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Implement DDS Participants #466

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Implement DDS Participants #466

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960fdc4
Update ParticipantFactory to use DDS Participants
irenebm Aug 30, 2024
ce519ca
Update ParticipantFactoryTest
irenebm Aug 30, 2024
be5923f
Include what you use
irenebm Sep 2, 2024
a0523b0
Set discovery trigger to NONE when disable dynamic discovery
irenebm Sep 2, 2024
4774a88
Only insert the used topic into builtin topics
irenebm Sep 2, 2024
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12 changes: 6 additions & 6 deletions ddsrouter_core/src/cpp/core/ParticipantFactory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,9 @@
#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
#include <ddspipe_participants/configuration/XmlParticipantConfiguration.hpp>
#include <ddspipe_participants/participant/auxiliar/EchoParticipant.hpp>
#include <ddspipe_participants/participant/rtps/DiscoveryServerParticipant.hpp>
#include <ddspipe_participants/participant/rtps/InitialPeersParticipant.hpp>
#include <ddspipe_participants/participant/rtps/SimpleParticipant.hpp>
#include <ddspipe_participants/participant/dds/DiscoveryServerParticipant.hpp>
#include <ddspipe_participants/participant/dds/InitialPeersParticipant.hpp>
#include <ddspipe_participants/participant/dds/SimpleParticipant.hpp>
#include <ddspipe_participants/participant/dds/XmlParticipant.hpp>

#include <ddsrouter_core/types/ParticipantKind.hpp>
Expand Down Expand Up @@ -104,7 +104,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
case types::ParticipantKind::simple:
return generic_create_participant_with_init<
ddspipe::participants::SimpleParticipantConfiguration,
ddspipe::participants::rtps::SimpleParticipant>
ddspipe::participants::dds::SimpleParticipant>
(
kind,
participant_configuration,
Expand All @@ -115,7 +115,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
case types::ParticipantKind::discovery_server:
return generic_create_participant_with_init<
ddspipe::participants::DiscoveryServerParticipantConfiguration,
ddspipe::participants::rtps::DiscoveryServerParticipant>
ddspipe::participants::dds::DiscoveryServerParticipant>
(
kind,
participant_configuration,
Expand All @@ -126,7 +126,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
case types::ParticipantKind::initial_peers:
return generic_create_participant_with_init<
ddspipe::participants::InitialPeersParticipantConfiguration,
ddspipe::participants::rtps::InitialPeersParticipant>
ddspipe::participants::dds::InitialPeersParticipant>
(
kind,
participant_configuration,
Expand Down
31 changes: 22 additions & 9 deletions ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <cpp_utils/testing/LogChecker.hpp>

#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>

#include <ddsrouter_core/core/DdsRouter.hpp>

Expand Down Expand Up @@ -50,7 +51,8 @@ constexpr const uint32_t DEFAULT_MESSAGE_SIZE = 1; // x50 bytes
*/
DdsRouterConfiguration dds_test_simple_configuration(
bool disable_dynamic_discovery = false,
bool transient_local_readers = false)
bool transient_local_readers = false,
bool keyed = false)
{
DdsRouterConfiguration conf;

Expand Down Expand Up @@ -79,13 +81,24 @@ DdsRouterConfiguration dds_test_simple_configuration(
topic.type_name = "HelloWorld";
topic.topic_qos = qos;

core::types::DdsTopic topic_keyed(topic);
topic_keyed.type_name = "HelloWorldKeyed";
topic_keyed.topic_qos.keyed = true;
// DDS Participants cannot have two topics with the same name.
// Since this test does not require two distinct topics, we can simply avoid inserting
// the other topic if it isn't needed.
if (!keyed)
{
conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
}
else
{
core::types::DdsTopic topic_keyed(topic);
topic_keyed.type_name = "HelloWorldKeyed";
topic_keyed.topic_qos.keyed = true;

conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
topic_keyed));
conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
topic_keyed));
}

conf.ddspipe_configuration.discovery_trigger = core::DiscoveryTrigger::NONE;
}

// Two simple participants
Expand Down Expand Up @@ -225,7 +238,7 @@ TEST(DDSTestLocal, end_to_end_local_communication)
TEST(DDSTestLocal, end_to_end_local_communication_keyed)
{
test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
test::dds_test_simple_configuration());
test::dds_test_simple_configuration(false, false, true));
}

/**
Expand All @@ -242,7 +255,7 @@ TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery)
TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery_keyed)
{
test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
test::dds_test_simple_configuration(true));
test::dds_test_simple_configuration(true,false,true));
}

/**
Expand Down
1 change: 1 addition & 0 deletions ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <cpp_utils/testing/LogChecker.hpp>

#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>

#include <ddsrouter_core/core/DdsRouter.hpp>

Expand Down
7 changes: 0 additions & 7 deletions ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,13 +37,6 @@
#include <fastdds/rtps/attributes/RTPSParticipantAttributes.hpp>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>

#include <cpp_utils/testing/gtest_aux.hpp>
#include <cpp_utils/Log.hpp>

#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>

#include <ddsrouter_core/core/DdsRouter.hpp>

#include "HelloWorld/HelloWorldPubSubTypes.hpp"
#include "HelloWorldKeyed/HelloWorldKeyedPubSubTypes.hpp"

Expand Down
18 changes: 9 additions & 9 deletions ddsrouter_core/test/unittest/ParticipantFactoryTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,9 @@

#include <ddspipe_core/interface/IParticipant.hpp>
#include <ddspipe_participants/participant/auxiliar/EchoParticipant.hpp>
#include <ddspipe_participants/participant/rtps/SimpleParticipant.hpp>
#include <ddspipe_participants/participant/rtps/DiscoveryServerParticipant.hpp>
#include <ddspipe_participants/participant/rtps/InitialPeersParticipant.hpp>
#include <ddspipe_participants/participant/dds/SimpleParticipant.hpp>
#include <ddspipe_participants/participant/dds/DiscoveryServerParticipant.hpp>
#include <ddspipe_participants/participant/dds/InitialPeersParticipant.hpp>
#include <ddspipe_participants/participant/dds/XmlParticipant.hpp>

#include <ddspipe_participants/testing/random_values.hpp>
Expand All @@ -61,35 +61,35 @@ class EchoTestClass : public ddspipe::participants::EchoParticipant
* It provides public access to the protected member 'configuration_' from its base class
* ddspipe::participants::SimpleParticipant.
*/
class SimpleTestClass : public ddspipe::participants::rtps::SimpleParticipant
class SimpleTestClass : public ddspipe::participants::dds::SimpleParticipant
{
public:

using ddspipe::participants::rtps::SimpleParticipant::configuration_; // Make protected member accessible
using ddspipe::participants::dds::SimpleParticipant::configuration_; // Make protected member accessible
};

/**
* This class is a subclass of ddspipe::participants::DiscoveryServerParticipant.
* It provides public access to the protected member 'configuration_' from its base class
* ddspipe::participants::DiscoveryServerParticipant.
*/
class DiscoveryServerTestClass : public ddspipe::participants::rtps::DiscoveryServerParticipant
class DiscoveryServerTestClass : public ddspipe::participants::dds::DiscoveryServerParticipant
{
public:

using ddspipe::participants::rtps::DiscoveryServerParticipant::configuration_; // Make protected member accessible
using ddspipe::participants::dds::DiscoveryServerParticipant::configuration_; // Make protected member accessible
};

/**
* This class is a subclass of ddspipe::participants::InitialPeersParticipant.
* It provides public access to the protected member 'configuration_' from its base class
* ddspipe::participants::InitialPeersParticipant.
*/
class InitialPeersTestClass : public ddspipe::participants::rtps::InitialPeersParticipant
class InitialPeersTestClass : public ddspipe::participants::dds::InitialPeersParticipant
{
public:

using ddspipe::participants::rtps::InitialPeersParticipant::configuration_; // Make protected member accessible
using ddspipe::participants::dds::InitialPeersParticipant::configuration_; // Make protected member accessible
};

/**
Expand Down
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