[20903] Add Remote discovered xtypes introspection section

docs/fastdds/xtypes/discovery_matching.rst

@@ -79,3 +79,71 @@ Remote types discovery example
 
 Please, refer to :ref:`use-case-remote-type-discovery-and-matching` for more information about how to leverage this
 feature.
+
+Remote discovered types introspection
+-------------------------------------
+
+The following code demonstrates how to implement remote type introspection using FastDDS in C++.
+This feature allows a subscriber to introspect the remotly discovered type and serialize it into a more manageable
+and understandable format.
+Once a type is discovered, it can be registered and every time the subscriber receives new data related to this type,
+the corresponding DynamicData can be obtained from the DynamicDataFactory and serialized into a JSON string format.
+
+.. code-block:: c++
+
+ class TypeIntrospectionSubscriber : public DomainParticipantListener
+ {
+ void on_type_discovered_and_registered_(
+ const DynamicType::_ref_type& type)
+ {
+ // Copy dynamic type
+ dyn_type_ = type;
+
+ // Register type
+ TypeSupport m_type(new DynamicPubSubType(type));
+ m_type.register_type(participant_);
+
+ // Create topic
+ topic_ = participant_->create_topic(
+ topic_name_,
+ m_type->getName(),
+ TOPIC_QOS_DEFAULT);
+
+ if (topic_ == nullptr)
+ {
+ return;
+ }
+
+ // Create DataReader
+ reader_ = subscriber_->create_datareader(
+ topic_,
+ DATAREADER_QOS_DEFAULT,
+ this);
+ }
+
+ /* Custom Callback on_data_available */
+ void on_data_available(
+ DataReader* reader)
+ {
+ // Dynamic DataType
+ DynamicData::_ref_type new_data =
+ DynamicDataFactory::get_instance()->create_data(dyn_type_);
+
+ // Serialize DynamicData into JSON string format
+ json_serialize(new_data, output, DynamicDataJsonFormat::EPROSIMA);
+ }
+
+ DomainParticipant* participant_;
+
+ Subscriber* subscriber_;
+
+ Topic* topic_;
+
+ DataReader* reader_;
+
+ TypeSupport type_;
+
+ std::string topic_name_;
+
+ DynamicType::_ref_type dyn_type_;
+ };