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Changes to build against Fast DDS 3.0 #776

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merged 13 commits into from
Jan 22, 2025
Merged

Changes to build against Fast DDS 3.0 #776

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fe09496
Support for `Fast DDS 3.0`
Mario-DL Sep 5, 2024
a04b83f
Do not require cmake modules.
MiguelCompany Sep 5, 2024
f78f09a
Remove dependency on fastrtps_cmake_module.
MiguelCompany Sep 5, 2024
c9a200a
Correctly check returned values from writer loans APIs.
Mario-DL Sep 6, 2024
6fcd021
Fix dll linkage.
MiguelCompany Sep 6, 2024
707ee11
Fix type_name between c and c++ type support
richiware Sep 23, 2024
46d2974
Remove warnings on windows
richiware Sep 24, 2024
f02aaba
Improve readability using alias for xtypes namespace.
MiguelCompany Nov 20, 2024
6e33a99
Improve readability with local variable for type_object_registry.
MiguelCompany Nov 20, 2024
b146c01
Fix type object registration for arrays and sequences.
MiguelCompany Nov 20, 2024
9d526a1
Removed `fastrtps_cmake_module` from quality declarations.
MiguelCompany Dec 10, 2024
32af599
Fix linters.
MiguelCompany Dec 10, 2024
40063b5
Fix after rebase
MiguelCompany Jan 17, 2025
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Improve readability with local variable for type_object_registry. 
Signed-off-by: Miguel Company <[email protected]>
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@MiguelCompany
MiguelCompany committed Jan 22, 2025
commit 6e33a99f5b3a63bfa436520a73d8453d86582bb5
59 changes: 20 additions & 39 deletions rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -340,98 +340,87 @@ MemberIdentifierName GetTypeIdentifier(const MembersType * members, uint32_t ind
TypeIdentifierPair type_identifiers;
std::string name = member->name_;

xtypes::ITypeObjectRegistry& type_object_registry =
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry();
std::string type_name;
switch (member->type_id_) {
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_FLOAT:
{
type_name = "_float";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_DOUBLE:
{
type_name = "_double";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_CHAR:
{
type_name = "_char";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_WCHAR:
{
type_name = "_wchar_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_BOOLEAN:
{
type_name = "_bool";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_OCTET:
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT8:
{
type_name = "_uint8_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT8:
{
type_name = "_int8_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT16:
{
type_name = "_uint16_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT16:
{
type_name = "_int16_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT32:
{
type_name = "_uint32_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT32:
{
type_name = "_int32_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_UINT64:
{
type_name = "_uint64_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_INT64:
{
type_name = "_int64_t";
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(type_name, type_identifiers);
type_object_registry.get_type_identifiers(type_name, type_identifiers);
break;
}
case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
Expand All @@ -450,8 +439,7 @@ MemberIdentifierName GetTypeIdentifier(const MembersType * members, uint32_t ind
}

if (eprosima::fastdds::dds::RETCODE_OK !=
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(
type_object_registry.get_type_identifiers(
type_name, type_identifiers))
{
if (255 < member->string_upper_bound_) {
Expand Down Expand Up @@ -496,15 +484,12 @@ MemberIdentifierName GetTypeIdentifier(const MembersType * members, uint32_t ind
std::string array_type_name {"anonymous_array_" + type_name + "_" + std::to_string(
member->array_size_)};
if (eprosima::fastdds::dds::RETCODE_OK !=
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(
type_object_registry.get_type_identifiers(
array_type_name, type_identifiers))
{
xtypes::TypeIdentifierPair element_type_identifiers;
if (eprosima::fastdds::dds::RETCODE_OK ==
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry()
.get_type_identifiers(
type_name, element_type_identifiers))
type_object_registry.get_type_identifiers(type_name, element_type_identifiers))
{
xtypes::EquivalenceKind equiv_kind {xtypes::EK_COMPLETE};
if (xtypes::TK_NONE ==
Expand Down Expand Up @@ -551,15 +536,11 @@ MemberIdentifierName GetTypeIdentifier(const MembersType * members, uint32_t ind
} else {
std::string sequence_type_name {"anonymous_sequence_" + type_name + "_unbounded"};
if (eprosima::fastdds::dds::RETCODE_OK !=
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().
get_type_identifiers(
sequence_type_name, type_identifiers))
type_object_registry.get_type_identifiers(sequence_type_name, type_identifiers))
{
xtypes::TypeIdentifierPair element_type_identifiers;
if (eprosima::fastdds::dds::RETCODE_OK ==
eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry()
.get_type_identifiers(
type_name, element_type_identifiers))
type_object_registry.get_type_identifiers(type_name, element_type_identifiers))
{
xtypes::EquivalenceKind equiv_kind {xtypes::EK_COMPLETE};
if (xtypes::TK_NONE ==
Expand Down