DDS DataWriter: create, delete and write (eProsima#1156)

* Refs #8020 Replace WriterQos by DataWriterQos on create_publisher method Signed-off-by: Laura Martin <[email protected]> * Refs #8020 create_datawriter standard implementation Signed-off-by: Laura Martin <[email protected]> * Refs #8020 Fix examples and tests Signed-off-by: Laura Martin <[email protected]> * Refs #8020 Add unittest for create and delete datawriter functions Signed-off-by: Laura Martin <[email protected]> * Refs #8088 Added topic reference and dereference calls in create and delete datawriter Signed-off-by: Laura Martin <[email protected]> * Fix examples and tests Signed-off-by: Laura Martin <[email protected]> * Fix compilation error Signed-off-by: Laura Martin <[email protected]> * Apply suggested changes and fix warnings Signed-off-by: Laura Martin <[email protected]> * Fix warnings and add datawriter to DeleteTopicInUse unittest Signed-off-by: Laura Martin <[email protected]> * Refs #8020 Move listener methods to DataXXXListener This should resolve the warnings on MAC and make the class hierarchy compliant with the standard Signed-off-by: Iker Luengo <[email protected]> * resolve warnings on Windows Signed-off-by: Iker Luengo <[email protected]> * Refs #8020 Change PIM write to follow the standard Signed-off-by: Laura Martin <[email protected]> * Refs #8020 Add write preconditions unittest Signed-off-by: Laura Martin <[email protected]> * fix warnings Signed-off-by: Iker Luengo <[email protected]> Co-authored-by: Iker Luengo <[email protected]>
hzy001 · Apr 20, 2020 · bb60dc3 · bb60dc3
1 parent f54bb8c
commit bb60dc3
Show file tree

Hide file tree

Showing 36 changed files with 789 additions and 543 deletions.
diff --git a/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldPublisher.cpp b/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldPublisher.cpp
@@ -80,27 +80,28 @@ bool HelloWorldPublisher::init()
     }
 
     //REGISTER THE TYPE
+    m_type.get()->auto_fill_type_information(false);
+    m_type.get()->auto_fill_type_object(true);
+
     mp_participant->register_type(m_type);
 
     //CREATE THE PUBLISHER
-    //PublisherQos qos;
-    eprosima::fastrtps::TopicAttributes topic_attr;
-    topic_attr.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-    topic_attr.topicDataType = "HelloWorld";
-    topic_attr.topicName = "DDSDynHelloWorldTopic";
-    topic_attr.auto_fill_type_object = true; // Share the type with readers.
-    topic_attr.auto_fill_type_information = false;
-    DataWriterQos qos;
-    qos.reliability().kind = RELIABLE_RELIABILITY_QOS;
     mp_publisher = mp_participant->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
 
     if (mp_publisher == nullptr)
     {
         return false;
     }
 
+    topic_ = mp_participant->create_topic("DDSDynHelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
     // CREATE THE WRITER
-    writer_ = mp_publisher->create_datawriter(topic_attr, qos, &m_listener);
+    writer_ = mp_publisher->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &m_listener);
 
     if (writer_ == nullptr)
     {
@@ -113,6 +114,18 @@ bool HelloWorldPublisher::init()
 
 HelloWorldPublisher::~HelloWorldPublisher()
 {
+    if (writer_ != nullptr)
+    {
+        mp_publisher->delete_datawriter(writer_);
+    }
+    if (mp_publisher != nullptr)
+    {
+        mp_participant->delete_publisher(mp_publisher);
+    }
+    if (topic_ != nullptr)
+    {
+        mp_participant->delete_topic(topic_);
+    }
     DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
 }
 

diff --git a/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldPublisher.h b/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldPublisher.h
@@ -51,6 +51,8 @@ class HelloWorldPublisher
 
     eprosima::fastdds::dds::Publisher* mp_publisher;
 
+    eprosima::fastdds::dds::Topic* topic_;
+
     eprosima::fastdds::dds::DataWriter* writer_;
 
     bool stop;

diff --git a/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.h b/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.h
@@ -24,7 +24,6 @@
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastrtps/subscriber/SampleInfo.h>
 #include <fastrtps/rtps/common/Types.h>
 
@@ -76,8 +75,7 @@ class HelloWorldSubscriber
 public:
 
     class SubListener
-        : public eprosima::fastdds::dds::DataReaderListener
-        , public eprosima::fastdds::dds::DomainParticipantListener
+        :  public eprosima::fastdds::dds::DomainParticipantListener
     {
 public:
 

diff --git a/examples/C++/DDS/HelloWorldExample/HelloWorldPublisher.cpp b/examples/C++/DDS/HelloWorldExample/HelloWorldPublisher.cpp
@@ -33,6 +33,8 @@ using namespace eprosima::fastdds::dds;
 HelloWorldPublisher::HelloWorldPublisher()
     : participant_(nullptr)
     , publisher_(nullptr)
+    , topic_(nullptr)
+    , writer_(nullptr)
     , type_(new HelloWorldPubSubType())
 {
 }
@@ -54,31 +56,44 @@ bool HelloWorldPublisher::init()
     type_.register_type(participant_, type_->getName());
 
     //CREATE THE PUBLISHER
-    eprosima::fastrtps::TopicAttributes topic_attr;
-    topic_attr.topicDataType = "HelloWorld";
-    topic_attr.topicName = "HelloWorldTopic";
-    DataWriterQos qos;
-    qos.reliability().kind = RELIABLE_RELIABILITY_QOS;
     publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
 
     if (publisher_ == nullptr)
     {
         return false;
     }
 
+    topic_ = participant_->create_topic("HelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
     // CREATE THE WRITER
-    writer_ = publisher_->create_datawriter(topic_attr, qos, &listener_);
+    writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &listener_);
 
     if (writer_ == nullptr)
     {
         return false;
     }
-
     return true;
 }
 
 HelloWorldPublisher::~HelloWorldPublisher()
 {
+    if (writer_ != nullptr)
+    {
+        publisher_->delete_datawriter(writer_);
+    }
+    if (publisher_ != nullptr)
+    {
+        participant_->delete_publisher(publisher_);
+    }
+    if (topic_ != nullptr)
+    {
+        participant_->delete_topic(topic_);
+    }
     DomainParticipantFactory::get_instance()->delete_participant(participant_);
 }
 

diff --git a/examples/C++/DDS/HelloWorldExample/HelloWorldPublisher.h b/examples/C++/DDS/HelloWorldExample/HelloWorldPublisher.h
@@ -54,6 +54,8 @@ class HelloWorldPublisher
 
     eprosima::fastdds::dds::Publisher* publisher_;
 
+    eprosima::fastdds::dds::Topic* topic_;
+
     eprosima::fastdds::dds::DataWriter* writer_;
 
     bool stop_;

diff --git a/examples/C++/DDS/TypeLookupService/TypeLookupPublisher.cpp b/examples/C++/DDS/TypeLookupService/TypeLookupPublisher.cpp
@@ -73,32 +73,34 @@ bool TypeLookupPublisher::init()
     }
 
     //REGISTER THE TYPE
+    m_type.get()->auto_fill_type_information(true);
+    m_type.get()->auto_fill_type_object(false);
     mp_participant->register_type(m_type);
 
     //CREATE THE PUBLISHER
-    TopicAttributes topic_attr;
-    topic_attr.topicKind = NO_KEY;
-    topic_attr.topicDataType = "TypeLookup";
-    topic_attr.topicName = "TypeLookupTopic";
-    topic_attr.historyQos.kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
-    topic_attr.historyQos.depth = 30;
-    topic_attr.resourceLimitsQos.max_samples = 50;
-    topic_attr.resourceLimitsQos.allocated_samples = 20;
-    topic_attr.auto_fill_type_object = false;
-    topic_attr.auto_fill_type_information = true; // Share the type with readers.
-    DataWriterQos qos;
-    qos.reliable_writer_data().times.heartbeatPeriod.seconds = 2;
-    qos.reliable_writer_data().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
-    qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
     mp_publisher = mp_participant->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
 
     if (mp_publisher == nullptr)
     {
         return false;
     }
 
+    topic_ = mp_participant->create_topic("TypeLookupTopic", "TypeLookup", TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
     // CREATE THE WRITER
-    writer_ = mp_publisher->create_datawriter(topic_attr, qos, &m_listener);
+    DataWriterQos wqos;
+    wqos.history().kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
+    wqos.history().depth = 30;
+    wqos.resource_limits().max_samples = 50;
+    wqos.resource_limits().allocated_samples = 20;
+    wqos.reliable_writer_data().times.heartbeatPeriod.seconds = 2;
+    wqos.reliable_writer_data().times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    writer_ = mp_publisher->create_datawriter(topic_, wqos, &m_listener);
 
     if (writer_ == nullptr)
     {
@@ -111,6 +113,18 @@ bool TypeLookupPublisher::init()
 
 TypeLookupPublisher::~TypeLookupPublisher()
 {
+    if (writer_ != nullptr)
+    {
+        mp_publisher->delete_datawriter(writer_);
+    }
+    if (mp_publisher != nullptr)
+    {
+        mp_participant->delete_publisher(mp_publisher);
+    }
+    if (topic_ != nullptr)
+    {
+        mp_participant->delete_topic(topic_);
+    }
     DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
 }
 

diff --git a/examples/C++/DDS/TypeLookupService/TypeLookupPublisher.h b/examples/C++/DDS/TypeLookupService/TypeLookupPublisher.h
@@ -54,6 +54,8 @@ class TypeLookupPublisher
 
     eprosima::fastdds::dds::Publisher* mp_publisher;
 
+    eprosima::fastdds::dds::Topic* topic_;
+
     eprosima::fastdds::dds::DataWriter* writer_;
 
     bool stop;

diff --git a/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.h b/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.h
@@ -24,7 +24,6 @@
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
-#include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastrtps/subscriber/SampleInfo.h>
 #include <fastrtps/rtps/common/Types.h>
 
@@ -76,8 +75,7 @@ class TypeLookupSubscriber
 public:
 
     class SubListener
-        : public eprosima::fastdds::dds::DataReaderListener
-        , public eprosima::fastdds::dds::DomainParticipantListener
+        : public eprosima::fastdds::dds::DomainParticipantListener
     {
 public:
 

diff --git a/include/fastdds/dds/core/policy/QosPolicies.hpp b/include/fastdds/dds/core/policy/QosPolicies.hpp
@@ -748,7 +748,7 @@ public:
          * @param data data to copy in the newly created object \
          */                                                                            \
         RTPS_DllAPI TClassName(                                                            \
-            const TClassName& data) = default;                                         \
+            const TClassName &data) = default;                                         \
                                                                                        \
         /** \
          * Construct from underlying collection type. \
@@ -759,7 +759,7 @@ public:
          * @param data data to copy in the newly created object \
          */                                                                            \
         RTPS_DllAPI TClassName(                                                            \
-            const collection_type& data)                                               \
+            const collection_type &data)                                               \
             : GenericDataQosPolicy(TPid, data)                                             \
         {                                                                                  \
         }                                                                                  \
@@ -776,7 +776,7 @@ public:
          * @return reference to the current object. \
          */                                                                            \
         TClassName& operator =(                                                            \
-            const TClassName& b) = default;                                            \
+            const TClassName &b) = default;                                            \
                                                                                        \
     };
 

diff --git a/include/fastdds/dds/domain/DomainParticipantListener.hpp b/include/fastdds/dds/domain/DomainParticipantListener.hpp
@@ -23,6 +23,9 @@
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
 #include <fastdds/rtps/reader/ReaderDiscoveryInfo.h>
 #include <fastdds/rtps/writer/WriterDiscoveryInfo.h>
+#include <fastdds/dds/publisher/PublisherListener.hpp>
+#include <fastdds/dds/subscriber/SubscriberListener.hpp>
+#include <fastdds/dds/topic/TopicListener.hpp>
 
 #include <fastrtps/types/TypeIdentifier.h>
 #include <fastrtps/types/TypeObject.h>
@@ -38,13 +41,20 @@ class DomainParticipant;
  * Class DomainParticipantListener, overrides behaviour towards certain events.
  * @ingroup FASTDDS_MODULE
  */
-class DomainParticipantListener
+class DomainParticipantListener :
+    public PublisherListener,
+    public SubscriberListener,
+    public TopicListener
 {
 public:
 
-    DomainParticipantListener() {}
+    DomainParticipantListener()
+    {
+    }
 
-    virtual ~DomainParticipantListener() {}
+    virtual ~DomainParticipantListener()
+    {
+    }
 
     /*!
      * This method is called when a new Participant is discovered, or a previously discovered participant changes
@@ -66,6 +76,7 @@ class DomainParticipantListener
     {
         (void)participant, (void)info;
     }
+
 #endif
 
     /*!