[16440] Update types using Fast DDS-Gen v2.3.0

CMakeLists.txt

@@ -194,30 +194,30 @@ set(CMAKE_AUTOUIC_SEARCH_PATHS forms)
 
 message(STATUS "Configuring ShapesDemo...")
 set( SHAPESDEMO_SOURCES
+ images/eprosima_icon.rc
+ src/main.cpp
+ src/qt/ContentFilterSelector.cpp
  src/qt/DrawArea.cpp
  src/qt/mainwindow.cpp
+ src/qt/optionsdialog.cpp
+ src/qt/participantdialog.cpp
  src/qt/publishdialog.cpp
  src/qt/subscribedialog.cpp
- src/shapesdemo/Shape.cxx
- src/shapesdemo/ShapesDemo.cpp
- src/shapesdemo/ShapePubSubTypes.cxx
- src/shapesdemo/ShapeTypeObject.cxx
- src/main.cpp
- src/shapesdemo/ShapePublisher.cpp
  src/qt/UpdateThread.cpp
- src/shapesdemo/ShapeSubscriber.cpp
- src/qt/optionsdialog.cpp
- src/qt/participantdialog.cpp
- src/qt/ContentFilterSelector.cpp
  src/shapesdemo/ShapeHistory.cpp
- images/eprosima_icon.rc
+ src/shapesdemo/ShapePublisher.cpp
+ src/shapesdemo/ShapesDemo.cpp
+ src/shapesdemo/ShapeSubscriber.cpp
+ types/Shape.cxx
+ types/ShapePubSubTypes.cxx
+ types/ShapeTypeObject.cxx
  )
 
 if(BUILD_ROS_COMPONENTS)
  list( APPEND SHAPESDEMO_SOURCES
- src/shapesdemo/KeylessShape.cxx
- src/shapesdemo/KeylessShapePubSubTypes.cxx
- src/shapesdemo/KeylessShapeTypeObject.cxx
+ types/KeylessShapeType.cxx
+ types/KeylessShapeTypePubSubTypes.cxx
+ types/KeylessShapeTypeTypeObject.cxx
  )
 endif()
 
@@ -233,7 +233,7 @@ else()
 endif()
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE -D${SHAPESVERSION})
-target_include_directories(${PROJECT_NAME} PRIVATE include ${IU_HEADERS})
+target_include_directories(${PROJECT_NAME} PRIVATE include types ${IU_HEADERS})
 
 if(BUILD_ROS_COMPONENTS)
 target_compile_definitions(${PROJECT_NAME} PRIVATE -DENABLE_ROS_COMPONENTS)

idl/README.md

@@ -0,0 +1,5 @@
+*eProsima Shapes Demo* supports two different TypeSupports:
+
+* Shape.idl which can be found in this folder
+* KeylessShapeType.idl specifically included for ROS 2 purposes (current ROS 2 Humble does not support Topic instances).
+ This IDL can be found in [ShapesDemo-TypeSupport](https://github.com/eProsima/ShapesDemo-TypeSupport) repository.

include/eprosimashapesdemo/shapesdemo/ShapeInfo.h

@@ -25,16 +25,16 @@
 #ifndef _SHAPEINFO_H_
 #define _SHAPEINFO_H_
 
-#include <fastrtps/rtps/common/Time_t.h>
-#include <fastrtps/rtps/common/Guid.h>
-#include <fastrtps/rtps/common/InstanceHandle.h>
-
 #include <cstdint>
-#include <sstream>
 #include <QString>
+#include <sstream>
+
+#include <fastrtps/rtps/common/Guid.h>
+#include <fastrtps/rtps/common/InstanceHandle.h>
+#include <fastrtps/rtps/common/Time_t.h>
 
 #include "eprosimashapesdemo/shapesdemo/ShapeDefinitions.h"
-#include "eprosimashapesdemo/shapesdemo/ShapePubSubTypes.h"
+#include "types/ShapePubSubTypes.h"
 
 using namespace eprosima::fastrtps;
 
@@ -129,13 +129,10 @@ class ColorInstanceHandle
 
 };
 
-
-const ColorInstanceHandle c_ShapesHandles;
-
-
 inline SD_COLOR getColorFromInstanceHandle(
  rtps::InstanceHandle_t& iHandle)
 {
+ static const ColorInstanceHandle c_ShapesHandles;
  if (iHandle == c_ShapesHandles.BlueIH.second)
  {
  return SD_BLUE;

include/eprosimashapesdemo/shapesdemo/ShapeSubscriber.h

@@ -25,17 +25,17 @@
 
 #include <QMutex>
 
-#include "eprosimashapesdemo/shapesdemo/Shape.h"
-#include "eprosimashapesdemo/shapesdemo/ShapeHistory.h"
-#include "eprosimashapesdemo/shapesdemo/ShapesDemo.h"
-
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/DataReaderListener.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
 #include <fastdds/dds/topic/ContentFilteredTopic.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 
+#include "eprosimashapesdemo/shapesdemo/ShapeHistory.h"
+#include "eprosimashapesdemo/shapesdemo/ShapesDemo.h"
+#include "types/Shape.h"
+
 using namespace eprosima::fastdds::dds;
 
 class ContentFilterSelector;

include/eprosimashapesdemo/shapesdemo/ShapesDemo.h

@@ -28,9 +28,6 @@
 
 #include <QMutex>
 
-#include "eprosimashapesdemo/shapesdemo/ShapePubSubTypes.h"
-#include "eprosimashapesdemo/shapesdemo/ShapeDefinitions.h"
-
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/DomainParticipantListener.hpp>
@@ -41,6 +38,9 @@
 #include <fastdds/rtps/common/Guid.h>
 #include <fastdds/rtps/writer/WriterDiscoveryInfo.h>
 
+#include "eprosimashapesdemo/shapesdemo/ShapeDefinitions.h"
+#include "types/ShapePubSubTypes.h"
+
 using namespace eprosima::fastdds::dds;
 
 std::string qos_policy_id_to_string(

src/shapesdemo/ShapesDemo.cpp

@@ -15,29 +15,30 @@
 // 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/shapesdemo/ShapesDemo.h>
+
+#include <ctime>
 #include <iostream>
 #include <sstream>
-#include <ctime>
-
-#include <eprosimashapesdemo/shapesdemo/ShapesDemo.h>
-#include <eprosimashapesdemo/shapesdemo/ShapePublisher.h>
-#include <eprosimashapesdemo/shapesdemo/ShapeSubscriber.h>
-#include <eprosimashapesdemo/shapesdemo/ShapeTypeObject.h>
-#include <eprosimashapesdemo/shapesdemo/ShapeInfo.h>
-#ifdef ENABLE_ROS_COMPONENTS
-#include <eprosimashapesdemo/shapesdemo/KeylessShapeTypeObject.h>
-#include <eprosimashapesdemo/shapesdemo/KeylessShapePubSubTypes.h>
-#endif // ifdef ENABLE_ROS_COMPONENTS
-#include <eprosimashapesdemo/qt/mainwindow.h>
 
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
-#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastrtps/config.h> // FASTDDS_STATISTICS availability
 #include <fastrtps/utils/IPLocator.h>
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 
+#include <eprosimashapesdemo/qt/mainwindow.h>
+#include <eprosimashapesdemo/shapesdemo/ShapeInfo.h>
+#include <eprosimashapesdemo/shapesdemo/ShapePublisher.h>
+#include <eprosimashapesdemo/shapesdemo/ShapeSubscriber.h>
+#include <types/ShapeTypeObject.h>
+#ifdef ENABLE_ROS_COMPONENTS
+#include <types/KeylessShapeTypePubSubTypes.h>
+#include <types/KeylessShapeTypeTypeObject.h>
+#endif // ifdef ENABLE_ROS_COMPONENTS
+
 using namespace eprosima::fastdds::dds;
 using namespace eprosima::fastdds::rtps;
 using namespace eprosima::fastrtps::rtps;
@@ -71,7 +72,7 @@ ShapesDemo::ShapesDemo(
  m_ros_type->auto_fill_type_object(false);
  m_ros_type->auto_fill_type_information(true);
 
- registerKeylessShapeTypes();
+ registerKeylessShapeTypeTypes();
 #endif // ifdef ENABLE_ROS_COMPONENTS
 
  registerShapeTypes();

src/shapesdemo/KeylessShape.cxx → types/KeylessShapeType.cxx

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /*!
- * @file KeylessShape.cpp
+ * @file KeylessShapeType.cpp
  * This source file contains the definition of the described types in the IDL file.
  *
  * This file was generated by the tool gen.
@@ -26,8 +26,8 @@ char dummy;
 } // namespace
 #endif // _WIN32
 
-#include "eprosimashapesdemo/shapesdemo/KeylessShape.h"
-#include "eprosimashapesdemo/shapesdemo/KeylessShapeTypeObject.h"
+#include "KeylessShapeType.h"
+#include "KeylessShapeTypeTypeObject.h"
 #include <fastcdr/Cdr.h>
 
 #include <fastcdr/exceptions/BadParamException.h>
@@ -37,17 +37,17 @@ using namespace eprosima::fastcdr::exception;
 
 shapes_demo_typesupport::idl::KeylessShapeType::KeylessShapeType()
 {
- // m_color com.eprosima.idl.parser.typecode.StringTypeCode@3a883ce7
+ // m_color com.eprosima.idl.parser.typecode.StringTypeCode@17d0685f
  m_color ="";
- // m_x com.eprosima.idl.parser.typecode.PrimitiveTypeCode@4973813a
+ // m_x com.eprosima.idl.parser.typecode.PrimitiveTypeCode@3891771e
  m_x = 0;
- // m_y com.eprosima.idl.parser.typecode.PrimitiveTypeCode@6321e813
+ // m_y com.eprosima.idl.parser.typecode.PrimitiveTypeCode@78ac1102
  m_y = 0;
- // m_shapesize com.eprosima.idl.parser.typecode.PrimitiveTypeCode@79be0360
+ // m_shapesize com.eprosima.idl.parser.typecode.PrimitiveTypeCode@2de8284b
  m_shapesize = 0;
 
  // Just to register all known types
- registerKeylessShapeTypes();
+ registerKeylessShapeTypeTypes();
 }
 
 shapes_demo_typesupport::idl::KeylessShapeType::~KeylessShapeType()
@@ -68,7 +68,7 @@ shapes_demo_typesupport::idl::KeylessShapeType::KeylessShapeType(
 }
 
 shapes_demo_typesupport::idl::KeylessShapeType::KeylessShapeType(
- KeylessShapeType&& x)
+ KeylessShapeType&& x) noexcept 
 {
  m_color = std::move(x.m_color);
  m_x = x.m_x;
@@ -89,7 +89,7 @@ shapes_demo_typesupport::idl::KeylessShapeType& shapes_demo_typesupport::idl::Ke
 }
 
 shapes_demo_typesupport::idl::KeylessShapeType& shapes_demo_typesupport::idl::KeylessShapeType::operator =(
- KeylessShapeType&& x)
+ KeylessShapeType&& x) noexcept
 {
 
  m_color = std::move(x.m_color);
@@ -161,7 +161,7 @@ void shapes_demo_typesupport::idl::KeylessShapeType::serialize(
  eprosima::fastcdr::Cdr& scdr) const
 {
 
- scdr << m_color;
+ scdr << m_color.c_str();
  scdr << m_x;
  scdr << m_y;
  scdr << m_shapesize;

include/eprosimashapesdemo/shapesdemo/KeylessShape.h → types/KeylessShapeType.h

@@ -13,16 +13,18 @@
 // limitations under the License.
 
 /*!
- * @file KeylessShape.h
+ * @file KeylessShapeType.h
  * This header file contains the declaration of the described types in the IDL file.
  *
  * This file was generated by the tool gen.
  */
 
-#ifndef _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPE_H_
-#define _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPE_H_
+#ifndef _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPETYPE_H_
+#define _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPETYPE_H_
 
 
+#include <fastrtps/utils/fixed_size_string.hpp>
+
 #include <stdint.h>
 #include <array>
 #include <string>
@@ -42,16 +44,16 @@
 
 #if defined(_WIN32)
 #if defined(EPROSIMA_USER_DLL_EXPORT)
-#if defined(KeylessShape_SOURCE)
-#define KeylessShape_DllAPI __declspec( dllexport )
+#if defined(KeylessShapeType_SOURCE)
+#define KeylessShapeType_DllAPI __declspec( dllexport )
 #else
-#define KeylessShape_DllAPI __declspec( dllimport )
-#endif // KeylessShape_SOURCE
+#define KeylessShapeType_DllAPI __declspec( dllimport )
+#endif // KeylessShapeType_SOURCE
 #else
-#define KeylessShape_DllAPI
+#define KeylessShapeType_DllAPI
 #endif // EPROSIMA_USER_DLL_EXPORT
 #else
-#define KeylessShape_DllAPI
+#define KeylessShapeType_DllAPI
 #endif // _WIN32
 
 namespace eprosima {
@@ -65,7 +67,7 @@ namespace shapes_demo_typesupport {
  namespace idl {
  /*!
  * @brief This class represents the structure KeylessShapeType defined by the user in the IDL file.
- * @ingroup KEYLESSSHAPE
+ * @ingroup KEYLESSSHAPETYPE
  */
  class KeylessShapeType
  {
@@ -93,7 +95,7 @@ namespace shapes_demo_typesupport {
  * @param x Reference to the object shapes_demo_typesupport::idl::KeylessShapeType that will be copied.
  */
  eProsima_user_DllExport KeylessShapeType(
- KeylessShapeType&& x);
+ KeylessShapeType&& x) noexcept;
 
  /*!
  * @brief Copy assignment.
@@ -107,7 +109,7 @@ namespace shapes_demo_typesupport {
  * @param x Reference to the object shapes_demo_typesupport::idl::KeylessShapeType that will be copied.
  */
  eProsima_user_DllExport KeylessShapeType& operator =(
- KeylessShapeType&& x);
+ KeylessShapeType&& x) noexcept;
 
  /*!
  * @brief Comparison operator.
@@ -273,4 +275,4 @@ namespace shapes_demo_typesupport {
  } // namespace idl
 } // namespace shapes_demo_typesupport
 
-#endif // _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPE_H_
+#endif // _FAST_DDS_GENERATED_SHAPES_DEMO_TYPESUPPORT_IDL_KEYLESSSHAPETYPE_H_

src/shapesdemo/KeylessShapePubSubTypes.cxx → types/KeylessShapeTypePubSubTypes.cxx

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /*!
- * @file KeylessShapePubSubTypes.cpp
+ * @file KeylessShapeTypePubSubTypes.cpp
  * This header file contains the implementation of the serialization functions.
  *
  * This file was generated by the tool fastcdrgen.
@@ -23,7 +23,7 @@
 #include <fastcdr/FastBuffer.h>
 #include <fastcdr/Cdr.h>
 
-#include "eprosimashapesdemo/shapesdemo/KeylessShapePubSubTypes.h"
+#include "KeylessShapeTypePubSubTypes.h"
 
 using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
 using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
@@ -32,7 +32,7 @@ namespace shapes_demo_typesupport {
  namespace idl {
  KeylessShapeTypePubSubType::KeylessShapeTypePubSubType()
  {
- setName("shapes_demo_typesupport::idl::dds_::KeylessShapeType_");
+ setName("shapes_demo_typesupport::idl::KeylessShapeType");
  auto type_size = KeylessShapeType::getMaxCdrSerializedSize();
  type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
  m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/