DDS create_datareader (eProsima#1154)

* create_datareader unit test on PIM Signed-off-by: Iker Luengo <[email protected]> * adapt implementation to PIM Signed-off-by: Iker Luengo <[email protected]> * adapt tests and examples Signed-off-by: Iker Luengo <[email protected]> * create_datareader unit test on PSM Signed-off-by: Iker Luengo <[email protected]> * create_datareader implementation on PSM Signed-off-by: Iker Luengo <[email protected]> * Remove attributes from DataReader Signed-off-by: Iker Luengo <[email protected]> * reference count on Topic Signed-off-by: Iker Luengo <[email protected]> * correct linker error on Windows Signed-off-by: Iker Luengo <[email protected]> * Apply suggested changes Signed-off-by: Iker Luengo <[email protected]>
hzy001 · Apr 17, 2020 · f54bb8c · f54bb8c
1 parent 13dd968
commit f54bb8c
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Showing 28 changed files with 1,160 additions and 385 deletions.
diff --git a/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.cpp b/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.cpp
@@ -51,17 +51,26 @@ bool HelloWorldSubscriber::init()
     }
 
     // CREATE THE COMMON READER ATTRIBUTES
+    qos_ = DATAREADER_QOS_DEFAULT;
     qos_.reliability().kind = RELIABLE_RELIABILITY_QOS;
-    topic_.topicKind = eprosima::fastrtps::rtps::NO_KEY;
-    topic_.topicDataType = "HelloWorld";
-    topic_.topicName = "DDSDynHelloWorldTopic";
 
     return true;
 }
 
 HelloWorldSubscriber::~HelloWorldSubscriber()
 {
+    for (const auto& it : topics_)
+    {
+        mp_subscriber->delete_datareader(it.first);
+        mp_participant->delete_topic(it.second);
+    }
+    if (mp_subscriber != nullptr)
+    {
+        mp_participant->delete_subscriber(mp_subscriber);
+    }
+
     DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
+    topics_.clear();
     readers_.clear();
     datas_.clear();
 }
@@ -117,15 +126,15 @@ void HelloWorldSubscriber::SubListener::on_data_available(
 void HelloWorldSubscriber::SubListener::on_type_discovery(
         DomainParticipant*,
         const eprosima::fastrtps::rtps::SampleIdentity&,
-        const eprosima::fastrtps::string_255& topic,
+        const eprosima::fastrtps::string_255& topic_name,
         const eprosima::fastrtps::types::TypeIdentifier*,
         const eprosima::fastrtps::types::TypeObject*,
         eprosima::fastrtps::types::DynamicType_ptr dyn_type)
 {
     TypeSupport m_type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
     subscriber_->participant()->register_type(m_type);
 
-    std::cout << "Discovered type: " << m_type->getName() << " from topic " << topic << std::endl;
+    std::cout << "Discovered type: " << m_type->getName() << " from topic " << topic_name << std::endl;
 
     if (subscriber_->mp_subscriber == nullptr)
     {
@@ -142,12 +151,24 @@ void HelloWorldSubscriber::SubListener::on_type_discovery(
             return;
         }
     }
-    subscriber_->topic_.topicDataType = m_type->getName();
+
+    //CREATE THE TOPIC
+    eprosima::fastdds::dds::Topic* topic = subscriber_->mp_participant->create_topic(
+            "HelloWorldTopic",
+            m_type->getName(),
+            TOPIC_QOS_DEFAULT);
+
+    if (topic == nullptr)
+    {
+        return;
+    }
+
     DataReader* reader = subscriber_->mp_subscriber->create_datareader(
-        subscriber_->topic_,
+        topic,
         subscriber_->qos_,
         &subscriber_->m_listener);
 
+    subscriber_->topics_[reader] = topic;
     subscriber_->readers_[reader] = dyn_type;
     eprosima::fastrtps::types::DynamicData_ptr data(
         eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type));

diff --git a/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.h b/examples/C++/DDS/DynamicHelloWorldExample/HelloWorldSubscriber.h
@@ -61,6 +61,8 @@ class HelloWorldSubscriber
 
     eprosima::fastdds::dds::Subscriber* mp_subscriber;
 
+    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::Topic*> topics_;
+
     std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicType_ptr> readers_;
 
     std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicData_ptr> datas_;
@@ -69,8 +71,6 @@ class HelloWorldSubscriber
 
     eprosima::fastdds::dds::DataReaderQos qos_;
 
-    eprosima::fastrtps::TopicAttributes topic_;
-
     std::mutex mutex_;
 
 public:

diff --git a/examples/C++/DDS/HelloWorldExample/HelloWorldSubscriber.cpp b/examples/C++/DDS/HelloWorldExample/HelloWorldSubscriber.cpp
@@ -30,6 +30,8 @@ using namespace eprosima::fastdds::dds;
 HelloWorldSubscriber::HelloWorldSubscriber()
     : participant_(nullptr)
     , subscriber_(nullptr)
+    , topic_(nullptr)
+    , reader_(nullptr)
     , type_(new HelloWorldPubSubType())
 {
 }
@@ -56,13 +58,21 @@ bool HelloWorldSubscriber::init()
         return false;
     }
 
+    //CREATE THE TOPIC
+    topic_ = participant_->create_topic(
+            "HelloWorldTopic",
+            "HelloWorld",
+            TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
     // CREATE THE READER
-    DataReaderQos rqos;
+    DataReaderQos rqos = DATAREADER_QOS_DEFAULT;
     rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
-    eprosima::fastrtps::TopicAttributes topic_att;
-    topic_att.topicDataType = "HelloWorld";
-    topic_att.topicName = "HelloWorldTopic";
-    reader_ = subscriber_->create_datareader(topic_att, rqos, &listener_);
+    reader_ = subscriber_->create_datareader(topic_, rqos, &listener_);
 
     if (reader_ == nullptr)
     {
@@ -74,6 +84,18 @@ bool HelloWorldSubscriber::init()
 
 HelloWorldSubscriber::~HelloWorldSubscriber()
 {
+    if (reader_ != nullptr)
+    {
+        subscriber_->delete_datareader(reader_);
+    }
+    if (topic_ != nullptr)
+    {
+        participant_->delete_topic(topic_);
+    }
+    if (subscriber_ != nullptr)
+    {
+        participant_->delete_subscriber(subscriber_);
+    }
     DomainParticipantFactory::get_instance()->delete_participant(participant_);
 }
 

diff --git a/examples/C++/DDS/HelloWorldExample/HelloWorldSubscriber.h b/examples/C++/DDS/HelloWorldExample/HelloWorldSubscriber.h
@@ -51,6 +51,8 @@ class HelloWorldSubscriber
 
     eprosima::fastdds::dds::Subscriber* subscriber_;
 
+    eprosima::fastdds::dds::Topic* topic_;
+
     eprosima::fastdds::dds::DataReader* reader_;
 
     eprosima::fastdds::dds::TypeSupport type_;

diff --git a/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.cpp b/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.cpp
@@ -60,22 +60,31 @@ bool TypeLookupSubscriber::init()
     }
 
     // CREATE THE COMMON READER ATTRIBUTES
+    qos_ = DATAREADER_QOS_DEFAULT;
     qos_.durability().kind = eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
     qos_.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
-    topic_.topicKind = NO_KEY;
-    topic_.topicDataType = "TypeLookup";
-    topic_.topicName = "TypeLookupTopic";
-    topic_.historyQos.kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
-    topic_.historyQos.depth = 30;
-    topic_.resourceLimitsQos.max_samples = 50;
-    topic_.resourceLimitsQos.allocated_samples = 20;
+    qos_.history().kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
+    qos_.history().depth = 30;
+    qos_.resource_limits().max_samples = 50;
+    qos_.resource_limits().allocated_samples = 20;
 
     return true;
 }
 
 TypeLookupSubscriber::~TypeLookupSubscriber()
 {
+    for (const auto& it : topics_)
+    {
+        mp_subscriber->delete_datareader(it.first);
+        mp_participant->delete_topic(it.second);
+    }
+    if (mp_subscriber != nullptr)
+    {
+        mp_participant->delete_subscriber(mp_subscriber);
+    }
+
     DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
+    topics_.clear();
     readers_.clear();
     datas_.clear();
 }
@@ -169,9 +178,20 @@ void TypeLookupSubscriber::SubListener::on_type_information_received(
                         return;
                     }
                 }
-                subscriber_->topic_.topicDataType = name;
+
+                //CREATE THE TOPIC
+                eprosima::fastdds::dds::Topic* topic = subscriber_->mp_participant->create_topic(
+                        "TypeLookupTopic",
+                        name,
+                        TOPIC_QOS_DEFAULT);
+
+                if (topic == nullptr)
+                {
+                    return;
+                }
+
                 DataReader* reader = subscriber_->mp_subscriber->create_datareader(
-                    subscriber_->topic_,
+                    topic,
                     subscriber_->qos_,
                     &subscriber_->m_listener);
 
@@ -207,6 +227,7 @@ void TypeLookupSubscriber::SubListener::on_type_information_received(
                 }
                 else
                 {
+                    subscriber_->topics_[reader] = topic;
                     subscriber_->readers_[reader] = type;
                     types::DynamicData_ptr data(types::DynamicDataFactory::get_instance()->create_data(type));
                     subscriber_->datas_[reader] = data;

diff --git a/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.h b/examples/C++/DDS/TypeLookupService/TypeLookupSubscriber.h
@@ -61,6 +61,8 @@ class TypeLookupSubscriber
 
     eprosima::fastdds::dds::Subscriber* mp_subscriber;
 
+    std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::Topic*> topics_;
+
     std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicType_ptr> readers_;
 
     std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicData_ptr> datas_;
@@ -69,8 +71,6 @@ class TypeLookupSubscriber
 
     eprosima::fastdds::dds::DataReaderQos qos_;
 
-    eprosima::fastrtps::TopicAttributes topic_;
-
     std::mutex mutex_;
 
 public: