Add support for Fast DDS versions earlier than 2.13 (#82)

* Add support for FastDDS versions earlier than 2.13 Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * FASTDDS_SUBDIRECTORY -> DDS_TYPES_VERSION Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Apply changes Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Correct function names Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Update FASTRTPS version check in CommonReader and CommonWriter Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Uncrustify Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Compile test libraries in ddspipe_core Signed-off-by: Irene Bandera <irenebandera@eprosima.com> --------- Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
eProsima · Jan 23, 2024 · 3b41d0d · 3b41d0d
1 parent 16b1acb
commit 3b41d0d
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Showing 223 changed files with 17,281 additions and 14 deletions.
diff --git a/ddspipe_core/CMakeLists.txt b/ddspipe_core/CMakeLists.txt
@@ -70,9 +70,7 @@ compile_library(
 # Test
 ###############################################################################
 # Compile tests if CMake options requires it
-compile_test_library(
-    "${PROJECT_SOURCE_DIR}/test" # Test directory
-)
+compile_test_library("${PROJECT_SOURCE_DIR}/test/")
 
 ###############################################################################
 # Packaging

diff --git a/ddspipe_core/project_settings.cmake b/ddspipe_core/project_settings.cmake
@@ -30,7 +30,7 @@ set(MODULE_FIND_PACKAGES
     cpp_utils
 )
 
-set(fastrtps_MINIMUM_VERSION "2.8")
+set(fastrtps_MINIMUM_VERSION "2.10")
 
 set(MODULE_DEPENDENCIES
     $<$<BOOL:${WIN32}>:iphlpapi$<SEMICOLON>Shlwapi>

diff --git a/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt b/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt
@@ -18,8 +18,15 @@
 
 set(TEST_NAME dtypes_idl_tests)
 
+# Determine Fast DDS version
+if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
+    set(DDS_TYPES_VERSION "v1")
+else()
+    set(DDS_TYPES_VERSION "v2")
+endif()
+
 # Add to test sources every FastDDSGen file generated
-file(GLOB DATATYPE_SOURCES_CXX "types/**/*.cxx")
+file(GLOB DATATYPE_SOURCES_CXX "types/${DDS_TYPES_VERSION}/**/*.cxx")
 set(TEST_SOURCES
         dtypes_idl_tests.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/types/dynamic_types/schema_idl.cpp
@@ -42,7 +49,7 @@ file(
         RESULT_SOURCES_IDL
     RELATIVE
         "${CMAKE_CURRENT_SOURCE_DIR}"
-    "types/idls/*.idl")
+    "types/${DDS_TYPES_VERSION}/idls/*.idl")
 
 set(TEST_NEEDED_SOURCES
         ${RESULT_SOURCES_IDL}
@@ -63,7 +70,7 @@ add_unittest_executable(
 set(TEST_NAME dtypes_msg_tests)
 
 # Add to test sources every FastDDSGen file generated
-file(GLOB DATATYPE_SOURCES_CXX "types/**/*.cxx")
+file(GLOB DATATYPE_SOURCES_CXX "types/${DDS_TYPES_VERSION}/**/*.cxx")
 set(TEST_SOURCES
         dtypes_msg_tests.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/types/dynamic_types/schema_msg.cpp
@@ -86,7 +93,7 @@ file(
         RESULT_SOURCES_MSG
     RELATIVE
         "${CMAKE_CURRENT_SOURCE_DIR}"
-    "types/msgs/*.msg")
+    "types/${DDS_TYPES_VERSION}/msgs/*.msg")
 
 set(TEST_NEEDED_SOURCES
         ${RESULT_SOURCES_MSG}

diff --git a/ddspipe_core/test/unittest/types/dynamic_types/dtypes_idl_tests.cpp b/ddspipe_core/test/unittest/types/dynamic_types/dtypes_idl_tests.cpp
@@ -24,7 +24,11 @@
 
 #include <ddspipe_core/types/dynamic_types/schema.hpp>
 
-#include "types/all_types.hpp"
+#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+    #include "types/v1/all_types.hpp"
+#else
+    #include "types/v2/all_types.hpp"
+#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 
 using namespace eprosima;
 
@@ -39,7 +43,11 @@ std::string read_idl_from_file_(
 std::string file_name_by_type(
         SupportedType type)
 {
-    return std::string("types/idls/") + to_string(type) + ".idl";
+    #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+    return std::string("types/v1/idls/") + to_string(type) + ".idl";
+    #else
+    return std::string("types/v2/idls/") + to_string(type) + ".idl";
+    #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 void compare_schemas(

diff --git a/ddspipe_core/test/unittest/types/dynamic_types/dtypes_msg_tests.cpp b/ddspipe_core/test/unittest/types/dynamic_types/dtypes_msg_tests.cpp
@@ -19,7 +19,11 @@
 #include <cpp_utils/file/file_utils.hpp>
 #include <fastrtps/types/DynamicTypePtr.h>
 #include <ddspipe_core/types/dynamic_types/schema.hpp>
-#include "types/all_types.hpp"
+#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+    #include "types/v1/all_types.hpp"
+#else
+    #include "types/v2/all_types.hpp"
+#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 
 using namespace eprosima;
 
@@ -34,7 +38,11 @@ std::string read_msg_from_file_(
 std::string file_name_by_type(
         SupportedType type)
 {
-    return std::string("types/msgs/") + to_string(type) + ".msg";
+    #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+    return std::string("types/v1/msgs/") + to_string(type) + ".msg";
+    #else
+    return std::string("types/v2/msgs/") + to_string(type) + ".msg";
+    #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 void compare_schemas(

diff --git a/...t/types/dynamic_types/types/all_types.hpp → ...ypes/dynamic_types/types/v1/all_types.hpp b/...t/types/dynamic_types/types/all_types.hpp → ...ypes/dynamic_types/types/v1/all_types.hpp
diff --git a/...types/types/idls/arrays_and_sequences.idl → ...es/types/v1/idls/arrays_and_sequences.idl b/...types/types/idls/arrays_and_sequences.idl → ...es/types/v1/idls/arrays_and_sequences.idl
diff --git a/...c_types/types/idls/basic_array_struct.idl → ...ypes/types/v1/idls/basic_array_struct.idl b/...c_types/types/idls/basic_array_struct.idl → ...ypes/types/v1/idls/basic_array_struct.idl
diff --git a/...dynamic_types/types/idls/basic_struct.idl → ...amic_types/types/v1/idls/basic_struct.idl b/...dynamic_types/types/idls/basic_struct.idl → ...amic_types/types/v1/idls/basic_struct.idl
diff --git a/...ynamic_types/types/idls/char_sequence.idl → ...mic_types/types/v1/idls/char_sequence.idl b/...ynamic_types/types/idls/char_sequence.idl → ...mic_types/types/v1/idls/char_sequence.idl
diff --git a/...ypes/types/idls/complex_nested_arrays.idl → ...s/types/v1/idls/complex_nested_arrays.idl b/...ypes/types/idls/complex_nested_arrays.idl → ...s/types/v1/idls/complex_nested_arrays.idl
diff --git a/.../dynamic_types/types/idls/enum_struct.idl → ...namic_types/types/v1/idls/enum_struct.idl b/.../dynamic_types/types/idls/enum_struct.idl → ...namic_types/types/v1/idls/enum_struct.idl
diff --git a/...pes/types/idls/float_bounded_sequence.idl → .../types/v1/idls/float_bounded_sequence.idl b/...pes/types/idls/float_bounded_sequence.idl → .../types/v1/idls/float_bounded_sequence.idl
diff --git a/.../dynamic_types/types/idls/hello_world.idl → ...namic_types/types/v1/idls/hello_world.idl b/.../dynamic_types/types/idls/hello_world.idl → ...namic_types/types/v1/idls/hello_world.idl
diff --git a/...s/dynamic_types/types/idls/map_struct.idl → ...ynamic_types/types/v1/idls/map_struct.idl b/...s/dynamic_types/types/idls/map_struct.idl → ...ynamic_types/types/v1/idls/map_struct.idl
diff --git a/...ynamic_types/types/idls/numeric_array.idl → ...mic_types/types/v1/idls/numeric_array.idl b/...ynamic_types/types/idls/numeric_array.idl → ...mic_types/types/v1/idls/numeric_array.idl
diff --git a/...dynamic_types/types/idls/union_struct.idl → ...amic_types/types/v1/idls/union_struct.idl b/...dynamic_types/types/idls/union_struct.idl → ...amic_types/types/v1/idls/union_struct.idl
diff --git a/...types/types/msgs/arrays_and_sequences.msg → ...es/types/v1/msgs/arrays_and_sequences.msg b/...types/types/msgs/arrays_and_sequences.msg → ...es/types/v1/msgs/arrays_and_sequences.msg
diff --git a/...c_types/types/msgs/basic_array_struct.msg → ...ypes/types/v1/msgs/basic_array_struct.msg b/...c_types/types/msgs/basic_array_struct.msg → ...ypes/types/v1/msgs/basic_array_struct.msg
diff --git a/...dynamic_types/types/msgs/basic_struct.msg → ...amic_types/types/v1/msgs/basic_struct.msg b/...dynamic_types/types/msgs/basic_struct.msg → ...amic_types/types/v1/msgs/basic_struct.msg
diff --git a/...ynamic_types/types/msgs/char_sequence.msg → ...mic_types/types/v1/msgs/char_sequence.msg b/...ynamic_types/types/msgs/char_sequence.msg → ...mic_types/types/v1/msgs/char_sequence.msg
diff --git a/...ypes/types/msgs/complex_nested_arrays.msg → ...s/types/v1/msgs/complex_nested_arrays.msg b/...ypes/types/msgs/complex_nested_arrays.msg → ...s/types/v1/msgs/complex_nested_arrays.msg
diff --git a/...pes/types/msgs/float_bounded_sequence.msg → .../types/v1/msgs/float_bounded_sequence.msg b/...pes/types/msgs/float_bounded_sequence.msg → .../types/v1/msgs/float_bounded_sequence.msg
diff --git a/.../dynamic_types/types/msgs/hello_world.msg → ...namic_types/types/v1/msgs/hello_world.msg b/.../dynamic_types/types/msgs/hello_world.msg → ...namic_types/types/v1/msgs/hello_world.msg
diff --git a/...ynamic_types/types/msgs/numeric_array.msg → ...mic_types/types/v1/msgs/numeric_array.msg b/...ynamic_types/types/msgs/numeric_array.msg → ...mic_types/types/v1/msgs/numeric_array.msg