[21183] const qualify all data related inputs in DataWriter APIs

.github/workflows/reusable-ubuntu-ci.yml

@@ -683,18 +683,19 @@ jobs:
           show_skipped: 'False'
 
   fastdds_alternative_builds:
+    needs: fastdds_build
     runs-on: ${{ inputs.os-image }}
     strategy:
       fail-fast: false
       matrix:
         cmake-build-type:
           - 'RelWithDebInfo'
     steps:
-      - name: Sync eProsima/Fast-DDS repository
-        uses: eProsima/eProsima-CI/external/checkout@v0
+      - name: Download build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
         with:
-          path: src/fastdds
-          ref: ${{ inputs.fastdds-branch }}
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
 
       - name: Install Fix Python version
         uses: eProsima/eProsima-CI/external/setup-python@v0
@@ -709,7 +710,7 @@ jobs:
       - name: Install apt dependencies
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
-          packages: libasio-dev libtinyxml2-dev libssl-dev
+          packages: libasio-dev libtinyxml2-dev libssl-dev valgrind
           update: false
           upgrade: false
 
@@ -719,7 +720,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
         with:
-          packages: vcstool xmlschema
+          packages: vcstool xmlschema msparser
           upgrade: false
 
       - name: Setup CCache
@@ -728,15 +729,41 @@ jobs:
         with:
           api_token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Fetch Fast DDS dependencies
-        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+      - name: Sync osrf/osrf_testing_tools_cpp repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastdds/fastdds.repos
-          destination_workspace: src
-          skip_existing: 'true'
+          repository: osrf/osrf_testing_tools_cpp
+          path: src/osrf_testing_tools_cpp
+          ref: 1.4.0
+
+      - name: OSRF testing tools build
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ''
+          colcon_build_args: ${{ inputs.colcon-args }} --packages-select osrf_testing_tools_cpp
+          cmake_args: '-DBUILD_TESTING=OFF'
+          cmake_args_default: ''
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Profilling tests build
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastdds/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }} --packages-up-to fastdds
+          cmake_args: '-DPROFILING_TESTS=ON ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ${{ github.workspace }}/install
+
+      - name: Clean workspace - Profiling tests
+        run: |
+          cd ${{ github.workspace }}
+          rm -rf build install log src/osrf_testing_tools_cpp
 
       - name: No security colcon build
-        continue-on-error: true
+        continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
           colcon_meta_file: ${{ github.workspace }}/src/fastdds/.github/workflows/config/fastdds_build.meta
@@ -747,14 +774,11 @@ jobs:
           workspace: ${{ github.workspace }}
 
       - name: Clean workspace - No security
-        if: ${{ always() }}
         run: |
           cd ${{ github.workspace }}
           rm -rf build install log
 
       - name: No statistics colcon build
-        continue-on-error: true
-        if: ${{ always() }}
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
           colcon_meta_file: ${{ github.workspace }}/src/fastdds/.github/workflows/config/fastdds_build.meta
@@ -765,15 +789,12 @@ jobs:
           workspace: ${{ github.workspace }}
 
       - name: Clean workspace - No statistics
-        if: ${{ always() }}
         run: |
           cd ${{ github.workspace }}
           rm -rf build install log
 
       # No .metas file, so FASTDDS_ENFORCE_LOG_INFO is set OFF by default. Missed important args are manually included
       - name: No enforcing log info colcon build
-        continue-on-error: true
-        if: ${{ always() }}
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
           colcon_meta_file: ''
@@ -784,14 +805,11 @@ jobs:
           workspace: ${{ github.workspace }}
 
       - name: Clean workspace - No enforce log info
-        if: ${{ always() }}
         run: |
           cd ${{ github.workspace }}
           rm -rf build install log
 
       - name: No shared libs colcon build
-        continue-on-error: true
-        if: ${{ always() }}
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
           colcon_meta_file: ${{ github.workspace }}/src/fastdds/.github/workflows/config/fastdds_build.meta

examples/cpp/configuration/ConfigurationPubSubTypes.cxx

@@ -57,11 +57,11 @@ ConfigurationPubSubType::~ConfigurationPubSubType()
 }
 
 bool ConfigurationPubSubType::serialize(
-        void* data,
+        const void* const data,
         SerializedPayload_t* payload,
         DataRepresentationId_t data_representation)
 {
-    Configuration* p_type = static_cast<Configuration*>(data);
+    const Configuration* p_type = static_cast<const Configuration*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
@@ -133,7 +133,7 @@ bool ConfigurationPubSubType::deserialize(
 }
 
 std::function<uint32_t()> ConfigurationPubSubType::getSerializedSizeProvider(
-        void* data,
+        const void* const data,
         DataRepresentationId_t data_representation)
 {
     return [data, data_representation]() -> uint32_t
@@ -150,7 +150,7 @@ std::function<uint32_t()> ConfigurationPubSubType::getSerializedSizeProvider(
                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
                    size_t current_alignment {0};
                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<Configuration*>(data), current_alignment)) +
+                               *static_cast<const Configuration*>(data), current_alignment)) +
                            4u /*encapsulation*/;
                }
                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
@@ -173,7 +173,7 @@ void ConfigurationPubSubType::deleteData(
 }
 
 bool ConfigurationPubSubType::getKey(
-        void* data,
+        const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
@@ -182,7 +182,7 @@ bool ConfigurationPubSubType::getKey(
         return false;
     }
 
-    Configuration* p_type = static_cast<Configuration*>(data);
+    const Configuration* p_type = static_cast<const Configuration*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),

examples/cpp/configuration/ConfigurationPubSubTypes.h

@@ -53,14 +53,14 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType
     eProsima_user_DllExport ~ConfigurationPubSubType() override;
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload) override
     {
         return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
@@ -69,17 +69,17 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType
             void* data) override;
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override
+            const void* const data) override
     {
         return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data,
+            const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool getKey(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 

examples/cpp/content_filter/HelloWorldPubSubTypes.cxx

@@ -57,11 +57,11 @@ HelloWorldPubSubType::~HelloWorldPubSubType()
 }
 
 bool HelloWorldPubSubType::serialize(
-        void* data,
+        const void* const data,
         SerializedPayload_t* payload,
         DataRepresentationId_t data_representation)
 {
-    HelloWorld* p_type = static_cast<HelloWorld*>(data);
+    const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
@@ -133,7 +133,7 @@ bool HelloWorldPubSubType::deserialize(
 }
 
 std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
-        void* data,
+        const void* const data,
         DataRepresentationId_t data_representation)
 {
     return [data, data_representation]() -> uint32_t
@@ -150,7 +150,7 @@ std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
                    size_t current_alignment {0};
                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<HelloWorld*>(data), current_alignment)) +
+                               *static_cast<const HelloWorld*>(data), current_alignment)) +
                            4u /*encapsulation*/;
                }
                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
@@ -173,7 +173,7 @@ void HelloWorldPubSubType::deleteData(
 }
 
 bool HelloWorldPubSubType::getKey(
-        void* data,
+        const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
@@ -182,7 +182,7 @@ bool HelloWorldPubSubType::getKey(
         return false;
     }
 
-    HelloWorld* p_type = static_cast<HelloWorld*>(data);
+    const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),

examples/cpp/content_filter/HelloWorldPubSubTypes.h

@@ -53,14 +53,14 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
     eProsima_user_DllExport ~HelloWorldPubSubType() override;
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload) override
     {
         return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
@@ -69,17 +69,17 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
             void* data) override;
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override
+            const void* const data) override
     {
         return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data,
+            const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool getKey(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 

examples/cpp/custom_payload_pool/HelloWorldPubSubTypes.cxx

@@ -57,11 +57,11 @@ HelloWorldPubSubType::~HelloWorldPubSubType()
 }
 
 bool HelloWorldPubSubType::serialize(
-        void* data,
+        const void* const data,
         SerializedPayload_t* payload,
         DataRepresentationId_t data_representation)
 {
-    HelloWorld* p_type = static_cast<HelloWorld*>(data);
+    const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
@@ -133,7 +133,7 @@ bool HelloWorldPubSubType::deserialize(
 }
 
 std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
-        void* data,
+        const void* const data,
         DataRepresentationId_t data_representation)
 {
     return [data, data_representation]() -> uint32_t
@@ -150,7 +150,7 @@ std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
                    size_t current_alignment {0};
                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<HelloWorld*>(data), current_alignment)) +
+                               *static_cast<const HelloWorld*>(data), current_alignment)) +
                            4u /*encapsulation*/;
                }
                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
@@ -173,7 +173,7 @@ void HelloWorldPubSubType::deleteData(
 }
 
 bool HelloWorldPubSubType::getKey(
-        void* data,
+        const void* const data,
         InstanceHandle_t* handle,
         bool force_md5)
 {
@@ -182,7 +182,7 @@ bool HelloWorldPubSubType::getKey(
         return false;
     }
 
-    HelloWorld* p_type = static_cast<HelloWorld*>(data);
+    const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
     eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),

examples/cpp/custom_payload_pool/HelloWorldPubSubTypes.h

@@ -53,14 +53,14 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
     eProsima_user_DllExport ~HelloWorldPubSubType() override;
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload) override
     {
         return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport bool serialize(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::SerializedPayload_t* payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
@@ -69,17 +69,17 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
             void* data) override;
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data) override
+            const void* const data) override
     {
         return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            void* data,
+            const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool getKey(
-            void* data,
+            const void* const data,
             eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;