Support fastdds's 3.0.x-devel (#125)

* Refs #17138. Support 3.0.x-devel

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

* Refs #17138: Apply Edu's suggestions

Signed-off-by: eduponz <eduardoponz@eprosima.com>

* Refs #17138: Adjust workflow to 3.0.x-devel

Signed-off-by: eduponz <eduardoponz@eprosima.com>

---------

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>
Signed-off-by: eduponz <eduardoponz@eprosima.com>
Co-authored-by: eduponz <eduardoponz@eprosima.com>

.github/workflows/build.meta

@@ -1,6 +1,5 @@
 names:
- fastrtps:
+ fastdds:
  cmake-args:
  - "-DNO_TLS=ON"
  - "-DSECURITY=OFF"
-

.github/workflows/build.yml

@@ -10,15 +10,15 @@ on:
  fastcdr_versions:
  description: 'Fast-CDR branches to be used'
  required: false
- default: '["1.1.x", "master"]'
+ default: '["master"]'
  fastdds_branch:
  description: 'Fast-DDS branch to be used'
  required: false
- default: 'master'
+ default: '3.0.x-devel'
  pull_request:
  push:
  branches:
- - master
+ - 3.0.x-devel
  schedule:
  - cron: '0 0 * * *'
 
@@ -27,7 +27,7 @@ jobs:
  runs-on: windows-2019
  strategy:
  matrix:
- fastcdr_version: ${{ fromJson(github.event.inputs.fastcdr_versions || '["1.1.x", "master"]') }}
+ fastcdr_version: ${{ fromJson(github.event.inputs.fastcdr_versions || '["master"]') }}
 
  env:
  CXXFLAGS: /MP
@@ -61,7 +61,7 @@ jobs:
  with:
  foonathan-memory-vendor-branch: ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
  fastcdr-branch: ${{ matrix.fastcdr_version }}
- fastdds-branch: ${{ github.event.inputs.fastdds_branch || 'master' }}
+ fastdds-branch: ${{ github.event.inputs.fastdds_branch || '3.0.x-devel' }}
 
  - uses: eProsima/eProsima-CI/external/get-cmake@v0
  with:
@@ -103,7 +103,7 @@ jobs:
  runs-on: ubuntu-22.04
  strategy:
  matrix:
- fastcdr_version: ${{ fromJson(github.event.inputs.fastcdr_versions || '["1.1.x", "master"]') }}
+ fastcdr_version: ${{ fromJson(github.event.inputs.fastcdr_versions || '["master"]') }}
 
  steps:
  - uses: eProsima/eProsima-CI/external/checkout@v0
@@ -126,7 +126,7 @@ jobs:
  with:
  foonathan-memory-vendor-branch: ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
  fastcdr-branch: ${{ matrix.fastcdr_version }}
- fastdds-branch: ${{ github.event.inputs.fastdds_branch || 'master' }}
+ fastdds-branch: ${{ github.event.inputs.fastdds_branch || '3.0.x-devel' }}
 
  - uses: eProsima/eProsima-CI/external/get-cmake@v0
  with:

CMakeLists.txt

@@ -123,10 +123,10 @@ option(EPROSIMA_BUILD "Activate internal building" OFF)
 ###############################################################################
 # Load external eProsima projects.
 ###############################################################################
-set(FASTDDS_MIN_VERSION "2.12.1")
+set(FASTDDS_MIN_VERSION "3.0.0")
 
 find_package(fastcdr REQUIRED)
-find_package(fastrtps ${FASTDDS_MIN_VERSION} REQUIRED)
+find_package(fastdds ${FASTDDS_MIN_VERSION} REQUIRED)
 
 # If ROS environment is not set, disable ROS features. If there's no TypeSupport for the ROS 2 type, disable them as well.
 if (DEFINED ENV{ROS_VERSION})
@@ -198,18 +198,14 @@ set( SHAPESDEMO_SOURCES
  src/shapesdemo/ShapePublisher.cpp
  src/shapesdemo/ShapesDemo.cpp
  src/shapesdemo/ShapeSubscriber.cpp
- types/Shape.cxx
- types/Shapev1.cxx
  types/ShapePubSubTypes.cxx
- types/ShapeTypeObject.cxx
+ types/ShapeTypeObjectSupport.cxx
  )
 
 if(BUILD_ROS_COMPONENTS)
  list( APPEND SHAPESDEMO_SOURCES
- types/KeylessShapeType.cxx
- types/KeylessShapeTypev1.cxx
  types/KeylessShapeTypePubSubTypes.cxx
- types/KeylessShapeTypeTypeObject.cxx
+ types/KeylessShapeTypeTypeObjectSupport.cxx
  )
 endif()
 
@@ -226,7 +222,12 @@ if(BUILD_ROS_COMPONENTS)
  target_compile_definitions(${PROJECT_NAME} PRIVATE -DENABLE_ROS_COMPONENTS)
 endif()
 
-target_link_libraries(${PROJECT_NAME} fastrtps fastcdr Qt5::Widgets Qt5::Core Qt5::Gui)
+target_link_libraries(${PROJECT_NAME}
+ fastcdr
+ fastdds
+ Qt5::Core
+ Qt5::Widgets
+ Qt5::Gui)
 
 ###############################################################################
 # Install

ShapesDemo.pro

@@ -46,16 +46,16 @@ FORMS += forms/mainwindow.ui \
  forms/subscribedialog.ui \
  forms/optionsdialog.ui
 
-unix: CONFIG(release, debug|release):LIBS += -Lusr/lib/ -lfastrtps
-else:unix: CONFIG(debug, debug|release):LIBS += -Lusr/lib/ -lfastrtpsd
+unix: CONFIG(release, debug|release):LIBS += -Lusr/lib/ -lfastdds
+else:unix: CONFIG(debug, debug|release):LIBS += -Lusr/lib/ -lfastddsd
 
 INCLUDEPATH += $$PWD/include
 INCLUDEPATH += $$PWD/thirdparty/eprosima-common-code
 #DEPENDPATH += $$PWD/include
 #DEPENDPATH += $$PWD/thirdparty/eprosima-common-code
 
-#unix: CONFIG(debug, debug|release): PRE_TARGETDEPS += usr/lib/libfastrtpsd.a
-#else:unix: CONFIG(release, debug|release): PRE_TARGETDEPS += usr/lib/libfastrtps.a
+#unix: CONFIG(debug, debug|release): PRE_TARGETDEPS += usr/lib/libfastddsd.a
+#else:unix: CONFIG(release, debug|release): PRE_TARGETDEPS += usr/lib/libfastdds.a
 
 
 
@@ -104,23 +104,23 @@ SOURCES += \
 
 
 
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../lib/i86Win32VS2010 -llibfastrtps-1.0.0 -L"C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\Lib" -lShlwapi -lIphlpapi
-win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../lib/i86Win32VS2010 -llibfastrtpsd-1.0.0 -L"C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\Lib" -lShlwapi -lIphlpapi
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../lib/i86Win32VS2010 -llibfastdds-1.0.0 -L"C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\Lib" -lShlwapi -lIphlpapi
+win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../lib/i86Win32VS2010 -llibfastddsd-1.0.0 -L"C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\Lib" -lShlwapi -lIphlpapi
 
 
 
 
-#win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastrtps-1.0.0.lib
-#win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastrtpsd-1.0.0.lib
+#win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastdds-1.0.0.lib
+#win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastddsd-1.0.0.lib
 
 
 
 #win32:INCLUDEPATH += $$PWD/../../include
 #win32:DEPENDPATH += $$PWD/../../lib/i86Win32VS2010 C:\Windows\System32
 
 
-#win32:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastrtps-0.5.1.lib Shlwapi.lib Iphlpapi.lib
-#win32:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastrtpsd-0.5.1.lib Shlwapi.lib Iphlpapi.lib
+#win32:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastdds-0.5.1.lib Shlwapi.lib Iphlpapi.lib
+#win32:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../lib/i86Win32VS2010/libfastddsd-0.5.1.lib Shlwapi.lib Iphlpapi.lib
 
 RESOURCES += \
  images/eprosimalogo.qrc

colcon.pkg

@@ -1,5 +1,5 @@
 {
  "name": "ShapesDemo",
  "type": "cmake",
- "dependencies" : ["fastrtps", "fastcdr", "shapes_demo_typesupport"]
+ "dependencies" : ["fastdds", "fastcdr", "shapes_demo_typesupport"]
 }

idl/Shape.idl

@@ -1,3 +1,4 @@
+@appendable
 struct ShapeType {
  @Key string color;
  long x;

include/eprosimashapesdemo/shapesdemo/ShapeHistory.h

@@ -18,10 +18,11 @@
 #ifndef SHAPEHISTORY_H
 #define SHAPEHISTORY_H
 
-#include "eprosimashapesdemo/shapesdemo/ShapeInfo.h"
+#include <cstdint>
 #include <vector>
 #include <list>
-#include <cstdint>
+
+#include "eprosimashapesdemo/shapesdemo/ShapeInfo.h"
 
 /**
  * @brief The ShapeFilter class, represents a filter.

include/eprosimashapesdemo/shapesdemo/ShapeSubscriber.h

@@ -34,7 +34,7 @@
 
 #include "eprosimashapesdemo/shapesdemo/ShapeHistory.h"
 #include "eprosimashapesdemo/shapesdemo/ShapesDemo.h"
-#include "types/Shape.h"
+#include "types/Shape.hpp"
 
 using namespace eprosima::fastdds::dds;
 
@@ -97,11 +97,11 @@ class ShapeSubscriber
 
  void on_requested_deadline_missed(
  DataReader* reader,
- const eprosima::fastrtps::RequestedDeadlineMissedStatus& status) override;
+ const RequestedDeadlineMissedStatus& status) override;
 
  void on_liveliness_changed(
  DataReader* reader,
- const eprosima::fastrtps::LivelinessChangedStatus& status) override;
+ const LivelinessChangedStatus& status) override;
 
  void on_requested_incompatible_qos(
  DataReader* reader,

src/main.cpp

@@ -15,27 +15,27 @@
 // You should have received a copy of the GNU General Public License
 // along with eProsima Fast DDS Shapes Demo. If not, see <https://www.gnu.org/licenses/>.
 
-#include <eprosimashapesdemo/qt/mainwindow.h>
-#include <fastrtps/log/Log.h>
 #include <QApplication>
-#include <eprosimashapesdemo/utils/md5.h>
-#include <fastrtps/Domain.h>
+
+#include <eprosimashapesdemo/qt/mainwindow.h>
 
 #ifdef WIN32
 int __stdcall WinMain(
- _In_ HINSTANCE  /*hInstance*/,
- _In_ HINSTANCE  /*hPrevInstance*/,
- _In_ char* /*lpCmdLine*/,
- _In_ int   /*nCmdShow*/
-)
+  _In_ HINSTANCE /*hInstance*/,
+  _In_ HINSTANCE /*hPrevInstance*/,
+  _In_ char* /*lpCmdLine*/,
+   _In_ int /*nCmdShow*/
+ )
 {
  int argc = 0;
  QApplication a(argc, NULL);
 #else
-int main(int argc, char *argv[])
+int main(
+ int argc,
+ char* argv[])
 {
  QApplication a(argc, argv);
-#endif
+#endif // ifdef WIN32
  MainWindow w;
  w.show();
 

src/qt/mainwindow.cpp

@@ -472,22 +472,11 @@ void MainWindow::on_actionAbout_triggered()
 
 void MainWindow::on_actionUser_Manual_triggered()
 {
- //QDesktopServices::openUrl(QUrl("file:///C:/Program Files/eProsima/FastRTPS/doc/pdf/FastRTPS_ShapesDemo_User_Manual.pdf"));
- //QDesktopServices::openUrl(QUrl("http://git.sambaserver.eprosima.com/rtps/shapesdemo/source/README.md"));
  QDesktopServices::openUrl(QUrl("https://eprosima-shapes-demo.readthedocs.io/en/latest/"));
- //QString str(QDir::currentPath());
- //str.append("/FASTRTPSGEN_User_Manual.pdf");
- //QDesktopServices::openUrl(QUrl(str, QUrl::TolerantMode));
 }
 
 void MainWindow::on_actionInteroperability_Troubleshooting_triggered()
 {
- //QDesktopServices::openUrl(QUrl("file:///C:/Program Files/eProsima/FastRTPS/doc/pdf/FastRTPS_ShapesDemo_Interoperability_Troubleshooting.pdf"));
  QDesktopServices::openUrl(QUrl(
  "https://eprosima-shapes-demo.readthedocs.io/en/latest/troubleshooting/troubleshooting.html"));
-
- //QString str(QDir::currentPath());
-
- //str.append("/FASTRTPSGEN_User_Manual.pdf");
- //QDesktopServices::openUrl(QUrl(str, QUrl::TolerantMode));
 }

src/qt/optionsdialog.cpp

@@ -15,13 +15,13 @@
 // You should have received a copy of the GNU General Public License
 // along with eProsima Fast DDS Shapes Demo. If not, see <https://www.gnu.org/licenses/>.
 
+#include <fastdds/config.h> // FASTDDS_STATISTICS availability
+
 #include "eprosimashapesdemo/qt/optionsdialog.h"
 #include "ui_optionsdialog.h"
 #include "eprosimashapesdemo/shapesdemo/ShapesDemo.h"
 #include "eprosimashapesdemo/qt/mainwindow.h"
 
-#include <fastrtps/config.h> // FASTDDS_STATISTICS availability
-
 OptionsDialog::OptionsDialog(
  MainWindow* mw,
  ShapesDemo* psd,

src/qt/participantdialog.cpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <fastdds/config.h> // FASTDDS_STATISTICS availability
+
 #include "eprosimashapesdemo/qt/participantdialog.h"
 #include "ui_participantdialog.h"
 #include "eprosimashapesdemo/shapesdemo/ShapesDemo.h"
 #include "eprosimashapesdemo/qt/mainwindow.h"
 
-#include <fastrtps/config.h> // FASTDDS_STATISTICS availability
-
 ParticipantDialog::ParticipantDialog(
  MainWindow* mw,
  ShapesDemo* psd,

src/shapesdemo/ShapeHistory.cpp

@@ -15,14 +15,18 @@
 // You should have received a copy of the GNU General Public License
 // along with eProsima Fast DDS Shapes Demo. If not, see <https://www.gnu.org/licenses/>.
 
+#include <cmath>
+
+#include <fastdds/rtps/common/Guid.h>
+#include <fastdds/rtps/common/Time_t.h>
+
 #include <eprosimashapesdemo/shapesdemo/ShapeHistory.h>
-#include <fastrtps/utils/TimeConversion.h>
 
-using namespace eprosima::fastrtps::rtps;
+using namespace eprosima::fastdds::rtps;
 
 inline bool compareGUID(
- GUID_t& g1,
- GUID_t& g2)
+ eprosima::fastrtps::rtps::GUID_t& g1,
+ eprosima::fastrtps::rtps::GUID_t& g2)
 {
  for (uint8_t i = 0; i < 16; ++i)
  {
@@ -52,6 +56,22 @@ inline bool compareGUID(
  return false;
 }
 
+inline double Time_tAbsDiff2DoubleMillisec(
+ const Time_t& t1,
+ const Time_t& t2)
+{
+ double result = 0;
+ result += (double)abs((t2.seconds - t1.seconds) * 1000);
+ result += (double)std::abs((t2.fraction() - t1.fraction()) / pow(2.0, 32) * 1000);
+ return result;
+}
+
+inline double Time_t2MilliSecondsDouble(
+ const Time_t& t)
+{
+ return ((double)t.fraction() / pow(2.0, 32) * pow(10.0, 3)) + (double)t.seconds * pow(10.0, 3);
+}
+
 bool ShapeHistory::addToHistory(
  Shape& sh)
 {
@@ -102,8 +122,8 @@ bool ShapeHistory::passTimeFilter(
  }
  else
  {
- if (TimeConv::Time_tAbsDiff2DoubleMillisec(sh_in.m_time, sh_last.m_time)
- >= TimeConv::Time_t2MilliSecondsDouble(m_filter.m_minimumSeparation))
+ if (Time_tAbsDiff2DoubleMillisec(sh_in.m_time, sh_last.m_time)
+ >= Time_t2MilliSecondsDouble(m_filter.m_minimumSeparation))
  {
  return true;
  }

src/shapesdemo/ShapePublisher.cpp

@@ -20,8 +20,6 @@
  */
 
 #include "eprosimashapesdemo/shapesdemo/ShapePublisher.h"
-#include "fastrtps/Domain.h"
-#include "fastrtps/publisher/Publisher.h"
 
 #include <eprosimashapesdemo/qt/mainwindow.h>
 #include <thread>
@@ -58,7 +56,7 @@ ShapePublisher::~ShapePublisher()
  }
  mp_datawriter->wait_for_acknowledgments(wait_time);
 
- if (ReturnCode_t::RETCODE_OK != mp_publisher->delete_datawriter(mp_datawriter))
+ if (RETCODE_OK != mp_publisher->delete_datawriter(mp_datawriter))
  {
  std::cerr << "Error deleting datawriter: " << mp_datawriter->guid() << std::endl;
  return;
@@ -67,7 +65,7 @@ ShapePublisher::~ShapePublisher()
 
  if (mp_sd->getParticipant() && mp_publisher)
  {
- if (ReturnCode_t::RETCODE_OK != mp_sd->getParticipant()->delete_publisher(mp_publisher))
+ if (RETCODE_OK != mp_sd->getParticipant()->delete_publisher(mp_publisher))
  {
  std::cerr << "Error deleting publisher: " << std::endl;
  return;