mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Bump micro-ROS-Agent to Fast DDS v3.0.1 (#237)
* Bump to Fast DDS v3 Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Fix xrce agent package name and change git tag in SuperBuild.cmake Signed-off-by: Carlosespicur <carlosespicur@proton.me> * Bump XRCE Agent version --------- Signed-off-by: Carlosespicur <carlosespicur@proton.me> Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
Carlos Espinoza Curto
committed by
Pablo Garrido
Pablo Garrido
co-authored by
Pablo Garrido
Pablo Garrido
parent
904d890366
commit
e77dca435b
@@ -15,28 +15,25 @@
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#ifndef _UROS_AGENT_GRAPH_MANAGER_HPP
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#define _UROS_AGENT_GRAPH_MANAGER_HPP
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#include "fastrtps/Domain.h"
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#include <fastrtps/TopicDataType.h>
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#include "fastrtps/attributes/ParticipantAttributes.h"
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#include "fastrtps/participant/Participant.h"
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#include "fastrtps/participant/ParticipantListener.h"
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#include "fastrtps/attributes/PublisherAttributes.h"
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#include "fastrtps/publisher/Publisher.h"
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#include <fastrtps/publisher/PublisherListener.h>
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#include <fastrtps/rtps/common/MatchingInfo.h>
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#include "fastdds/dds/topic/TopicDataType.hpp"
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#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
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#include "fastdds/rtps/participant/RTPSParticipant.hpp"
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#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
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#include "fastdds/rtps/RTPSDomain.hpp"
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/domain/DomainParticipantListener.hpp>
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#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/publisher/PublisherListener.hpp>
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/dds/subscriber/DataReader.hpp>
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#include <fastdds/dds/subscriber/DataReaderListener.hpp>
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#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
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#include <fastdds/dds/subscriber/SampleInfo.hpp>
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#include <fastdds/dds/subscriber/Subscriber.hpp>
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#include <fastdds/dds/subscriber/DataReaderListener.hpp>
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#include <fastdds/rtps/common/MatchingInfo.hpp>
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#include "rmw/types.h"
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#include "rmw/names_and_types.h"
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@@ -125,7 +122,7 @@ public:
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* @param datawriter Pointer to the datawriter to be added.
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*/
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void add_datawriter(
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const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
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const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
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const eprosima::fastdds::dds::DomainParticipant* participant,
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const eprosima::fastdds::dds::DataWriter* datawriter);
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@@ -138,10 +135,10 @@ public:
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* @param writer_qos QOS of the datawriter to be included into the graph tree.
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*/
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void add_datawriter(
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const eprosima::fastrtps::rtps::GUID_t& datawriter_guid,
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const eprosima::fastdds::rtps::GUID_t& datawriter_guid,
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const std::string& topic_name,
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const std::string& type_name,
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const eprosima::fastrtps::rtps::GUID_t& participant_guid,
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const eprosima::fastdds::rtps::GUID_t& participant_guid,
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const eprosima::fastdds::dds::DataWriterQos& writer_qos);
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/**
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@@ -149,7 +146,7 @@ public:
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* @param datawriter_guid rtps::GUID_t of the datawriter to be removed.
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*/
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void remove_datawriter(
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const eprosima::fastrtps::rtps::GUID_t& datawriter_guid);
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const eprosima::fastdds::rtps::GUID_t& datawriter_guid);
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/**
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* @brief Adds a DDS datareader to the graph tree.
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@@ -158,7 +155,7 @@ public:
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* @param datareader Pointer to the datareader to be added.
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*/
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void add_datareader(
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const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
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const eprosima::fastdds::rtps::GUID_t& datareader_guid,
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const eprosima::fastdds::dds::DomainParticipant* participant,
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const eprosima::fastdds::dds::DataReader* datareader);
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@@ -168,13 +165,13 @@ public:
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* @param topic_name Name of the topic to which the datareader sends information to.
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* @param type_name Type name of the sent topic.
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* @param participant_guid rtps::GUID_t of the participant which owns this datareader.
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* @param writer_qos QOS of the datareader to be included into the graph tree.
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* @param reader_qos QOS of the datareader to be included into the graph tree.
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*/
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void add_datareader(
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const eprosima::fastrtps::rtps::GUID_t& datareader_guid,
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const eprosima::fastdds::rtps::GUID_t& datareader_guid,
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const std::string& topic_name,
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const std::string& type_name,
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const eprosima::fastrtps::rtps::GUID_t& participant_guid,
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const eprosima::fastdds::rtps::GUID_t& participant_guid,
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const eprosima::fastdds::dds::DataReaderQos& reader_qos);
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/**
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@@ -182,7 +179,7 @@ public:
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* @param datareader_guid rtps::GUID_t of the datareader to be removed.
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*/
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void remove_datareader(
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const eprosima::fastrtps::rtps::GUID_t& datareader_guid);
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const eprosima::fastdds::rtps::GUID_t& datareader_guid);
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/**
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* @brief Associates a certain DDS entity with a provided participant.
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@@ -191,7 +188,7 @@ public:
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* @param entity_kind Kind of the DDS entity.
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*/
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void associate_entity(
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const eprosima::fastrtps::rtps::GUID_t& entity_guid,
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const eprosima::fastdds::rtps::GUID_t& entity_guid,
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const eprosima::fastdds::dds::DomainParticipant* participant,
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const dds::xrce::ObjectKind& entity_kind);
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@@ -212,21 +209,28 @@ private:
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GraphManager* graph_manager);
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private:
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template <typename Info>
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template <typename DiscoveryStatus, typename Info>
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void process_discovery_info(
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DiscoveryStatus reason,
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const Info& proxyData);
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void on_participant_discovery(
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eprosima::fastdds::dds::DomainParticipant* participant,
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eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
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eprosima::fastdds::rtps::ParticipantDiscoveryStatus reason,
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const eprosima::fastdds::dds::ParticipantBuiltinTopicData& info,
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bool& should_be_ignored) override;
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void on_subscriber_discovery(
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eprosima::fastdds::dds::DomainParticipant* /*participant*/,
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eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
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void on_data_reader_discovery(
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eprosima::fastdds::dds::DomainParticipant* participant,
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eprosima::fastdds::rtps::ReaderDiscoveryStatus reason,
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const eprosima::fastdds::dds::SubscriptionBuiltinTopicData& info,
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bool& should_be_ignored) override;
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void on_publisher_discovery(
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eprosima::fastdds::dds::DomainParticipant* /*participant*/,
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eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override;
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void on_data_writer_discovery(
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eprosima::fastdds::dds::DomainParticipant* participant,
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eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
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const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
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bool& should_be_ignored) override;
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GraphManager* graphManager_from_;
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};
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@@ -15,18 +15,16 @@
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#ifndef UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
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#define UROS_AGENT_GRAPH_PARTICIPANTS_TYPESUPPORT_HPP_
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#include "fastrtps/Domain.h"
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#include <fastrtps/TopicDataType.h>
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#include "fastrtps/attributes/ParticipantAttributes.h"
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#include "fastrtps/participant/Participant.h"
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#include "fastrtps/participant/ParticipantListener.h"
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#include "fastrtps/attributes/PublisherAttributes.h"
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#include "fastrtps/publisher/Publisher.h"
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#include <fastrtps/publisher/PublisherListener.h>
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#include <fastrtps/rtps/common/MatchingInfo.h>
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#include "fastdds/dds/publisher/Publisher.hpp"
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#include "fastdds/dds/topic/TopicDataType.hpp"
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#include "fastdds/rtps/attributes/RTPSParticipantAttributes.hpp"
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#include "fastdds/rtps/participant/RTPSParticipant.hpp"
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#include "fastdds/rtps/participant/RTPSParticipantListener.hpp"
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#include "fastdds/rtps/RTPSDomain.hpp"
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
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#include <fastdds/dds/publisher/PublisherListener.hpp>
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#include <fastdds/rtps/common/MatchingInfo.hpp>
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#include "rmw/types.h"
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#include "rmw/impl/cpp/key_value.hpp"
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@@ -59,24 +57,31 @@ public:
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ParticipantEntitiesInfoTypeSupport();
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virtual bool serialize(
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void* data,
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eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
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const void* const data,
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
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virtual bool deserialize(
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eprosima::fastrtps::rtps::SerializedPayload_t* payload,
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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void* data) override;
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virtual std::function<uint32_t()> getSerializedSizeProvider(
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void* data) override;
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virtual uint32_t calculate_serialized_size(
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const void* const data,
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eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
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virtual void* createData() override;
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virtual void* create_data() override;
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virtual void deleteData(void* data) override;
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virtual void delete_data(void* data) override;
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virtual bool getKey(
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void* data,
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eprosima::fastrtps::rtps::InstanceHandle_t* handle,
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bool force_md5) override;
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virtual bool compute_key(
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
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bool force_md5 = false) override;
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virtual bool compute_key(
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const void* const data,
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eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
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bool force_md5 = false) override;
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private:
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@@ -95,24 +100,31 @@ public:
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MicrorosGraphInfoTypeSupport();
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virtual bool serialize(
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void* data,
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eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
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const void* const data,
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
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virtual bool deserialize(
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eprosima::fastrtps::rtps::SerializedPayload_t* payload,
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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void* data) override;
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virtual std::function<uint32_t()> getSerializedSizeProvider(
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void* data) override;
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virtual uint32_t calculate_serialized_size(
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const void* const data,
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eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
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virtual void* createData() override;
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virtual void* create_data() override;
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virtual void deleteData(void* data) override;
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virtual void delete_data(void* data) override;
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virtual bool getKey(
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void* data,
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eprosima::fastrtps::rtps::InstanceHandle_t* handle,
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bool force_md5) override;
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virtual bool compute_key(
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eprosima::fastdds::rtps::SerializedPayload_t& payload,
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eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
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bool force_md5 = false) override;
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virtual bool compute_key(
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const void* const data,
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eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
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bool force_md5 = false) override;
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private:
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