Make the trigger of the DDS Pipe callbacks configurable

ddspipe_core/include/ddspipe_core/configuration/DdsPipeConfiguration.hpp

@@ -32,6 +32,14 @@ namespace eprosima {
 namespace ddspipe {
 namespace core {
 
+enum DiscoveryTrigger
+{
+    READER = 0,     //! The discovery callbacks get triggered by the discovery of a reader.
+    WRITER = 1,     //! The discovery callbacks get triggered by the discovery of a writer.
+    NONE = 2,       //! The discovery callbacks don't get triggered by the discovery of readers or writers.
+    ANY = 3         //! The discovery callbacks get triggered by the discovery of either a reader or a writer.
+};
+
 /**
  * Configuration structure encapsulating the configuration of a \c DdsPipe instance.
  */
@@ -108,6 +116,9 @@ struct DdsPipeConfiguration : public IConfiguration
 
     //! Whether the DDS Pipe should be initialized enabled.
     bool init_enabled = false;
+
+    //! The type of the entity whose discovery should trigger the discovery callbacks.
+    DiscoveryTrigger discovery_trigger = DiscoveryTrigger::READER;
 };
 
 } /* namespace core */

ddspipe_core/src/cpp/core/DdsPipe.cpp

@@ -350,19 +350,36 @@ void DdsPipe::updated_endpoint_nts_(
 bool DdsPipe::is_endpoint_relevant_(
         const Endpoint& endpoint) noexcept
 {
-    if (!endpoint.is_reader())
-    {
-        return false;
-    }
+    auto is_endpoint_type_relevant = [&](const Endpoint& entity)
+            {
+                switch (configuration_.discovery_trigger)
+                {
+                    case DiscoveryTrigger::READER:
+                        return entity.is_reader();
+                    case DiscoveryTrigger::WRITER:
+                        return entity.is_writer();
+                    case DiscoveryTrigger::ANY:
+                        return true;
+                    case DiscoveryTrigger::NONE:
+                        return false;
+                    default:
+                        return false;
+                }
+            };
 
-    auto is_endpoint_relevant = [endpoint](const Endpoint& entity)
+    auto is_endpoint_relevant = [endpoint, is_endpoint_type_relevant](const Endpoint& entity)
             {
                 return entity.active &&
-                       entity.is_reader() &&
+                       is_endpoint_type_relevant(entity) &&
                        entity.topic == endpoint.topic &&
                        entity.discoverer_participant_id == endpoint.discoverer_participant_id;
             };
 
+    if (!is_endpoint_type_relevant(endpoint))
+    {
+        return false;
+    }
+
     const auto& relevant_endpoints = discovery_database_->get_endpoints(is_endpoint_relevant);
 
     if (endpoint.active)

ddspipe_participants/src/cpp/participant/dynamic_types/SchemaParticipant.cpp

@@ -47,25 +47,6 @@ SchemaParticipant::SchemaParticipant(
     , discovery_database_(discovery_database)
     , schema_handler_(schema_handler)
 {
-    // Simulate that there is a reader of type object to force this track creation
-    discovery_database_->add_endpoint(
-        rtps::CommonParticipant::simulate_endpoint(type_object_topic(), this->id())
-        );
-
-    // Force for every topic found to create track by creating simulated readers
-    // NOTE: this could change for: in DDS Pipe change that only readers create track
-    discovery_database_->add_endpoint_discovered_callback(
-        [this](Endpoint endpoint_discovered)
-        {
-            if (endpoint_discovered.is_writer() && endpoint_discovered.discoverer_participant_id != this->id())
-            {
-                discovery_database_->add_endpoint(
-                    rtps::CommonParticipant::simulate_endpoint(endpoint_discovered.topic,
-                    endpoint_discovered.discoverer_participant_id)
-                    );
-            }
-        }
-        );
 }
 
 ParticipantId SchemaParticipant::id() const noexcept

ddspipe_yaml/include/ddspipe_yaml/yaml_configuration_tags.hpp

@@ -141,6 +141,7 @@ constexpr const char* SPECS_QOS_TAG("qos"); //! Global Topic QoS
 constexpr const char* NUMBER_THREADS_TAG("threads"); //! Number of threads to configure the thread pool
 constexpr const char* WAIT_ALL_ACKED_TIMEOUT_TAG("wait-all-acked-timeout"); //! Wait for a maximum of *wait-all-acked-timeout* ms until all msgs sent by reliable writers are acknowledged by their matched readers
 constexpr const char* REMOVE_UNUSED_ENTITIES_TAG("remove-unused-entities"); //! Dynamically create and delete entities and tracks.
+constexpr const char* DISCOVERY_TRIGGER_TAG("discovery-trigger"); //! Dynamically trigger the discovery of entities.
 
 // XML configuration tags
 constexpr const char* XML_TAG("xml"); //! Tag to read xml configuration