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Migrate fastrtps namespace to fastdds (#87)
* Refs #21129: Migrate fastrtps namespace to fastdds Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21129: Remove unnecessary namespaces Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> * Refs #21129: Remove DiscoveryProtocol_t typedef Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com> --------- Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>
1 parent 211ed1e commit 815732b

16 files changed

Lines changed: 52 additions & 67 deletions

‎README.md‎

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@@ -206,7 +206,7 @@ The *Fast DDS* XML schema was duly updated to accommodate the new Discovery Serv
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- The participant profile ``<builtin>`` tag contains a ``<discovery_config>`` tag where all discovery-related info is
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gathered. This new tag contains the following new XML child elements:
209-
- ``<discoveryProtocol>``: specifies the discovery type through the ``DiscoveryProtocol_t`` enumeration.
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- ``<discoveryProtocol>``: specifies the discovery type through the ``DiscoveryProtocol`` enumeration.
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- ``<discoveryServersList>``: specifies the server or servers to which a Client/Server connects.
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- ``<clientAnnouncementPeriod>``: specifies the time span between PDP metatraffic exchange.
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‎examples/HelloWorldExampleDS/HelloWorldPubSubTypes.cxx‎

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@@ -25,8 +25,8 @@
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#include "HelloWorldPubSubTypes.h"
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#include "HelloWorldCdrAux.hpp"
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28-
using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
29-
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
28+
using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
29+
using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
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using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
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‎examples/HelloWorldExampleDS/HelloWorldPubSubTypes.h‎

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@@ -56,18 +56,18 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
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eProsima_user_DllExport bool serialize(
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void* data,
59-
eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
59+
eprosima::fastdds::rtps::SerializedPayload_t* payload) override
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{
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return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
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}
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eProsima_user_DllExport bool serialize(
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void* data,
66-
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
66+
eprosima::fastdds::rtps::SerializedPayload_t* payload,
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eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
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eProsima_user_DllExport bool deserialize(
70-
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
70+
eprosima::fastdds::rtps::SerializedPayload_t* payload,
7171
void* data) override;
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7373
eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
@@ -82,7 +82,7 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
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8383
eProsima_user_DllExport bool getKey(
8484
void* data,
85-
eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
85+
eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
8686
bool force_md5 = false) override;
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eProsima_user_DllExport void* createData() override;

‎examples/HelloWorldExampleDS/HelloWorldPublisher.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -33,10 +33,8 @@
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/utils/IPLocator.h>
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36-
using namespace eprosima::fastdds;
37-
using namespace eprosima::fastdds::rtps;
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using namespace eprosima::fastdds::dds;
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using namespace eprosima::fastrtps::rtps;
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using namespace eprosima::fastdds::rtps;
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HelloWorldPublisher::HelloWorldPublisher()
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: mp_participant(nullptr)
@@ -96,9 +94,9 @@ bool HelloWorldPublisher::init(
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participant_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(ratt);
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}
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99-
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
97+
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::CLIENT;
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participant_qos.wire_protocol().participant_id = 2;
101-
participant_qos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
99+
participant_qos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastdds::c_TimeInfinite;
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participant_qos.name("Participant_pub");
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104102
mp_participant = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
@@ -115,7 +113,7 @@ bool HelloWorldPublisher::init(
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TopicQos topic_qos = TOPIC_QOS_DEFAULT;
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topic_qos.history().depth = 30;
118-
topic_qos.history().kind = KEEP_LAST_HISTORY_QOS;
116+
topic_qos.history().kind = eprosima::fastdds::KEEP_LAST_HISTORY_QOS;
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topic_qos.resource_limits().max_samples = 50;
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topic_qos.resource_limits().allocated_samples = 20;
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@@ -124,7 +122,7 @@ bool HelloWorldPublisher::init(
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datawriter_qos.reliable_writer_qos().times.heartbeatPeriod.seconds = 2;
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datawriter_qos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 0;
127-
datawriter_qos.reliability().kind = RELIABLE_RELIABILITY_QOS;
125+
datawriter_qos.reliability().kind = eprosima::fastdds::RELIABLE_RELIABILITY_QOS;
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mp_publisher = mp_participant->create_publisher(publisher_qos);
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‎examples/HelloWorldExampleDS/HelloWorldServer.cpp‎

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@@ -27,9 +27,6 @@
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#include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
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#include <fastdds/utils/IPLocator.h>
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30-
using namespace eprosima::fastrtps;
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using namespace eprosima::fastrtps::rtps;
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using namespace eprosima::fastdds;
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using namespace eprosima::fastdds::dds;
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using namespace eprosima::fastdds::rtps;
@@ -43,9 +40,9 @@ bool HelloWorldServer::init(
4340
Locator server_address)
4441
{
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46-
eprosima::fastdds::dds::DomainParticipantQos participant_qos = eprosima::fastdds::dds::PARTICIPANT_QOS_DEFAULT;
43+
DomainParticipantQos participant_qos = PARTICIPANT_QOS_DEFAULT;
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48-
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
45+
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SERVER;
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std::istringstream iss("44.49.53.43.53.45.52.56.45.52.5F.31");
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iss >> participant_qos.wire_protocol().prefix;
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participant_qos.wire_protocol().builtin.discovery_config.leaseDuration = c_TimeInfinite;

‎examples/HelloWorldExampleDS/HelloWorldSubscriber.cpp‎

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@@ -32,8 +32,6 @@
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#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
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#include <fastdds/utils/IPLocator.h>
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35-
using namespace eprosima::fastdds;
36-
using namespace eprosima::fastrtps::rtps;
3735
using namespace eprosima::fastdds::rtps;
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using namespace eprosima::fastdds::dds;
3937

@@ -92,9 +90,9 @@ bool HelloWorldSubscriber::init(
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participant_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(ratt);
9391
}
9492

95-
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
93+
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::CLIENT;
9694
participant_qos.wire_protocol().participant_id = 3;
97-
participant_qos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
95+
participant_qos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastdds::c_TimeInfinite;
9896
participant_qos.name("Participant_sub");
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10098
mp_participant = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
@@ -111,15 +109,15 @@ bool HelloWorldSubscriber::init(
111109
TopicQos topic_qos = TOPIC_QOS_DEFAULT;
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113111
topic_qos.history().depth = 30;
114-
topic_qos.history().kind = KEEP_LAST_HISTORY_QOS;
112+
topic_qos.history().kind = eprosima::fastdds::KEEP_LAST_HISTORY_QOS;
115113
topic_qos.resource_limits().max_samples = 50;
116114
topic_qos.resource_limits().allocated_samples = 20;
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118116
SubscriberQos subscriber_qos = SUBSCRIBER_QOS_DEFAULT;
119117
DataReaderQos datareader_qos = DATAREADER_QOS_DEFAULT;
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121-
datareader_qos.reliability().kind = RELIABLE_RELIABILITY_QOS;
122-
datareader_qos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
119+
datareader_qos.reliability().kind = eprosima::fastdds::RELIABLE_RELIABILITY_QOS;
120+
datareader_qos.durability().kind = eprosima::fastdds::TRANSIENT_LOCAL_DURABILITY_QOS;
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124122
mp_subscriber = mp_participant->create_subscriber(subscriber_qos);
125123

‎examples/HelloWorldExampleDS/HelloWorld_main.cpp‎

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@@ -115,7 +115,7 @@ const option::Descriptor usage[] = {
115115
/*static*/ const std::regex Arg::ipv4(R"(^((?:[0-9]{1,3}\.){3}[0-9]{1,3})?:?(?:(\d+))?$)");
116116
/*static*/ const std::regex Arg::ipv6(R"(^\[?((?:[0-9a-fA-F]{0,4}\:){7}[0-9a-fA-F]{0,4})?(?:\]:)?(?:(\d+))?$)");
117117

118-
using namespace eprosima::fastrtps::rtps;
118+
using namespace eprosima::fastdds::rtps;
119119
using namespace eprosima::fastdds::dds;
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121121
int main(int argc, char** argv)

‎include/DiscoveryItem.h‎

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@@ -34,7 +34,7 @@ class XMLDocument;
3434
namespace eprosima {
3535
namespace discovery_server {
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37-
typedef fastrtps::rtps::GUID_t GUID_t;
37+
typedef fastdds::rtps::GUID_t GUID_t;
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3939
//! common discovery info
4040
struct DiscoveryItem

‎include/DiscoveryServerManager.h‎

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@@ -32,9 +32,7 @@
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3333
#include "DiscoveryItem.h"
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35-
using namespace eprosima::fastrtps;
3635
using namespace eprosima::fastdds;
37-
using namespace eprosima::fastrtps::rtps;
3836
using namespace eprosima::fastdds::rtps;
3937
using namespace eprosima::fastdds::dds;
4038

@@ -43,14 +41,14 @@ class XMLElement;
4341
} // namespace tinyxml2
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4543
namespace eprosima {
46-
namespace fastrtps {
44+
namespace fastdds {
4745
namespace rtps {
4846

4947
class PDP;
5048
class BuiltinProtocols;
5149

5250
} // namespace rtps
53-
} // namespace fastrtps
51+
} // namespace fastdds
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5553
namespace discovery_server {
5654

@@ -87,7 +85,7 @@ class DelayedParticipantCreation;
8785
class DelayedParticipantDestruction;
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8987
class DiscoveryServerManager
90-
: public eprosima::fastdds::dds::DomainParticipantListener // receive discovery callback information and
88+
: public DomainParticipantListener // receive discovery callback information and
9189
// subscriber lifeliness information
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9391
{

‎include/LateJoiner.h‎

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@@ -30,7 +30,7 @@
3030
namespace eprosima {
3131
namespace discovery_server {
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33-
using eprosima::fastrtps::rtps::GUID_t;
33+
using eprosima::fastdds::rtps::GUID_t;
3434

3535
class DelayedParticipantDestruction;
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