Add XML support for ThreadSettings (#3922)

* Refs #19378: Add threadSettingsTypes to XSD schema

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

* Refs #19378: Add unit test for parsing thread_settings XML elements

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

* Refs #19378: Add getXMLThreadSettings to XMLElementParser

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

* Refs #19378: Add Log test cases to XMLProfileParserBasicTests.thread_settings_qos test

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

* Refs #19378: Add XML ThreadSettings config to Log

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

* Refs #19378: Add domainparticipant_factory XML tag tests

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

* Refs #19378: Add domainparticipant_factory XSD

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

* Refs #19378: Add XML ThreadSettings config to DomainParticipantFactory

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

* Refs #19378: Add getXMLEntityFactoryQos unit test

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

* Refs #19378: Add domainparticipant XML thread settings tests

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

* Refs #19378: Add XML ThreadSettings config to DomainParticipant

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

* Refs #19378: Uncrustify

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

* Refs #19378: Add parseXMLReceptionThreads API & unit test

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

* Refs #19378: Add transport descriptor XML thread settings tests

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

* Refs #19378: Add parseXMLReceptionThreads implementation

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

* Refs #19378: Add transport descriptor XML thread settings config

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

* Refs #19378: Add datareader XML thread settings tests

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

* Refs #19378: Add datareader XML thread settings

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

* Refs #19378: Add builtin_transports_reception_threads to domainparticipant XML test

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

* Refs #19378: Add builtin_transports_reception_threads to domainparticipant XML

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

* Refs #19378: Fix Windows warning regarding sscanf

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

* Refs #19378: Fix flow controllers unittests build when using Fast CDR as thirdparty

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

* Refs #19378: Apply Miguel's suggestions

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

* Refs #19378: Apply some other suggestions

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

* Refs #19378. OSx has neither `SCHED_BATCH` nor `SCHED_IDLE`

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs #19378. Check result on pthread_setschedparam

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs #19378. Add include on `threading_osx.ipp`

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs #19378. Avoid using gettid on `threading_osx.ipp`

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Refs #19378: Fix mac warning

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

---------

Signed-off-by: EduPonz <eduardoponz@eprosima.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Co-authored-by: Miguel Company <MiguelCompany@eprosima.com>

include/fastdds/dds/core/policy/QosPolicies.hpp

@@ -2951,6 +2951,7 @@ class DataSharingQosPolicy : public Parameter_t, public QosPolicy
                 max_domains_ :
                 b.domain_ids().size());
         domain_ids_ = b.domain_ids();
+        data_sharing_listener_thread_ = b.data_sharing_listener_thread();
 
         return *this;
     }
@@ -2961,6 +2962,7 @@ class DataSharingQosPolicy : public Parameter_t, public QosPolicy
         return kind_ == b.kind_ &&
                shm_directory_ == b.shm_directory_ &&
                domain_ids_ == b.domain_ids_ &&
+               data_sharing_listener_thread_ == b.data_sharing_listener_thread_ &&
                Parameter_t::operator ==(b) &&
                QosPolicy::operator ==(b);
     }
@@ -3137,6 +3139,37 @@ class DataSharingQosPolicy : public Parameter_t, public QosPolicy
         }
     }
 
+    /**
+     * Getter for DataSharing listener thread ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    rtps::ThreadSettings& data_sharing_listener_thread()
+    {
+        return data_sharing_listener_thread_;
+    }
+
+    /**
+     * Getter for DataSharing listener thread ThreadSettings
+     *
+     * @return rtps::ThreadSettings reference
+     */
+    const rtps::ThreadSettings& data_sharing_listener_thread() const
+    {
+        return data_sharing_listener_thread_;
+    }
+
+    /**
+     * Setter for the DataSharing listener thread ThreadSettings
+     *
+     * @param value New ThreadSettings to be set
+     */
+    void data_sharing_listener_thread(
+            const rtps::ThreadSettings& value)
+    {
+        data_sharing_listener_thread_ = value;
+    }
+
 private:
 
     void setup(
@@ -3165,6 +3198,9 @@ class DataSharingQosPolicy : public Parameter_t, public QosPolicy
 
     //! Only endpoints with matching domain IDs are DataSharing compatible
     std::vector<uint64_t> domain_ids_;
+
+    //! Thread settings for the DataSharing listener thread
+    rtps::ThreadSettings data_sharing_listener_thread_;
 };
 
 

include/fastdds/dds/subscriber/qos/DataReaderQos.hpp

@@ -25,7 +25,6 @@
 #include <fastdds/dds/subscriber/qos/ReaderQos.hpp>
 #include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
-#include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastrtps/attributes/TopicAttributes.h>
 #include <fastrtps/fastrtps_dll.h>
 
@@ -208,8 +207,7 @@ class DataReaderQos
                (properties_ == b.properties()) &&
                (endpoint_ == b.endpoint()) &&
                (reader_resource_limits_ == b.reader_resource_limits()) &&
-               (data_sharing_ == b.data_sharing()) &&
-               (data_sharing_listener_thread_ == b.data_sharing_listener_thread());
+               (data_sharing_ == b.data_sharing());
     }
 
     RTPS_DllAPI ReaderQos get_readerqos(
@@ -856,37 +854,6 @@ class DataReaderQos
         data_sharing_ = data_sharing;
     }
 
-    /**
-     * Getter for data sharing listener ThreadSettings
-     *
-     * @return rtps::ThreadSettings reference
-     */
-    RTPS_DllAPI rtps::ThreadSettings& data_sharing_listener_thread()
-    {
-        return data_sharing_listener_thread_;
-    }
-
-    /**
-     * Getter for data sharing listener ThreadSettings
-     *
-     * @return rtps::ThreadSettings reference
-     */
-    RTPS_DllAPI const rtps::ThreadSettings& data_sharing_listener_thread() const
-    {
-        return data_sharing_listener_thread_;
-    }
-
-    /**
-     * Setter for data sharing listener ThreadSettings
-     *
-     * @param data_sharing_listener_thread new value for the rtps::ThreadSettings
-     */
-    RTPS_DllAPI void data_sharing_listener_thread(
-            const rtps::ThreadSettings& data_sharing_listener_thread)
-    {
-        data_sharing_listener_thread_ = data_sharing_listener_thread;
-    }
-
 private:
 
     //!Durability Qos, implemented in the library.
@@ -951,9 +918,6 @@ class DataReaderQos
 
     //!DataSharing configuration (Extension)
     DataSharingQosPolicy data_sharing_;
-
-    //! Thread settings for the data-sharing listener thread
-    rtps::ThreadSettings data_sharing_listener_thread_;
 };
 
 RTPS_DllAPI extern const DataReaderQos DATAREADER_QOS_DEFAULT;

include/fastdds/rtps/attributes/RTPSParticipantAttributes.h

@@ -487,7 +487,14 @@ class RTPSParticipantAttributes
                (this->properties == b.properties) &&
                (this->prefix == b.prefix) &&
                (this->flow_controllers == b.flow_controllers) &&
-               (this->builtin_controllers_sender_thread == b.builtin_controllers_sender_thread);
+               (this->builtin_controllers_sender_thread == b.builtin_controllers_sender_thread) &&
+               (this->timed_events_thread == b.timed_events_thread) &&
+#if HAVE_SECURITY
+               (this->security_log_thread == b.security_log_thread) &&
+#endif // if HAVE_SECURITY
+               (this->discovery_server_thread == b.discovery_server_thread) &&
+               (this->builtin_transports_reception_threads == b.builtin_transports_reception_threads);
+
     }
 
     /**
@@ -588,6 +595,9 @@ class RTPSParticipantAttributes
     //! Thread settings for the discovery server thread
     fastdds::rtps::ThreadSettings discovery_server_thread;
 
+    //! Thread settings for the builtin transports reception threads
+    fastdds::rtps::ThreadSettings builtin_transports_reception_threads;
+
 #if HAVE_SECURITY
     //! Thread settings for the security log thread
     fastdds::rtps::ThreadSettings security_log_thread;

include/fastrtps/xmlparser/XMLParser.h

@@ -15,19 +15,26 @@
 #ifndef XML_PARSER_H_
 #define XML_PARSER_H_
 
-#include <stdio.h>
-#include <fastrtps/transport/TransportDescriptorInterface.h>
+#include <cstdint>
+#include <cstdio>
+#include <map>
+#include <memory>
+#include <string>
+
+#include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastdds/rtps/transport/PortBasedTransportDescriptor.hpp>
+#include <fastdds/rtps/transport/SocketTransportDescriptor.h>
+#include <fastrtps/attributes/LibrarySettingsAttributes.h>
 #include <fastrtps/attributes/ParticipantAttributes.h>
 #include <fastrtps/attributes/PublisherAttributes.h>
-#include <fastrtps/attributes/SubscriberAttributes.h>
-#include <fastrtps/attributes/RequesterAttributes.hpp>
 #include <fastrtps/attributes/ReplierAttributes.hpp>
-#include <fastrtps/xmlparser/XMLParserCommon.h>
+#include <fastrtps/attributes/RequesterAttributes.hpp>
+#include <fastrtps/attributes/SubscriberAttributes.h>
+#include <fastrtps/transport/TransportDescriptorInterface.h>
 #include <fastrtps/types/DynamicTypeBuilderPtr.h>
-#include <fastrtps/attributes/LibrarySettingsAttributes.h>
-
-#include <map>
-#include <string>
+#include <fastrtps/xmlparser/XMLParserCommon.h>
 
 namespace tinyxml2 {
 class XMLElement;
@@ -52,6 +59,11 @@ typedef std::map<std::string, sp_transport_t>  sp_transport_map_t;
 typedef types::DynamicTypeBuilder*             p_dynamictypebuilder_t;
 typedef std::map<std::string, p_dynamictypebuilder_t> p_dynamictype_map_t;
 
+typedef std::unique_ptr<fastdds::dds::DomainParticipantFactoryQos> up_participantfactory_t;
+typedef DataNode<fastdds::dds::DomainParticipantFactoryQos>        node_participantfactory_t;
+typedef node_participantfactory_t*                                 p_node_participantfactory_t;
+typedef std::unique_ptr<node_participantfactory_t>                 up_node_participantfactory_t;
+
 typedef std::unique_ptr<ParticipantAttributes> up_participant_t;
 typedef DataNode<ParticipantAttributes>        node_participant_t;
 typedef node_participant_t*                    p_node_participant_t;
@@ -177,6 +189,10 @@ class XMLParser
     RTPS_DllAPI static XMLP_ret parseXMLTransportsProf(
             tinyxml2::XMLElement* p_root);
 
+    RTPS_DllAPI static XMLP_ret parseXMLDomainParticipantFactoryProf(
+            tinyxml2::XMLElement* p_root,
+            BaseNode& rootNode);
+
     RTPS_DllAPI static XMLP_ret parseXMLParticipantProf(
             tinyxml2::XMLElement* p_root,
             BaseNode& rootNode);
@@ -204,10 +220,21 @@ class XMLParser
     RTPS_DllAPI static XMLP_ret parseXMLTransportData(
             tinyxml2::XMLElement* p_root);
 
+    RTPS_DllAPI static XMLP_ret validateXMLTransportElements(
+            tinyxml2::XMLElement& p_root);
+
     RTPS_DllAPI static XMLP_ret parseXMLCommonTransportData(
             tinyxml2::XMLElement* p_root,
             sp_transport_t p_transport);
 
+    RTPS_DllAPI static XMLP_ret parseXMLPortBasedTransportData(
+            tinyxml2::XMLElement* p_root,
+            std::shared_ptr<fastdds::rtps::PortBasedTransportDescriptor> p_transport);
+
+    RTPS_DllAPI static XMLP_ret parseXMLSocketTransportData(
+            tinyxml2::XMLElement* p_root,
+            std::shared_ptr<fastdds::rtps::SocketTransportDescriptor> p_transport);
+
     RTPS_DllAPI static XMLP_ret parseXMLCommonTCPTransportData(
             tinyxml2::XMLElement* p_root,
             sp_transport_t p_transport);
@@ -220,6 +247,10 @@ class XMLParser
             tinyxml2::XMLElement* p_root,
             sp_transport_t tcp_transport);
 
+    RTPS_DllAPI static XMLP_ret parseXMLReceptionThreads(
+            tinyxml2::XMLElement& p_root,
+            fastdds::rtps::PortBasedTransportDescriptor::ReceptionThreadsConfigMap& reception_threads);
+
     /**
      * Load a XML consumer node and parses it. Adds the parsed consumer to Log directly.
      * @param consumer Node to be loaded.
@@ -280,6 +311,10 @@ class XMLParser
             types::MemberId mId,
             const std::string& values);
 
+    RTPS_DllAPI static XMLP_ret fillDataNode(
+            tinyxml2::XMLElement* p_profile,
+            DataNode<fastdds::dds::DomainParticipantFactoryQos>& factory_node);
+
     RTPS_DllAPI static XMLP_ret fillDataNode(
             tinyxml2::XMLElement* p_profile,
             DataNode<ParticipantAttributes>& participant_node);
@@ -549,6 +584,11 @@ class XMLParser
             uint16_t* ui16,
             uint8_t ident);
 
+    RTPS_DllAPI static XMLP_ret getXMLUint(
+            tinyxml2::XMLElement* elem,
+            uint64_t* ui64,
+            uint8_t ident);
+
     RTPS_DllAPI static XMLP_ret getXMLBool(
             tinyxml2::XMLElement* elem,
             bool* b,
@@ -599,6 +639,10 @@ class XMLParser
             rtps::GuidPrefix_t& prefix,
             uint8_t ident);
 
+    RTPS_DllAPI static XMLP_ret getXMLDomainParticipantFactoryQos(
+            tinyxml2::XMLElement& elem,
+            fastdds::dds::DomainParticipantFactoryQos& qos);
+
     RTPS_DllAPI static XMLP_ret getXMLPublisherAttributes(
             tinyxml2::XMLElement* elem,
             PublisherAttributes& publisher,
@@ -608,6 +652,23 @@ class XMLParser
             tinyxml2::XMLElement* elem,
             SubscriberAttributes& subscriber,
             uint8_t ident);
+
+    RTPS_DllAPI static XMLP_ret getXMLThreadSettings(
+            tinyxml2::XMLElement& elem,
+            fastdds::rtps::ThreadSettings& thread_setting);
+
+    /*
+        Return XMLP_ret::XML_OK when OK, XMLP_ret::XML_NOK when port attribute is not present, and
+        XMLP_ret::XML_ERROR if error
+     */
+    RTPS_DllAPI static XMLP_ret getXMLThreadSettingsWithPort(
+            tinyxml2::XMLElement& elem,
+            fastdds::rtps::ThreadSettings& thread_setting,
+            uint32_t& port);
+
+    RTPS_DllAPI static XMLP_ret getXMLEntityFactoryQos(
+            tinyxml2::XMLElement& elem,
+            fastdds::dds::EntityFactoryQosPolicy& entity_factory);
 };
 
 } // namespace xmlparser

include/fastrtps/xmlparser/XMLParserCommon.h

@@ -42,6 +42,7 @@ extern const char* LIBRARY_SETTINGS;
 extern const char* TRANSPORT_DESCRIPTORS;
 extern const char* PROFILE_NAME;
 extern const char* DEFAULT_PROF;
+extern const char* DOMAINPARTICIPANT_FACTORY;
 extern const char* PARTICIPANT;
 extern const char* PUBLISHER;
 extern const char* SUBSCRIBER;
@@ -80,8 +81,17 @@ extern const char* HEALTHY_CHECK_TIMEOUT_MS;
 extern const char* DISCARD;
 extern const char* FAIL;
 extern const char* RTPS_DUMP_FILE;
+extern const char* DEFAULT_RECEPTION_THREADS;
+extern const char* RECEPTION_THREADS;
+extern const char* RECEPTION_THREAD;
+extern const char* DUMP_THREAD;
 extern const char* ON;
 extern const char* AUTO;
+extern const char* THREAD_SETTINGS;
+extern const char* SCHEDULING_POLICY;
+extern const char* PRIORITY;
+extern const char* AFFINITY;
+extern const char* STACK_SIZE;
 
 // IntraprocessDeliveryType
 extern const char* OFF;
@@ -98,6 +108,12 @@ extern const char* DATA_READER;
 /// LibrarySettings attributes
 extern const char* INTRAPROCESS_DELIVERY;
 
+/// DomainParticipantFactory Qos
+extern const char* ENTITY_FACTORY;
+extern const char* AUTOENABLE_CREATED_ENTITIES;
+extern const char* SHM_WATCHDOG_THREAD;
+extern const char* FILE_WATCH_THREADS;
+
 /// RTPS Participant attributes
 extern const char* ALLOCATION;
 extern const char* PREFIX;
@@ -132,6 +148,11 @@ extern const char* DYNAMIC_LC;
 extern const char* MAX_PROPERTIES;
 extern const char* MAX_USER_DATA;
 extern const char* MAX_PARTITIONS;
+extern const char* TIMED_EVENTS_THREAD;
+extern const char* DISCOVERY_SERVER_THREAD;
+extern const char* SECURITY_LOG_THREAD;
+extern const char* BUILTIN_TRANSPORTS_RECEPTION_THREADS;
+extern const char* BUILTIN_CONTROLLERS_SENDER_THREAD;
 
 /// Publisher-subscriber attributes
 extern const char* TOPIC;
@@ -149,6 +170,7 @@ extern const char* USER_DEF_ID;
 extern const char* ENTITY_ID;
 extern const char* MATCHED_SUBSCRIBERS_ALLOCATION;
 extern const char* MATCHED_PUBLISHERS_ALLOCATION;
+extern const char* DATA_SHARING_LISTENER_THREAD;
 
 ///
 extern const char* IGN_NON_MATCHING_LOCS;