Branch-out for fastdds 3.0.x (#69)

elianalf · web-flow · commit 8bb6bee2ccc9 · 2024-02-22T15:50:05.000+01:00
* branch-out for fastdds 3.0.x

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;

* Refs #20378: Update dependencies, change name folders

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;

* Refs #20378: Remove variable not used

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;

* Refs #20378: Update on_participant_discovery override with new version

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;

* Refs #20378: Apply suggestion

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;

---------

Signed-off-by: elianalf &lt;62831776+elianalf@users.noreply.github.com&gt;
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -155,7 +155,7 @@ endif()
 
 find_package(fastcdr REQUIRED )
 # new DDS API is required
-find_package(fastrtps 2 REQUIRED)
+find_package(fastdds 3 REQUIRED)
 find_package(OpenSSL QUIET) # according to cmake docs on FindOpenSS is hinted define OPENSSL_ROOT_DIR
 
 #some tests require python
@@ -275,11 +275,11 @@ endif()
 # called in the current directory scope or above.
 # We must populate this variables as project sources grow
 
-# Set fast-RTPS source files
+# Set Fast DDS source files
 
 # add fast headers to enable class view on visual studio IDE
 if (WIN32)
-    get_target_property(FAST_INCLUDE_DIR fastrtps INTERFACE_INCLUDE_DIRECTORIES)
+    get_target_property(FAST_INCLUDE_DIR fastdds INTERFACE_INCLUDE_DIRECTORIES)
     list(GET FAST_INCLUDE_DIR 0 FAST_INCLUDE_DIR)
     #get_filename_component(FAST_INCLUDE_DIR "${FAST_INCLUDE_DIR}" DIRECTORY )
 
@@ -365,7 +365,7 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE
 #endif()
 
 # we link dynamically to tinyxml2
-target_link_libraries(${PROJECT_NAME} PUBLIC fastrtps fastcdr
+target_link_libraries(${PROJECT_NAME} PUBLIC fastdds fastcdr
 	${TINYXML2_LIBRARY}
 	${OPENSSL_TARGET}
 	)
diff --git a/README.md b/README.md
@@ -45,7 +45,7 @@ The **Discovery Server tool documentation** can be found
 ## Installation Guide
 
 In order to use the Discovery Server tool, it is necessary to have a compatible version of
-[eProsima Fast DDS](https://eprosima-fast-rtps.readthedocs.io/en/latest/) installed (over release 2.0.2).
+[eProsima Fast DDS](https://fast-dds.docs.eprosima.com/en/latest/) installed (over release 3.0.0).
 *Fast DDS* dependencies as tinyxml must be accessible, either because *Fast DDS* was build-installed defining
 `THIRDPARTY=ON|FORCE` or because those libraries have been specifically installed.
 The well known cross-platform tool [colcon](https://colcon.readthedocs.io/en/released/) was chosen to simplify the
@@ -188,10 +188,10 @@ the `discovery-server-ws/src` directory:
 
 |            PACKAGE                 |                              URL                        |    BRANCH   |
 |:-----------------------------------|:--------------------------------------------------------|:-----------:|
-| eProsima/Fast-CDR:                 | https://github.com/eProsima/Fast-CDR.git                |    master   |
-| eProsima/Fast-RTPS:                | https://github.com/eProsima/Fast-RTPS.git               |    master   |
-| eProsima/Discovery-Server:         | https://github.com/eProsima/Discovery-Server.git        |    master   |
-| eProsima/foonathan_memory_vendor:  | https://github.com/eProsima/foonathan_memory_vendor.git |    master   |
+| fastcdr:                           | https://github.com/eProsima/Fast-CDR.git                |    master   |
+| fastdds:                           | https://github.com/eProsima/Fast-DDS.git                |    master   |
+| discovery_server:                  | https://github.com/eProsima/Discovery-Server.git        |    master   |
+| foonathan_memory_vendor:           | https://github.com/eProsima/foonathan_memory_vendor.git |    master   |
 | leethomason/tinyxml2:              | https://github.com/leethomason/tinyxml2.git             |    master   |
 
 ---
diff --git a/colcon.pkg b/colcon.pkg
@@ -1,5 +1,5 @@
 {
     "name": "discovery-server",
     "type": "cmake",
-    "build-dependencies": ["fastcdr", "fastrtps", "tinyxml2"]
+    "build-dependencies": ["fastcdr", "fastdds", "tinyxml2"]
 }
diff --git a/discovery-server.repos b/discovery-server.repos
@@ -1,13 +1,13 @@
 repositories:
-    eProsima/Fast-CDR:
+    fastcdr:
         type: git
         url: https://github.com/eProsima/Fast-CDR.git
         version: master
-    eProsima/Fast-RTPS:
+    fastdds:
         type: git
-        url: https://github.com/eProsima/Fast-RTPS.git
+        url: https://github.com/eProsima/Fast-DDS.git
         version: master
-    eProsima/Discovery-Server:
+    discovery_server:
         type: git
         url: https://github.com/eProsima/Discovery-Server.git
         version: master
diff --git a/examples/HelloWorldExampleDS/CMakeLists.txt b/examples/HelloWorldExampleDS/CMakeLists.txt
@@ -21,8 +21,8 @@ if(NOT fastcdr_FOUND)
     find_package(fastcdr REQUIRED)
 endif()
 
-if(NOT fastrtps_FOUND)
-    find_package(fastrtps REQUIRED)
+if(NOT fastdds_FOUND)
+    find_package(fastdds REQUIRED)
 endif()
 
 # Set C++11
@@ -45,7 +45,7 @@ file(GLOB HELLOWORLD_EXAMPLE_HEADERS "*.h")
 add_executable(HelloWorldExampleDS ${HELLOWORLD_EXAMPLE_SOURCES_CXX} ${HELLOWORLD_EXAMPLE_SOURCES_CPP}
 	${HELLOWORLD_EXAMPLE_HEADERS} ${ALL_FAST_HEADERS})
 
-target_link_libraries(HelloWorldExampleDS fastrtps fastcdr)
+target_link_libraries(HelloWorldExampleDS fastdds fastcdr)
 
 # Properties that change bin names depending on current config.
 # This is convenient because on installation all bins share folder
diff --git a/examples/HelloWorldExampleDS/HelloWorldPublisher.cpp b/examples/HelloWorldExampleDS/HelloWorldPublisher.cpp
@@ -82,7 +82,6 @@ bool HelloWorldPublisher::init(
         std::default_random_engine gen(std::chrono::system_clock::now().time_since_epoch().count());
         std::uniform_int_distribution<int> rdn(57344, 65535);
         descriptor->add_listener_port(rdn(gen)); // IANA ephemeral port number
-        descriptor->wait_for_tcp_negotiation = false;
         participant_qos.transport().user_transports.push_back(descriptor);
     }
     else
diff --git a/examples/HelloWorldExampleDS/HelloWorldServer.cpp b/examples/HelloWorldExampleDS/HelloWorldServer.cpp
@@ -80,7 +80,6 @@ bool HelloWorldServer::init(
             descriptor = std::make_shared<TCPv6TransportDescriptor>();
         }
 
-        descriptor->wait_for_tcp_negotiation = false;
         descriptor->add_listener_port(default_port);
         participant_qos.transport().use_builtin_transports = false;
         participant_qos.transport().user_transports.push_back(descriptor);
diff --git a/examples/HelloWorldExampleDS/HelloWorldSubscriber.cpp b/examples/HelloWorldExampleDS/HelloWorldSubscriber.cpp
@@ -78,7 +78,6 @@ bool HelloWorldSubscriber::init(
         std::default_random_engine gen(std::chrono::system_clock::now().time_since_epoch().count());
         std::uniform_int_distribution<int> rdn(49152, 57343);
         descriptor->add_listener_port(rdn(gen)); // IANA ephemeral port number
-        descriptor->wait_for_tcp_negotiation = false;
         participant_qos.transport().user_transports.push_back(descriptor);
     }
     else
diff --git a/include/DiscoveryServerManager.h b/include/DiscoveryServerManager.h
@@ -187,14 +187,7 @@ class DiscoveryServerManager
     DiscoveryServerManager(
             const std::string& xml_file_path,
             const bool shared_memory_off);
-#if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 2
-    FASTDDS_DEPRECATED_UNTIL(3, "eprosima::discovery_server::DiscoveryServerManager(const std::set<std::string>& xml_snapshot_files,"
-            "const std::string & output_file)",
-            "Old Discovery Server v1 constructor to validate.")
-#endif // if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 2
-    DiscoveryServerManager(
-            const std::set<std::string>& xml_snapshot_files,
-            const std::string& output_file);
+
     ~DiscoveryServerManager();
 
     // testing database
@@ -290,7 +283,8 @@ class DiscoveryServerManager
     // callback discovery functions
     void on_participant_discovery(
             DomainParticipant* participant,
-            ParticipantDiscoveryInfo&& info) override;
+            ParticipantDiscoveryInfo&& info,
+            bool& should_be_ignored) override;
 
     void on_subscriber_discovery(
             DomainParticipant* participant,
diff --git a/include/IDs.h b/include/IDs.h
@@ -72,7 +72,7 @@ static const std::string s_sAliveCount("alive_count");
 static const std::string s_sNotAliveCount("not_alive_count");
 static const std::string s_sDiscovered_timestamp("discovered_timestamp");
 
-} // fastrtps
 } // discovery_server
+} // eprosima
 
 #endif // _IDS_H_
diff --git a/resources/xsd/discovery-server.xsd b/resources/xsd/discovery-server.xsd
@@ -225,7 +225,7 @@
             <xs:element name="offsetd3" type="uint16Type" minOccurs="0"/>
         </xs:all>
     </xs:complexType>
-    
+
     <!-- IpAddressPort accepts the following expressions (RFC 3986 ):
         - plain port: 7098
         - ipv4+port:  192.168.2.1:7098
@@ -874,7 +874,7 @@
             <xs:element name="participant" type="participantProfileType" minOccurs="0" maxOccurs="unbounded"/>
             <xs:element name="publisher" type="publisherProfileType" minOccurs="0" maxOccurs="unbounded"/>
             <xs:element name="subscriber" type="subscriberProfileType" minOccurs="0" maxOccurs="unbounded"/>
-            <!-- There is not topicProfileType on Fast-RTPS schema but the parser works accordingly-->
+            <!-- There is not topicProfileType on Fast DDS schema but the parser works accordingly-->
             <xs:element name="topic" type="topicProfileType" minOccurs="0" maxOccurs="unbounded"/>
         </xs:sequence>
     </xs:complexType>
diff --git a/src/DiscoveryServerManager.cpp b/src/DiscoveryServerManager.cpp
@@ -35,7 +35,7 @@ using namespace eprosima::fastrtps::rtps;
 using namespace eprosima::fastdds::rtps;
 using namespace eprosima::discovery_server;
 
-// non exported from fast-RTPS (watch out they may be updated)
+// non exported from Fast DDS (watch out they may be updated)
 namespace eprosima {
 namespace fastrtps {
 namespace DSxmlparser {
@@ -222,34 +222,6 @@ DiscoveryServerManager::DiscoveryServerManager(
     LOG_INFO("File " << xml_file_path << " parsed successfully.");
 }
 
-DiscoveryServerManager::DiscoveryServerManager(
-        const std::set<std::string>& xml_snapshot_files,
-        const std::string& output_file)
-    : no_callbacks(true)
-    , auto_shutdown(true)
-    , enable_prefix_validation(true)
-    , last_PDP_callback_(Snapshot::_steady_clock)
-    , last_EDP_callback_(Snapshot::_steady_clock)
-{
-    // validating snapshots files
-    validate_ = true;
-    // keep output_file if any
-    snapshots_output_file = output_file;
-
-    for (const std::string& file : xml_snapshot_files)
-    {
-        if (loadSnapshots(file))
-        {
-            LOG("Loaded snapshot file " << file);
-        }
-        else
-        {
-            // if some file fails, do not validate
-            validate_ = false;
-        }
-    }
-}
-
 void DiscoveryServerManager::runEvents(
         std::istream& in /*= std::cin*/,
         std::ostream& out /*= std::cout*/)
@@ -1036,12 +1008,9 @@ void DiscoveryServerManager::loadClient(
     }
 
     // we must assert that DiscoveryProtocol is CLIENT
-#if FASTRTPS_VERSION_MAJOR >= 2
+
     if (dpQOS.wire_protocol().builtin.discovery_config.discoveryProtocol != DiscoveryProtocol_t::CLIENT &&
             dpQOS.wire_protocol().builtin.discovery_config.discoveryProtocol != DiscoveryProtocol_t::SUPER_CLIENT)
-#else
-    if (atts.rtps.builtin.discovery_config.discoveryProtocol != DiscoveryProtocol_t::CLIENT)
-#endif // if FASTRTPS_VERSION_MAJOR >= 2
     {
         LOG_ERROR(
             "DiscoveryServerManager::loadClient try to create a client with an incompatible profile: " <<
@@ -1790,11 +1759,13 @@ void DiscoveryServerManager::MapServerInfo(
 
 void DiscoveryServerManager::on_participant_discovery(
         DomainParticipant* participant,
-        ParticipantDiscoveryInfo&& info)
+        ParticipantDiscoveryInfo&& info,
+        bool& should_be_ignored)
 {
     bool server = false;
     const GUID_t& partid = info.info.m_guid;
-
+    static_cast<void>(should_be_ignored);
+    
     // if the callback origin was removed ignore
     GUID_t srcGuid = participant->guid();
     if ( nullptr == getParticipant(srcGuid))
diff --git a/src/main.cpp b/src/main.cpp
@@ -15,9 +15,9 @@
 #include "log/DSLog.h"
 #include "version/config.h"
 
-#if FASTRTPS_VERSION_MAJOR > 2 || (FASTRTPS_VERSION_MAJOR == 2 && FASTRTPS_VERSION_MINOR >= 1)
+
 #include <fastdds/dds/log/StdoutErrConsumer.hpp>
-#endif // if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 1
+
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 
 #include "DiscoveryServerManager.h"
@@ -50,7 +50,7 @@ int main(
     Log::SetVerbosity(Log::Kind::Error);
 #endif // if LOG_LEVEL_INFO
 
-#if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 1
+
     // Create a StdoutErrConsumer consumer that logs entries to stderr only when the Log::Kind is equal to WARNING
     // This allows the test validate the output of the executions
     std::unique_ptr<eprosima::fastdds::dds::StdoutErrConsumer> stdouterr_consumer(
@@ -59,7 +59,7 @@ int main(
 
     // Register the consumer
     Log::RegisterConsumer(std::move(stdouterr_consumer));
-#endif // if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 1
+
 
     // skip program name argv[0] if present
     argc -= (argc > 0);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -101,28 +101,25 @@ list(APPEND TEST_LIST
 
 # This test does not run in Fast DDS 2.0.x because signal handling for closing the tool was not
 # backported.
-if(fastrtps_VERSION VERSION_GREATER_EQUAL "2.1.0")
+
     list(APPEND TEST_LIST
     test_23_fast_discovery_server_tool
     )
-endif()
 
 # Adding remote servers to the server using env var was introduced in Fast DDS v2.3.
-if(fastrtps_VERSION VERSION_GREATER_EQUAL "2.3.0")
+
     list(APPEND TEST_LIST
         test_35_fds_two_connected_servers_with_clients
     )
-endif()
 
 # Adding DNS and Environment modification while running was introduced in Fast DDS v2.4.0
-if(fastrtps_VERSION VERSION_GREATER_EQUAL "2.4.0")
+
     list(APPEND TEST_LIST
         test_36_dns_environment_variable_setup
         test_37_dns_fast_discovery_server_tool
 
         test_50_environment_modification
     )
-endif()
 
 # The above TEST_LIST has tests that spawn multiple test cases, we need a new variable to enumerate them
 set(TEST_CASE_LIST)
diff --git a/test/configuration/test_cases/test_23_fast_discovery_server_tool.xml b/test/configuration/test_cases/test_23_fast_discovery_server_tool.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
 
-    <!-- This test checks the clients can use a default server generated by a fastrtps external tool -->
+    <!-- This test checks the clients can use a default server generated by a fastdds external tool -->
 
     <clients>
         <client name="client1" profile_name="UDP_client1_server1">
diff --git a/test/configuration/test_cases/test_44_fast_discovery_server_tool_reconnect.xml b/test/configuration/test_cases/test_44_fast_discovery_server_tool_reconnect.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <DS xmlns="http://www.eprosima.com/XMLSchemas/discovery-server" user_shutdown="false">
 
-    <!-- This test checks the clients can use a default server generated by a fastrtps external tool -->
+    <!-- This test checks the clients can use a default server generated by a fastdds external tool -->
 
     <clients>
         <client name="client1" profile_name="UDP_client1_server1" removal_time="13">
diff --git a/test/configuration/test_cases/test_99_tcp.xml b/test/configuration/test_cases/test_99_tcp.xml
@@ -4,7 +4,7 @@
     <!--
         This test verifies that:
         - the clients can locate each others and server's publisher and subscribers.
-        - create dynamic types using fast-RTPS xml schema.
+        - create dynamic types using Fast DDS xml schema.
         - create Publishers and Subscriber profiles
         - specify topics using attributes to constrain the number of profiles needed
     -->
diff --git a/test/run_test.py b/test/run_test.py
@@ -349,7 +349,7 @@ def execute_validate_thread_test(
         logger.debug(f'Adding envvar {name}:{value} to {process_name}')
         my_env[name] = value
     # Set configuration file
-    my_env['FASTRTPS_DEFAULT_PROFILES_FILE'] = config_file
+    my_env['FASTDDS_DEFAULT_PROFILES_FILE'] = config_file
     logger.debug(f'Configuration file {config_file} to {process_name}')
 
     # Launch
@@ -502,7 +502,7 @@ def execute_validate_test(
     )
 
     # Clear /dev/shm
-    subprocess.call('rm -f /dev/shm/*fastrtps*', shell=True)
+    subprocess.call('rm -f /dev/shm/*fastdds*', shell=True)
 
     return result
 

Original file line number	Diff line number	Diff line change
`@@ -1,5 +1,5 @@`
`1`	`1`	`{`
`2`	`2`	`"name": "discovery-server",`
`3`	`3`	`"type": "cmake",`
`4`		`- "build-dependencies": ["fastcdr", "fastrtps", "tinyxml2"]`
	`4`	`+ "build-dependencies": ["fastcdr", "fastdds", "tinyxml2"]`
`5`	`5`	`}`
Original file line number	Diff line number	Diff line change
`@@ -82,7 +82,6 @@ bool HelloWorldPublisher::init(`
`82`	`82`	`std::default_random_engine gen(std::chrono::system_clock::now().time_since_epoch().count());`
`83`	`83`	`std::uniform_int_distribution<int> rdn(57344, 65535);`
`84`	`84`	`descriptor->add_listener_port(rdn(gen)); // IANA ephemeral port number`
`85`		`- descriptor->wait_for_tcp_negotiation = false;`
`86`	`85`	`participant_qos.transport().user_transports.push_back(descriptor);`
`87`	`86`	`}`
`88`	`87`	`else`
Original file line number	Diff line number	Diff line change
`@@ -80,7 +80,6 @@ bool HelloWorldServer::init(`
`80`	`80`	`descriptor = std::make_shared<TCPv6TransportDescriptor>();`
`81`	`81`	`}`
`82`	`82`
`83`		`- descriptor->wait_for_tcp_negotiation = false;`
`84`	`83`	`descriptor->add_listener_port(default_port);`
`85`	`84`	`participant_qos.transport().use_builtin_transports = false;`
`86`	`85`	`participant_qos.transport().user_transports.push_back(descriptor);`
Original file line number	Diff line number	Diff line change
`@@ -78,7 +78,6 @@ bool HelloWorldSubscriber::init(`
`78`	`78`	`std::default_random_engine gen(std::chrono::system_clock::now().time_since_epoch().count());`
`79`	`79`	`std::uniform_int_distribution<int> rdn(49152, 57343);`
`80`	`80`	`descriptor->add_listener_port(rdn(gen)); // IANA ephemeral port number`
`81`		`- descriptor->wait_for_tcp_negotiation = false;`
`82`	`81`	`participant_qos.transport().user_transports.push_back(descriptor);`
`83`	`82`	`}`
`84`	`83`	`else`