Add API to createRTPSWriter with a custom change pool [14951]

include/fastdds/rtps/RTPSDomain.h

@@ -26,6 +26,7 @@
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
 #include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/history/IPayloadPool.h>
+#include <fastdds/rtps/history/IChangePool.h>
 
 namespace eprosima {
 namespace fastrtps {
@@ -134,6 +135,27 @@ class RTPSDomain
             WriterHistory* hist,
             WriterListener* listen = nullptr);
 
+    /**
+     * Create a RTPSWriter in a participant using a custom payload pool.
+     * @param p Pointer to the RTPSParticipant.
+     * @param watt Writer Attributes.
+     * @param payload_pool Shared pointer to the IPayloadPool
+     * @param change_pool Shared pointer to the IChangePool
+     * @param hist Pointer to the WriterHistory.
+     * @param listen Pointer to the WriterListener.
+     * @return Pointer to the created RTPSWriter.
+     *
+     * \warning The returned pointer is invalidated after a call to removeRTPSWriter() or stopAll(),
+     *          so its use may result in undefined behaviour.
+     */
+    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
+            RTPSParticipant* p,
+            WriterAttributes& watt,
+            const std::shared_ptr<IPayloadPool>& payload_pool,
+            const std::shared_ptr<IChangePool>& change_pool,
+            WriterHistory* hist,
+            WriterListener* listen = nullptr);
+
     /**
      * Create a RTPSWriter in a participant.
      * @param p Pointer to the RTPSParticipant.

src/cpp/rtps/RTPSDomain.cpp

@@ -314,6 +314,27 @@ RTPSWriter* RTPSDomain::createRTPSWriter(
     return nullptr;
 }
 
+RTPSWriter* RTPSDomain::createRTPSWriter(
+        RTPSParticipant* p,
+        WriterAttributes& watt,
+        const std::shared_ptr<IPayloadPool>& payload_pool,
+        const std::shared_ptr<IChangePool>& change_pool,
+        WriterHistory* hist,
+        WriterListener* listen)
+{
+    RTPSParticipantImpl* impl = RTPSDomainImpl::find_local_participant(p->getGuid());
+    if (impl)
+    {
+        RTPSWriter* ret_val = nullptr;
+        if (impl->create_writer(&ret_val, watt, payload_pool, change_pool, hist, listen))
+        {
+            return ret_val;
+        }
+    }
+
+    return nullptr;
+}
+
 RTPSWriter* RTPSDomain::createRTPSWriter(
         RTPSParticipant* p,
         const EntityId_t& entity_id,