Fast DDS Monitor refactor: Fast DDS v3 compatibility (#227)

* Add minor changes for Monitor compilation using refactored fastdds_statistics_backend Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21446: Add review changes Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21446: Update docs dependencies Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21446: Fix test.yml to add python dependencies Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Refs #21446: Fix documentation tests Signed-off-by: Carlosespicur <carlosespicur@proton.me> --------- Signed-off-by: Carlosespicur <carlosespicur@proton.me>
eProsima · Sep 11, 2024 · 48d90a1 · 48d90a1
1 parent 93cda02
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diff --git a/.github/workflows/clang_colcon.meta b/.github/workflows/clang_colcon.meta
@@ -1,7 +1,7 @@
 {
  "names":
  {
- "fastrtps":
+ "fastdds":
  {
  "cmake-args":
  [

diff --git a/.github/workflows/configurations/requirements.txt b/.github/workflows/configurations/requirements.txt
@@ -0,0 +1,6 @@
+sphinx==7.3.6
+doc8==0.10.1
+sphinx_rtd_theme==2.0.0
+sphinxcontrib.spelling==8.0.0
+sphinxcontrib-imagehelper==1.1.1
+GitPython==3.1.41
diff --git a/.github/workflows/test_colcon.meta b/.github/workflows/test_colcon.meta
@@ -1,7 +1,7 @@
 {
  "names":
  {
- "fastrtps":
+ "fastdds":
  {
  "cmake-args":
  [

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -86,7 +86,7 @@ list(APPEND CMAKE_PREFIX_PATH ${QT_PATH})
 
 find_package(Qt5 5.15 COMPONENTS Core Widgets Gui Qml Quick Charts QuickControls2 REQUIRED)
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
 find_package(fastdds_statistics_backend REQUIRED)
 
 foreach(c Core Widgets Gui Quick Qml Charts QuickControls2 Utils)
@@ -98,7 +98,7 @@ endforeach()
 if(${fastcdr_FOUND})
  message(STATUS "Fast CDR found!")
 endif()
-if(${fastrtps_FOUND})
+if(${fastdds_FOUND})
  message(STATUS "Fast DDS found!")
 endif()
 if(${fastdds_statistics_backend_FOUND})
@@ -331,7 +331,7 @@ else()
  target_link_libraries(${PROJECT_NAME} PUBLIC
  ${QT5_LIBRARY_LINKS}
  fastcdr
- fastrtps
+ fastdds
  fastdds_statistics_backend)
 
 endif()

diff --git a/cmake/packaging/Config.cmake.in b/cmake/packaging/Config.cmake.in
@@ -29,8 +29,8 @@ if(NOT fastcdr_FOUND)
  find_package(fastcdr)
 endif()
 
-if(NOT fastrtps_FOUND)
- find_package(fastrtps)
+if(NOT fastdds_FOUND)
+ find_package(fastdds)
 endif()
 
 include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake)
diff --git a/docs/conf.py b/docs/conf.py
@@ -190,7 +190,7 @@ def select_css(html_css_dir):
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = 'en'
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:

diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -7,3 +7,5 @@ sphinx-tabs==3.2.0
 sphinx==4.3.1
 sphinxcontrib-imagehelper==1.1.1
 sphinxcontrib.spelling==7.2.1
+Jinja2==3.1
+vcstool==0.3.0
diff --git a/docs/rst/developer_manual/installation/sources/linux.rst b/docs/rst/developer_manual/installation/sources/linux.rst
@@ -26,7 +26,7 @@ The following packages will be installed:
 
 - ``foonathan_memory_vendor``, an STL compatible C++ memory allocator library.
 - ``fastcdr``, a C++ library that serializes according to the standard CDR serialization mechanism.
-- ``fastrtps``, the core library of eProsima Fast DDS library.
+- ``fastdds``, the core library of eProsima Fast DDS library.
 - ``fastdds_statistics_backend``, a C++ library that provides a simple and easy-to-use API for interacting with data
  from *Fast DDS* statistics module
 

diff --git a/docs/rst/getting_started/entities.rst b/docs/rst/getting_started/entities.rst
@@ -44,9 +44,11 @@ Refer to `DomainParticipant Fast DDS Documentation
 <https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/domain/domainParticipant/domainParticipant.html>`_
 for a more detailed explanation of the *DomainParticipant* entity in DDS.
 
-Each *DomainParticipant* can only communicate under one *Domain* (see :ref:`logical_entities`)
-and so it exists a direct connection between each *DomainParticipant* and the *Domain* in which it works.
-From image :numref:`fig_entities_diagram` it can be seen that *DomainParticipant* entities are contained in a
+Each *DomainParticipant* can only communicate under one *Domain*
+(see :ref:`logical entities <logical_entities>` section) and so it exists a direct connection between each
+*DomainParticipant* and the *Domain* in which it works.
+From the:numref:`entities diagram <fig_entities_diagram>` it can be seen that *DomainParticipant* entities
+are contained in a
 *Process*, this is because a system process (so-called *Process* entity) executes an application using *Fast DDS*
 that instantiates *DomainParticipants*.
 The same applies to *DataReaders/DataWriters* instantiated by a *DomainParticipant* belonging to a specific *Process*.

diff --git a/docs/rst/getting_started/tutorial.rst b/docs/rst/getting_started/tutorial.rst
@@ -60,7 +60,7 @@ This does not change the Monitor behavior, but would change the data and informa
  PDP_PACKETS_TOPIC;EDP_PACKETS_TOPIC;DISCOVERY_TOPIC;PHYSICAL_DATA_TOPIC;\
  MONITOR_SERVICE_TOPIC"
 
- ./build/fastrtps/examples/C++/DDS/HelloWorldExample/DDSHelloWorldExample subscriber
+ ./build/fastdds/examples/C++/DDS/HelloWorldExample/DDSHelloWorldExample subscriber
 
  where :code:`subscriber` argument creates a *DomainParticipant* with a *DataReader* in the topic
  :code:`HelloWorldTopic` in *Domain* :code:`0`.
@@ -76,7 +76,7 @@ This does not change the Monitor behavior, but would change the data and informa
  PDP_PACKETS_TOPIC;EDP_PACKETS_TOPIC;DISCOVERY_TOPIC;PHYSICAL_DATA_TOPIC;\
  MONITOR_SERVICE_TOPIC"
 
- ./build/fastrtps/examples/C++/DDS/HelloWorldExample/DDSHelloWorldExample publisher 0 500
+ ./build/fastdds/examples/C++/DDS/HelloWorldExample/DDSHelloWorldExample publisher 0 500
 
  where :code:`publisher` argument creates a *DomainParticipant* with a *DataWriter* in the topic
  :code:`HelloWorldTopic` in *Domain* :code:`0`.

diff --git a/docs/rst/notes/notes.rst b/docs/rst/notes/notes.rst
@@ -24,16 +24,17 @@ This release includes the following **dependencies update**:
  - New Version
  * - Fast CDR
  - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
- - `v2.1.2 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.1.2>`_
- - `v2.2.0 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.0>`_
+ - `v2.1.2 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.1.2>`__
+ - `v2.2.0 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.0>`__
  * - Fast DDS
  - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
- - `v2.13.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.13.0>`_
- - `v2.14.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.14.0>`_
+ - `v2.13.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.13.0>`__
+ - `v2.14.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.14.0>`__
  * - Fast DDS Statistics Backend
- - `eProsima/Fast-DDS-statistics-backend <https://github.com/eProsima/Fast-DDS-statistics-backend>`_
- - `v1.0.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.0.0>`_
- - `v1.1.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.1.0>`_
+ - `eProsima/Fast-DDS-statistics-backend <https://github.com/eProsima/Fast-DDS-statistics-backend>`__
+ - `v1.1.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.1.0>`__
+ - `v1.0.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.0.0>`__
+
 
 #################
 Previous versions

diff --git a/docs/rst/notes/previous_versions/v2.0.0.rst b/docs/rst/notes/previous_versions/v2.0.0.rst
@@ -14,6 +14,7 @@ This release includes the following **features**:
 
 This release includes the following **dependencies update**:
 
+.. _version_v2.0.0:
 .. list-table::
  :header-rows: 1
 
@@ -23,13 +24,13 @@ This release includes the following **dependencies update**:
  - New Version
  * - Fast CDR
  - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
- - `v1.1.0 <https://github.com/eProsima/Fast-CDR/releases/tag/v1.1.0>`_
- - `v2.1.2 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.1.2>`_
+ - `v1.1.0 <https://github.com/eProsima/Fast-CDR/releases/tag/v1.1.0>`__
+ - `v2.1.2 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.1.2>`__
  * - Fast DDS
  - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
- - `v2.11.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.11.0>`_
- - `v2.13.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.13.0>`_
+ - `v2.11.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.11.0>`__
+ - `v2.13.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v2.13.0>`__
  * - Fast DDS Statistics Backend
  - `eProsima/Fast-DDS-statistics-backend <https://github.com/eProsima/Fast-DDS-statistics-backend>`_
- - `v0.11.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v0.11.0>`_
- - `v1.0.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.0.0>`_
+ - `v0.11.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v0.11.0>`__
+ - `v1.0.0 <https://github.com/eProsima/Fast-DDS-statistics-backend/releases/tag/v1.0.0>`__
diff --git a/docs/rst/spelling_wordlist.txt b/docs/rst/spelling_wordlist.txt
@@ -33,3 +33,4 @@ Todo
 unix
 walkthrough
 wget
+numref
diff --git a/fastdds_monitor.pro b/fastdds_monitor.pro
@@ -110,12 +110,12 @@ INCLUDEPATH += $$PWD/../../install/fastdds_statistics_backend/include
 DEPENDPATH += $$PWD/../../install/fastdds_statistics_backend/include
 
 # Link to the Fast DDS library
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../install/fastrtps/lib/release/ -lfastrtps
-else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../install/fastrtps/lib/debug/ -lfastrtps
-else:unix: LIBS += -L$$PWD/../../install/fastrtps/lib/ -lfastrtps
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../install/fastdds/lib/release/ -lfastdds
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../install/fastdds/lib/debug/ -lfastdds
+else:unix: LIBS += -L$$PWD/../../install/fastdds/lib/ -lfastdds
 
-INCLUDEPATH += $$PWD/../../install/fastrtps/include
-DEPENDPATH += $$PWD/../../install/fastrtps/include
+INCLUDEPATH += $$PWD/../../install/fastdds/include
+DEPENDPATH += $$PWD/../../install/fastdds/include
 
 # Link to the Fast CDR library
 win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../install/fastcdr/lib/release/ -lfastcdr

diff --git a/include/fastdds_monitor/Controller.h b/include/fastdds_monitor/Controller.h
@@ -81,7 +81,6 @@ public slots:
 
  //! Slot called when initializing a monitor for a Discovery Server network
  void init_monitor(
- QString discovery_server_guid_prefix,
  QString discovery_server_locators);
 
  //! Slot called when a Host entity is pressed

diff --git a/include/fastdds_monitor/Engine.h b/include/fastdds_monitor/Engine.h
@@ -150,7 +150,6 @@ class Engine : public QQmlApplicationEngine
  * @param domain number of the domain
  */
  void init_monitor(
- QString discovery_server_guid_prefix,
  QString discovery_server_locators);
 
  /////

diff --git a/include/fastdds_monitor/backend/SyncBackendConnection.h b/include/fastdds_monitor/backend/SyncBackendConnection.h
@@ -95,7 +95,6 @@ class SyncBackendConnection
  * @return EntityId of the new Domain Entity created
  */
  EntityId init_monitor(
- std::string discovery_server_guid_prefix,
  std::string discovery_server_locators);
 
  /////

diff --git a/mock/CMakeLists.txt b/mock/CMakeLists.txt
@@ -26,7 +26,7 @@ cmake_minimum_required(VERSION 3.5)
 option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
 
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
 find_package(fastdds_statistics_backend REQUIRED)
 
 ###############################################################################

diff --git a/mock/complex_mock/CMakeLists.txt b/mock/complex_mock/CMakeLists.txt
@@ -21,7 +21,7 @@ project(complex-backend-mock)
 
 # Find FastDDS Statistics Backend library
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
 find_package(fastdds_statistics_backend REQUIRED)
 
 # Allow to use threads

diff --git a/mock/static_mock/CMakeLists.txt b/mock/static_mock/CMakeLists.txt
@@ -21,7 +21,7 @@ project(static-backend-mock)
 
 # Find FastDDS Statistics Backend library
 find_package(fastcdr REQUIRED)
-find_package(fastrtps REQUIRED)
+find_package(fastdds REQUIRED)
 find_package(fastdds_statistics_backend REQUIRED)
 
 # Allow to use threads

diff --git a/package.xml b/package.xml
@@ -20,7 +20,7 @@
  <url type="repository">https://github.com/eProsima/Fast-DDS-monitor</url>
 
  <depend>fastcdr</depend>
- <depend>fastrtps</depend>
+ <depend>fastdds</depend>
  <depend>fastdds_statistics_backend</depend>
 
  <buildtool_depend>cmake</buildtool_depend>

diff --git a/qml/InitDSMonitorDialog.qml b/qml/InitDSMonitorDialog.qml
@@ -38,7 +38,6 @@ Dialog {
  }
 
  onReset: {
- discoveryServerGuid.text = "44.53.00.5f.45.50.52.4f.53.49.4d.41"
  discoveryServerLocatorsModel.clear()
  discoveryServerLocatorsModel.append({"transportProtocolIdx": 0, "ip": "127.0.0.1", "port": 11811})
  }
@@ -57,26 +56,9 @@ Dialog {
  anchors.fill: parent
 
  Label {
- text: 'Set the GUID and the network addresses (locators) of a Discovery Server.'
+ text: 'Set the network addresses (locators) of a Discovery Server.'
  }
 
- ColumnLayout {
- Layout.fillWidth: true
- Label {
- id: discoveryServerGuidLabel
- text: "• Discovery Server GUID: "
- InfoToolTip {
- text: 'Discovery Server GUID.'
- }
- }
- TextField {
- id: discoveryServerGuid
- placeholderText: "GUID example: 44.53.00.5f.45.50.52.4f.53.49.4d.41"
- implicitWidth: dialogLayout.width
- text: "44.53.00.5f.45.50.52.4f.53.49.4d.41"
- selectByMouse: true
- }
- }
  GridLayout {
  Layout.fillWidth: true
  columns: 5
@@ -85,7 +67,6 @@ Dialog {
  Label {
  id: discoveryServerLocatorLabel
  Layout.columnSpan: parent.columns
- text: "• Discovery Server locator(s): "
  InfoToolTip {
  text: 'Each row defines a locator\n' +
  'for the Discovery Server.'
@@ -310,15 +291,6 @@ Dialog {
  onAccepted: initDSMonitorDialog.open()
  }
 
- MessageDialog {
- id: wrongGuid
- title: "Invalid Discovery Server GUID"
- icon: StandardIcon.Warning
- standardButtons: StandardButton.Retry | StandardButton.Discard
- text: "The inserted Discovery Server GUID is not valid."
- onAccepted: initDSMonitorDialog.open()
- }
-
  MessageDialog {
  id: wrongLocator
  title: "Invalid Discovery Server Locator"
@@ -364,14 +336,6 @@ Dialog {
  return ipv6re
  }
 
- /**
- * Returns an regular expression for Discovery Server GUID
- */
- function guidRegex() {
- var guidRe = /^(([0-9a-fA-F]{1,2}\.){11})([0-9a-fA-F]{1,2})$/
- return guidRe
- }
-
  /**
  * Returns an regular expression that matches any string
  */
@@ -384,14 +348,6 @@ Dialog {
  * Function to parse the input parameter of the initialize monitor dialog for Discovery Server
  */
  function initDiscoveryServer() {
- /////
- // Check that Discovery Server GUID is correct
- var guidRe = guidRegex()
- if (!guidRe.test(discoveryServerGuid.text)) {
- wrongGuid.open()
- return
- }
-
  /////
  // Build the locators
  var locators = []
@@ -448,7 +404,7 @@ Dialog {
  return
  }
 
- controller.init_monitor(discoveryServerGuid.text, locators.join(';'))
+ controller.init_monitor(locators.join(';'))
  }
  }
 

diff --git a/src/Controller.cpp b/src/Controller.cpp
@@ -21,7 +21,7 @@
 
 #include <fastdds_monitor/config.h>
 #include <fastdds_statistics_backend/config.h>
-#include <fastrtps/config.h>
+#include <fastdds/config.hpp>
 
 #include <fastdds_monitor/Controller.h>
 #include <fastdds_monitor/Engine.h>
@@ -34,10 +34,9 @@ void Controller::init_monitor(
 }
 
 void Controller::init_monitor(
- QString discovery_server_guid_prefix,
  QString discovery_server_locators)
 {
- engine_->init_monitor(discovery_server_guid_prefix, discovery_server_locators);
+ engine_->init_monitor(discovery_server_locators);
 }
 
 void Controller::host_click(
@@ -170,7 +169,7 @@ QtCharts::QVXYModelMapper* Controller::add_statistics_data(
 
 QString Controller::fastdds_version()
 {
- return utils::to_QString(FASTRTPS_VERSION_STR);
+ return utils::to_QString(FASTDDS_VERSION_STR);
 }
 
 QString Controller::fastdds_statistics_backend_version()