Add a check for keyed topics

If this commit is applied, Participants will check if the topic is keyed
or not before Readerhandler creation.
So that we can use this information to know in which PLotJugglerGroup
received data needs to be added.

Issue: [eProsima#56]
Signed-off-by: Manuel Valch <manuelValch@proton.me>

plugins/datastreamer_plugin/fastdds/Participant.cpp

@@ -189,6 +189,12 @@ void Participant::create_subscription(
     // Get Dyn Type for type
     // This could not fail, as we know type is registered
     eprosima::fastrtps::types::DynamicType_ptr dyn_type = get_type_registered_(type_name);
+    // In order to find out if the topic is keyed or not, create a dynamicPubSubType and then 
+    std::string topicName = topic->get_type_name();
+    eprosima::fastrtps::types::DynamicPubSubType* pIsKeyType = 
+    eprosima::fastrtps::xmlparser::XMLProfileManager::CreateDynamicPubSubType(topicName);
+    bool is_keyed = pIsKeyType->m_isGetKeyDefined;
+    eprosima::fastrtps::xmlparser::XMLProfileManager::DeleteDynamicPubSubType(pIsKeyType);
 
     // Create Reader Handler with all this information and add it to readers
     // Create it with specific deleter for reader and topic
@@ -198,7 +204,8 @@ void Participant::create_subscription(
             datareader,
             dyn_type,
             listener_,
-            data_type_configuration),
+            data_type_configuration,
+            is_keyed),
         ReaderHandlerDeleter(participant_, subscriber_)
         );
 

plugins/datastreamer_plugin/fastdds/ReaderHandler.cpp

@@ -43,19 +43,19 @@ ReaderHandler::ReaderHandler(
         eprosima::fastdds::dds::DataReader* datareader,
         eprosima::fastrtps::types::DynamicType_ptr type,
         FastDdsListener* listener,
-        const DataTypeConfiguration& data_type_configuration)
+        const DataTypeConfiguration& data_type_configuration,
+        const bool& is_Keyed)
     : topic_(topic)
     , reader_(datareader)
     , type_(type)
     , listener_(listener)
     , stop_(false)
-    , is_keyed_(false)
+    , is_keyed_(is_Keyed)
 {
     // Create data so it is not required to create it each time and avoid reallocation if possible
     data_ = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(type_);
 
-    // find out if the topic is keyed or not
-    is_keyed_ = type_->key_annotation();
+    auto refDesc = type_->get_descriptor();
     if (true == is_keyed_)
     {
         DEBUG("\tTopic: " << topic->get_name() << " has key: " << std::to_string(is_keyed_));

plugins/datastreamer_plugin/fastdds/ReaderHandler.hpp

@@ -53,7 +53,8 @@ struct ReaderHandler : public eprosima::fastdds::dds::DataReaderListener
             eprosima::fastdds::dds::DataReader* datareader,
             eprosima::fastrtps::types::DynamicType_ptr type,
             FastDdsListener* listener,
-            const DataTypeConfiguration& data_type_configuration);
+            const DataTypeConfiguration& data_type_configuration,
+            const bool& is_Keyed);
 
 
     virtual ~ReaderHandler();