_qos_), true);
+        ASSERT_EQ(participant_->register_writer(writer_, pub_builtin_data_), true);
 
         initialized_ = true;
     }

diff --git a/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.hpp b/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.hpp
@@ -185,10 +185,9 @@ class FASTDDS_EXPORTED_API RTPSParticipant
 
     MOCK_CONST_METHOD0(typelookup_manager, fastdds::dds::builtin::TypeLookupManager* ());
 
-    MOCK_METHOD3(register_writer, bool(
+    MOCK_METHOD2(register_writer, bool(
                 RTPSWriter * Writer,
-                const PublicationBuiltinTopicData& pub_builtin_data,
-                const fastdds::dds::WriterQos& wqos));
+                const PublicationBuiltinTopicData& pub_builtin_data));
 
     MOCK_METHOD2(update_writer, bool(
                 RTPSWriter * Writer,

diff --git a/test/unittest/rtps/reader/StatefulReaderTests.cpp b/test/unittest/rtps/reader/StatefulReaderTests.cpp
@@ -97,7 +97,7 @@ TEST(StatefulReaderTests, RTPSCorrectGAPProcessing)
     pub_builtin_data.type_name = "string";
     pub_builtin_data.topic_name = "topic";
     part->register_reader(reader, sub_builtin_data);
-    part->register_writer(writer, pub_builtin_data, {});
+    part->register_writer(writer, pub_builtin_data);
 
     // After registration, the writer should be matched
     auto writer_guid = writer->getGuid();

diff --git a/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp b/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp
@@ -358,9 +358,14 @@ class RTPSStatisticsTestsImpl
         using namespace fastdds;
         using namespace fastdds::rtps;
 
+        auto& watt = writer_->getAttributes();
         PublicationBuiltinTopicData pub_builtin_data;
         pub_builtin_data.type_name = data_type;
         pub_builtin_data.topic_name = topic_name;
+        pub_builtin_data.durability.durabilityKind(watt.durabilityKind);
+        pub_builtin_data.reliability.kind =
+                RELIABLE ==
+                watt.reliabilityKind ? dds::RELIABLE_RELIABILITY_QOS : dds::BEST_EFFORT_RELIABILITY_QOS;
 
         auto& ratt = writer_->getAttributes();
         SubscriptionBuiltinTopicData sub_builtin_data;
@@ -371,15 +376,7 @@ class RTPSStatisticsTestsImpl
                 RELIABLE ==
                 ratt.reliabilityKind ? dds::RELIABLE_RELIABILITY_QOS : dds::BEST_EFFORT_RELIABILITY_QOS;
 
-
-        dds::WriterQos Wqos;
-        auto& watt = writer_->getAttributes();
-        Wqos.m_durability.durabilityKind(watt.durabilityKind);
-        Wqos.m_reliability.kind =
-                RELIABLE ==
-                watt.reliabilityKind ? dds::RELIABLE_RELIABILITY_QOS : dds::BEST_EFFORT_RELIABILITY_QOS;
-
-        participant_->register_writer(writer_, pub_builtin_data, Wqos);
+        participant_->register_writer(writer_, pub_builtin_data);
         participant_->register_reader(reader_, sub_builtin_data);
     }