[12371] Waitset implementation

include/fastdds/dds/core/Entity.hpp

@@ -45,7 +45,7 @@ class Entity
     RTPS_DllAPI Entity(
             const StatusMask& mask = StatusMask::all())
         : status_mask_(mask)
-        , status_changes_(StatusMask::none())
+        , status_condition_(this)
         , enable_(false)
     {
     }
@@ -91,10 +91,7 @@ class Entity
      *
      * @return const reference to the StatusMask with the triggered statuses set to 1
      */
-    RTPS_DllAPI const StatusMask& get_status_changes() const
-    {
-        return status_changes_;
-    }
+    RTPS_DllAPI const StatusMask& get_status_changes() const;
 
     /**
      * @brief Retrieves the instance handler that represents the Entity
@@ -124,9 +121,8 @@ class Entity
      * @brief Allows access to the StatusCondition associated with the Entity
      * @return Reference to StatusCondition object
      */
-    RTPS_DllAPI const StatusCondition& get_statuscondition() const
+    RTPS_DllAPI StatusCondition& get_statuscondition()
     {
-        logWarning(CONDITION, "get_statuscondition method not implemented");
         return status_condition_;
     }
 
@@ -145,9 +141,6 @@ class Entity
     //! StatusMask with relevant statuses set to 1
     StatusMask status_mask_;
 
-    //! StatusMask with triggered statuses set to 1
-    StatusMask status_changes_;
-
     //! Condition associated to the Entity
     StatusCondition status_condition_;
 

include/fastdds/dds/core/condition/Condition.hpp

@@ -20,36 +20,52 @@
 #ifndef _FASTDDS_CONDITION_HPP_
 #define _FASTDDS_CONDITION_HPP_
 
-#include <fastrtps/fastrtps_dll.h>
+#include <memory>
 #include <vector>
+
 #include <fastdds/dds/log/Log.hpp>
+#include <fastrtps/fastrtps_dll.h>
 
 namespace eprosima {
 namespace fastdds {
 namespace dds {
 
+// Forward declaration of implementation details
+namespace detail {
+struct ConditionNotifier;
+} // namespace detail
+
 /**
  * @brief The Condition class is the root base class for all the conditions that may be attached to a WaitSet.
  */
 class Condition
 {
 public:
 
-    // Condition class not implemented.
-
     /**
      * @brief Retrieves the trigger_value of the Condition
      * @return true if trigger_value is set to 'true', 'false' otherwise
      */
-    RTPS_DllAPI bool get_trigger_value() const
+    RTPS_DllAPI virtual bool get_trigger_value() const
     {
         logWarning(CONDITION, "get_trigger_value public member function not implemented");
         return false; // TODO return trigger value
     }
 
+    detail::ConditionNotifier* get_notifier() const
+    {
+        return notifier_.get();
+    }
+
+protected:
+
+    Condition();
+    virtual ~Condition();
+
+    std::unique_ptr<detail::ConditionNotifier> notifier_;
 };
 
-typedef std::vector<Condition> ConditionSeq;
+using ConditionSeq = std::vector<Condition*>;
 
 } // namespace dds
 } // namespace fastdds

include/fastdds/dds/core/condition/GuardCondition.hpp

@@ -20,6 +20,8 @@
 #ifndef _FASTDDS_GUARD_CONDITION_HPP_
 #define _FASTDDS_GUARD_CONDITION_HPP_
 
+#include <atomic>
+
 #include <fastdds/dds/core/condition/Condition.hpp>
 #include <fastrtps/fastrtps_dll.h>
 #include <fastrtps/types/TypesBase.h>
@@ -43,23 +45,25 @@ class GuardCondition : public Condition
 {
 public:
 
-    // GuardCondition not implemented.
+    RTPS_DllAPI GuardCondition();
+
+    RTPS_DllAPI ~GuardCondition();
+
+    RTPS_DllAPI bool get_trigger_value() const override;
 
     /**
      * @brief Set the trigger_value
      * @param value new value for trigger
      * @return RETURN_OK
      */
     RTPS_DllAPI ReturnCode_t set_trigger_value(
-            bool value)
-    {
-        static_cast<void>(value);
-        return ReturnCode_t::RETCODE_UNSUPPORTED;
-    }
+            bool value);
 
-};
+private:
+
+    std::atomic<bool> trigger_value_;
 
-typedef std::vector<Condition> ConditionSeq;
+};
 
 } // namespace dds
 } // namespace fastdds

include/fastdds/dds/core/condition/StatusCondition.hpp

@@ -31,6 +31,12 @@ namespace eprosima {
 namespace fastdds {
 namespace dds {
 
+namespace detail {
+
+struct StatusConditionImpl;
+
+} // namespace detail
+
 class Entity;
 
 /**
@@ -41,7 +47,28 @@ class StatusCondition : public Condition
 {
 public:
 
-    // StatusCondition not implemented.
+    StatusCondition(
+            Entity* parent);
+
+    ~StatusCondition() final;
+
+    // Non-copyable
+    StatusCondition(
+            const StatusCondition&) = delete;
+    StatusCondition& operator =(
+            const StatusCondition&) = delete;
+
+    // Non-movable
+    StatusCondition(
+            StatusCondition&&) = delete;
+    StatusCondition& operator =(
+            StatusCondition&&) = delete;
+
+    /**
+     * @brief Retrieves the trigger_value of the Condition
+     * @return true if trigger_value is set to 'true', 'false' otherwise
+     */
+    RTPS_DllAPI bool get_trigger_value() const override;
 
     /**
      * @brief Defines the list of communication statuses that are taken into account to determine the trigger_value
@@ -63,10 +90,18 @@ class StatusCondition : public Condition
      */
     RTPS_DllAPI Entity* get_entity() const;
 
+    detail::StatusConditionImpl* get_impl() const
+    {
+        return impl_.get();
+    }
+
 protected:
 
-    //! StatusMask with relevant statuses set to 1
-    StatusMask status_mask;
+    //! DDS Entity for which this condition is monitoring the status
+    Entity* entity_ = nullptr;
+
+    //! Class implementation
+    std::unique_ptr<detail::StatusConditionImpl> impl_;
 
 };
 

include/fastdds/dds/core/condition/WaitSet.hpp

@@ -20,6 +20,8 @@
 #ifndef _FASTDDS_WAIT_SET_HPP_
 #define _FASTDDS_WAIT_SET_HPP_
 
+#include <memory>
+
 #include <fastdds/dds/core/condition/Condition.hpp>
 #include <fastdds/rtps/common/Time_t.h>
 #include <fastrtps/fastrtps_dll.h>
@@ -31,6 +33,11 @@ namespace eprosima {
 namespace fastdds {
 namespace dds {
 
+// Forward declaration of implementation details
+namespace detail {
+struct WaitSetImpl;
+} // namespace detail
+
 /**
  * @brief The WaitSet class allows an application to wait until one or more of the attached Condition objects
  * has a trigger_value of TRUE or until timeout expires.
@@ -40,7 +47,18 @@ class WaitSet
 {
 public:
 
-    // WaitSet class not implemented.
+    RTPS_DllAPI WaitSet();
+
+    RTPS_DllAPI ~WaitSet();
+
+    WaitSet(
+            const WaitSet&) = delete;
+    WaitSet(
+            WaitSet&&) = delete;
+    WaitSet& operator = (
+            const WaitSet&) = delete;
+    WaitSet& operator = (
+            WaitSet&&) = delete;
 
     /**
      * @brief Attaches a Condition to the Wait Set.
@@ -79,6 +97,10 @@ class WaitSet
      */
     RTPS_DllAPI ReturnCode_t get_conditions(
             ConditionSeq& attached_conditions) const;
+
+private:
+
+    std::unique_ptr<detail::WaitSetImpl> impl_;
 };
 
 } // namespace dds

src/cpp/CMakeLists.txt

@@ -154,8 +154,14 @@ set(${PROJECT_NAME}_source_files
     dynamic-types/DynamicDataHelper.cpp
 
     fastrtps_deprecated/attributes/TopicAttributes.cpp
+    fastdds/core/Entity.cpp
+    fastdds/core/condition/Condition.cpp
+    fastdds/core/condition/ConditionNotifier.cpp
+    fastdds/core/condition/GuardCondition.cpp
     fastdds/core/condition/StatusCondition.cpp
+    fastdds/core/condition/StatusConditionImpl.cpp
     fastdds/core/condition/WaitSet.cpp
+    fastdds/core/condition/WaitSetImpl.cpp
     fastdds/core/policy/ParameterList.cpp
     fastdds/core/policy/QosPolicyUtils.cpp
     fastdds/publisher/qos/WriterQos.cpp

src/cpp/fastdds/core/Entity.cpp

@@ -0,0 +1,35 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file Entity.cpp
+ *
+ */
+
+#include <fastdds/dds/core/Entity.hpp>
+
+#include <fastdds/core/condition/StatusConditionImpl.hpp>
+
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+
+const StatusMask& Entity::get_status_changes() const
+{
+    return status_condition_.get_impl()->get_raw_status();
+}
+
+}  // namespace dds
+}  // namespace fastdds
+}  // namespace eprosima

src/cpp/fastdds/core/condition/Condition.cpp

@@ -0,0 +1,39 @@
+// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file Condition.cpp
+ */
+
+#include <fastdds/dds/core/condition/Condition.hpp>
+
+#include <fastdds/core/condition/ConditionNotifier.hpp>
+
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+
+Condition::Condition()
+    : notifier_ (new detail::ConditionNotifier())
+{
+}
+
+Condition::~Condition()
+{
+    notifier_->will_be_deleted(*this);
+}
+
+}  // namespace dds
+}  // namespace fastdds
+}  // namespace eprosima