eProsima
diff --git a/‎fastdds_python/CMakeLists.txt‎
Lines changed: 13 additions & 7 deletions b/‎fastdds_python/CMakeLists.txt‎
Lines changed: 13 additions & 7 deletions
diff --git a/‎fastdds_python/src/swig/CMakeLists.txt‎
Lines changed: 3 additions & 7 deletions b/‎fastdds_python/src/swig/CMakeLists.txt‎
Lines changed: 3 additions & 7 deletions
diff --git a/‎fastdds_python/src/swig/fastdds.i‎
Lines changed: 68 additions & 29 deletions b/‎fastdds_python/src/swig/fastdds.i‎
Lines changed: 68 additions & 29 deletions
diff --git a/‎fastdds_python/src/swig/fastdds/dds/core/policy/QosPolicies.i‎
Lines changed: 92 additions & 11 deletions b/‎fastdds_python/src/swig/fastdds/dds/core/policy/QosPolicies.i‎
Lines changed: 92 additions & 11 deletions
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.13)
+cmake_minimum_required(VERSION 3.15)
 
 # SWIG: use standard target name.
 if(POLICY CMP0078)
@@ -30,17 +30,23 @@ project(fastdds_python VERSION 0.2.0)
 # Dependencies
 ###############################################################################
 
-FIND_PACKAGE(SWIG REQUIRED)
-INCLUDE(${SWIG_USE_FILE})
-SET(CMAKE_SWIG_FLAGS "")
+find_package(SWIG REQUIRED)
+include(${SWIG_USE_FILE})
+set(CMAKE_SWIG_FLAGS "")
 
-FIND_PACKAGE(PythonLibs REQUIRED)
-INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH})
+find_package (Python3 COMPONENTS Interpreter Development REQUIRED)
 
-FIND_PACKAGE(fastrtps REQUIRED)
+find_package(fastrtps REQUIRED)
 
 ###############################################################################
 # Project subdirectories
 ###############################################################################
 
 add_subdirectory(src/swig)
+
+###############################################################################
+# Testing options
+###############################################################################
+enable_testing()
+include(CTest)
+add_subdirectory(test)
@@ -18,8 +18,6 @@
 
 message(STATUS "Configuring FastDDS wrapper for Python...")
 
-find_package (PythonInterp REQUIRED)
-
 set(LIB_INSTALL_DIR lib/ CACHE PATH "Installation directory for libraries")
 
 set(${PROJECT_NAME}_MODULE
@@ -36,26 +34,24 @@ SET_SOURCE_FILES_PROPERTIES(
     USE_TARGET_INCLUDE_DIRECTORIES TRUE
     )
 
-INCLUDE_DIRECTORIES()
-
 option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
 if (BUILD_DOCUMENTATION)
     set(CMAKE_SWIG_FLAGS "-doxygen")
 endif (BUILD_DOCUMENTATION)
 
 SWIG_ADD_LIBRARY(${PROJECT_NAME}
     TYPE SHARED
-    LANGUAGE python 
+    LANGUAGE python
     SOURCES ${${PROJECT_NAME}_FILES}
     )
 
 SWIG_LINK_LIBRARIES(${PROJECT_NAME}
-    ${PYTHON_LIBRARIES}
+    Python3::Module
     fastrtps
     )
 
 # Find the installation path
-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(plat_specific=True, prefix='${CMAKE_INSTALL_PREFIX}' ) )"
+execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(plat_specific=True, prefix='${CMAKE_INSTALL_PREFIX}' ) )"
     OUTPUT_VARIABLE _ABS_PYTHON_MODULE_PATH
     OUTPUT_STRIP_TRAILING_WHITESPACE
     )
 
@@ -14,18 +14,63 @@
 
 %module(directors="1", threads="1") fastdds
 
+// Handle exceptions on python callbacks and send them back to C++ so that they can be catched
+// Also, add some meaningful description of the error
+%feature("director:except") {
+  if ($error != NULL) {
+    PyObject *exc, *val, *tb;
+    PyErr_Fetch(&exc, &val, &tb);
+    PyErr_NormalizeException(&exc, &val, &tb);
+    std::string err_msg("In method '$symname': ");
+
+    PyObject* exc_str = PyObject_GetAttrString(exc, "__name__");
+    err_msg += PyUnicode_AsUTF8(exc_str);
+    Py_XDECREF(exc_str);
+
+    if (val != NULL)
+    {
+      PyObject* val_str = PyObject_Str(val);
+      err_msg += ": ";
+      err_msg += PyUnicode_AsUTF8(val_str);
+      Py_XDECREF(val_str);
+    }
+
+    Py_XDECREF(exc);
+    Py_XDECREF(val);
+    Py_XDECREF(tb);
+
+    Swig::DirectorMethodException::raise(err_msg.c_str());
+  }
+}
+
+%exception {
+    try { $action }
+    catch (Swig::DirectorException &e) { SWIG_fail; }
+}
+
 // SWIG helper modules
 %include "stdint.i"
+%include "std_list.i"
 %include "std_string.i"
-%include "typemaps.i"
 %include "std_shared_ptr.i"
 %include "std_vector.i"
+%include "typemaps.i"
 
 // Some operators are ignored, as there is no such thing in Python.
 // Trying to export them issues a warning
 %ignore *::operator=;
 %ignore *::operator++;
 %ignore *::operator!;
+%ignore *::operator==;
+%ignore *::operator!=;
+%ignore *::operator<<;
+%ignore *::operator>>;
+
+// This ensures that the returned string references can be used with the string API
+// Otherwise, they will be wrapped objects without API
+%typemap(out) std::string& {
+  $result = SWIG_From_std_string(*$1);
+}
 
 // Keywords that are not fully supported in SWIG
 // and make not difference in python anyways
@@ -34,7 +79,9 @@
 // Macro delcarations
 // Any macro used on the Fast DDS header files will give an error if it is not redefined here
 #define RTPS_DllAPI
+#define FASTRTPS_DEPRECATED(msg)
 #define FASTDDS_DEPRECATED_UNTIL(major, entity_name, msg)
+#define FASTDDS_TODO_BEFORE(major, minor, msg)
 
 // Predeclaration of namespaces and/or classes not exported to the target language,
 // but that are part of the Fast DDS public API
@@ -60,37 +107,47 @@ namespace builtin {
 
 %include "fastdds/rtps/common/VendorId_t.i"
 %include "fastdds/rtps/common/Types.i"
-%include "fastrtps/types/TypesBase.i"
-%include "fastdds/rtps/common/SerializedPayload.i"
-%include "fastdds/rtps/common/CDRMessage_t.i"
 %include "fastdds/rtps/common/Time_t.i"
+%include "fastdds/rtps/common/Locator.i"
+%include "fastdds/rtps/common/LocatorList.i"
+%include "fastdds/rtps/common/BinaryProperty.i"
+%include "fastdds/rtps/common/Property.i"
+%include "fastdds/rtps/common/EntityId_t.i"
+%include "fastdds/rtps/common/GuidPrefix_t.i"
+%include "fastdds/rtps/common/Guid.i"
+%include "fastdds/rtps/common/PortParameters.i"
+%include "fastrtps/types/TypesBase.i"
+%include "fastdds/rtps/resources/ResourceManagement.i"
 %include "fastrtps/utils/collections/ResourceLimitedContainerConfig.i"
 %include "fastrtps/utils/collections/ResourceLimitedVector.i"
+%include "fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.i"
+%include "fastdds/rtps/flowcontrol/FlowControllerSchedulerPolicy.i"
+%include "fastdds/rtps/flowcontrol/FlowControllerDescriptor.i"
+%include "fastdds/rtps/attributes/PropertyPolicy.i"
+%include "fastdds/rtps/attributes/RTPSParticipantAttributes.i"
+%include "fastdds/rtps/attributes/ServerAttributes.i"
+%include "fastdds/rtps/attributes/ReaderAttributes.i"
+%include "fastdds/rtps/attributes/WriterAttributes.i"
 
 /*
+%include "fastdds/rtps/common/SerializedPayload.i"
+%include "fastdds/rtps/common/CDRMessage_t.i"
 %include "fastdds/rtps/common/FragmentNumber.i"
 %include "fastdds/rtps/common/LocatorSelector.i"
 %include "fastdds/rtps/common/LocatorSelectorEntry.i"
 %include "fastdds/rtps/common/CacheChange.i"
 %include "fastdds/rtps/common/LocatorListComparisons.i"
 %include "fastdds/rtps/common/Token.i"
 %include "fastdds/rtps/common/MatchingInfo.i"
-%include "fastdds/rtps/common/LocatorList.i"
 %include "fastdds/rtps/common/ChangeKind_t.i"
 %include "fastdds/rtps/common/LocatorsIterator.i"
-%include "fastdds/rtps/common/PortParameters.i"
 %include "fastdds/rtps/common/SampleIdentity.i"
-%include "fastdds/rtps/common/Locator.i"
 %include "fastdds/rtps/common/SequenceNumber.i"
 %include "fastdds/rtps/common/RemoteLocators.i"
 %include "fastdds/rtps/common/WriteParams.i"
 
-%include "fastrtps/rtps/common/SerializedPayload.i"
-%include "fastrtps/rtps/common/Time_t.i"
 %include "fastrtps/rtps/common/LocatorListComparisons.i"
-%include "fastrtps/rtps/common/CDRMessage_t.i"
 %include "fastrtps/rtps/common/PortParameters.i"
-%include "fastrtps/rtps/common/Types.i"
 
 %include "fastrtps/utils/Semaphore.i"
 %include "fastrtps/utils/System.i"
@@ -128,11 +185,6 @@ namespace builtin {
 %include "fastdds/rtps/builtin/BuiltinProtocols.i"
 %include "fastdds/rtps/attributes/HistoryAttributes.i"
 %include "fastdds/rtps/attributes/EndpointAttributes.i"
-%include "fastdds/rtps/attributes/ReaderAttributes.i"
-%include "fastdds/rtps/attributes/RTPSParticipantAttributes.i"
-%include "fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.i"
-%include "fastdds/rtps/attributes/WriterAttributes.i"
-%include "fastdds/rtps/attributes/ServerAttributes.i"
 %include "fastdds/rtps/reader/ReaderDiscoveryInfo.i"
 %include "fastdds/rtps/reader/StatelessReader.i"
 %include "fastdds/rtps/reader/StatefulReader.i"
@@ -209,12 +261,9 @@ namespace builtin {
 %include "fastdds/rtps/writer/WriterDiscoveryInfo.i"
 %include "fastdds/rtps/writer/StatelessPersistentWriter.i"
 %include "fastdds/rtps/writer/RTPSWriter.i"
-%include "fastdds/rtps/flowcontrol/FlowControllerSchedulerPolicy.i"
 %include "fastdds/rtps/flowcontrol/ThroughputControllerDescriptor.i"
 %include "fastdds/rtps/flowcontrol/FlowControllerConsts.i"
-%include "fastdds/rtps/flowcontrol/FlowControllerDescriptor.i"
 %include "fastdds/rtps/resources/ResourceEvent.i"
-%include "fastdds/rtps/resources/ResourceManagement.i"
 %include "fastdds/rtps/resources/TimedEvent.i"
 %include "fastdds/rtps/rtps_fwd.i"
 
@@ -358,16 +407,6 @@ namespace builtin {
 %include "fastrtps/Domain.i"
 */
 
-%include "fastdds/rtps/common/EntityId_t.i"
-%include "fastdds/rtps/common/GuidPrefix_t.i"
-%include "fastdds/rtps/common/Guid.i"
-
-/*
-%include "fastdds/rtps/common/BinaryProperty.i"
-%include "fastdds/rtps/common/Property.i"
-%include "fastdds/rtps/attributes/PropertyPolicy.i"
-*/
-
 %include "fastdds/dds/core/status/StatusMask.i"
 %include "fastdds/dds/common/InstanceHandle.i"
 %include "fastdds/dds/core/policy/ParameterTypes.i"
 
@@ -15,20 +15,23 @@
 // This class contains a 'const char*' member that may leak on destruction
 // However, converting it to a 'char*' does not
 // SWIG is very special)
-%typemap(out) char const *flow_controller_name = char *;
-%typemap(memberin) char const *flow_controller_name = char *;
-
 %{
 #include "fastdds/dds/core/policy/QosPolicies.hpp"
 %}
 
-// Flatten nested classes
-%feature("flatnested", "1");
+%ignore eprosima::fastdds::dds::WireProtocolConfigQos::throughput_controller;
 
+// TODO (richiware) review when api
 // SWIG does not support templates in the generated binding,
 // because not all output languages support them
 // We must explicitly declare the specializations of the templates
-%template(OctetResourceLimitedVector) eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>;
+%template(TransportDescriptorInterfaceShrPtr) std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface>;
+%template(TransportDescriptorInterfaceVector) std::vector<std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface>>;
+// The 'enum' here is very important, or SWIG will create a faulty wrapper
+//    * Enums are mapped as integer constants
+//    * The template expects a class type
+//    * Trying to push a mapped enum value (integer) will result on an error because it is not the expected type
+%template(DataRepresentationIdVector) std::vector<enum eprosima::fastdds::dds::DataRepresentationId>;
 
 // The class PartitionQosPolicy::const_iterator does not have default constructor
 // This tells SWIG it must wrap the constructors or the compilation will fail
@@ -46,11 +49,89 @@
 %ignore eprosima::fastdds::dds::TypeObjectV1::TypeObjectV1(TypeObjectV1 &&);
 %ignore eprosima::fastdds::dds::xtypes::TypeInformation::TypeInformation(TypeInformation &&);
 
+namespace eprosima {
+namespace fastdds {
+namespace dds {
+    struct ParticipantResourceLimitsQos : public fastrtps::rtps::RTPSParticipantAllocationAttributes {};
+    struct PropertyPolicyQos : public fastrtps::rtps::PropertyPolicy {};
+}
+}
+}
+
+%inline %{
+class OctetResourceLimitedVectorStopIterator {};
+class OctetResourceLimitedVectorIterator {
+public:
+    OctetResourceLimitedVectorIterator(
+            eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>::iterator _cur,
+            eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>::iterator _end) : cur(_cur), end(_end) {}
+    OctetResourceLimitedVectorIterator* __iter__()
+    {
+        return this;
+    }
+    eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>::iterator cur;
+    eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>::iterator end;
+};
+%}
+
+// SWIG does not support templates in the generated binding,
+// because not all output languages support them
+// We must explicitly declare the specializations of the templates
+%template(OctetResourceLimitedVector) eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>;
+
 %include "fastdds/dds/core/policy/QosPolicies.hpp"
 
-// Deactivate class flattening
-%feature("flatnested", "0");
+%include "exception.i"
+%exception OctetResourceLimitedVectorIterator::__next__ {
+    try
+    {
+        $action // calls %extend function __next__() below
+    }
+    catch (OctetResourceLimitedVectorStopIterator)
+    {
+        PyErr_SetString(PyExc_StopIteration, "End of iterator");
+        return NULL;
+    }
+}
+
+%extend OctetResourceLimitedVectorIterator
+{
+    eprosima::fastrtps::rtps::octet __next__()
+    {
+        if ($self->cur != $self->end)
+        {
+            // dereference the iterator and return reference to the object,
+            // after that it increments the iterator
+            return *$self->cur++;
+        }
+        throw OctetResourceLimitedVectorStopIterator();
+    }
+}
+
+%extend eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet> {
+    OctetResourceLimitedVectorIterator __iter__()
+    {
+        // return a constructed Iterator object
+        return OctetResourceLimitedVectorIterator($self->begin(), $self->end());
+    }
+}
+
+// TODO (richiware) missing exceptions
+%extend eprosima::fastdds::dds::PartitionQosPolicy
+{
+    size_t __len__() const
+    {
+        return self->size();
+    }
+
+    std::string __getitem__(int i)
+    {
+        auto it = self->begin();
+        for (int count = 0; count < i; ++count)
+        {
+            it++;
+        }
 
-// Undo the mapping for future classes
-%typemap(out) char const *flow_controller_name;
-%typemap(memberin) char const *flow_controller_name;
+        return std::string((*it).name());
+    }
+};