Expose PayloadPool in DDSDataWriter and DDSDataReader (#514)

* Refs #18913: Expose PayloadPool in DDSDataWriter and DDSDataReader Signed-off-by: JesusPoderoso <[email protected]> * Refs #18913: apply rev suggestions Signed-off-by: JesusPoderoso <[email protected]> * Refs #18913: Update code to build and pass CI Signed-off-by: JesusPoderoso <[email protected]> * Refs #18913: Apply rev suggestions Signed-off-by: JesusPoderoso <[email protected]> * Refs #19024: Update method calls Signed-off-by: JesusPoderoso <[email protected]> --------- Signed-off-by: JesusPoderoso <[email protected]>
eProsima · Aug 3, 2023 · 3355a19 · 3355a19
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diff --git a/code/DDSCodeTester.cpp b/code/DDSCodeTester.cpp
@@ -48,6 +48,7 @@
 #include <fastcdr/Cdr.h>
 
 #include <sstream>
+#include <memory>
 
 using namespace eprosima::fastdds::dds;
 
@@ -254,6 +255,33 @@ class CustomDomainParticipantListener : public DomainParticipantListener
 };
 //!--
 
+// Custom Payload pool example for documentation
+class CustomPayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
+{
+public:
+    CustomPayloadPool() = default;
+    ~CustomPayloadPool() = default;
+    bool get_payload(
+            unsigned int size,
+            eprosima::fastrtps::rtps::CacheChange_t& cache_change)
+    {
+        return true;
+    }
+    bool get_payload(
+            eprosima::fastrtps::rtps::SerializedPayload_t& data,
+            eprosima::fastrtps::rtps::IPayloadPool*& data_owner,
+            eprosima::fastrtps::rtps::CacheChange_t& cache_change)
+    {
+        return true;
+    }
+    bool release_payload(
+            eprosima::fastrtps::rtps::CacheChange_t& cache_change)
+    {
+        return true;
+    }
+};
+//!--
+
 void dds_domain_examples()
 {
     {
@@ -2517,6 +2545,24 @@ void dds_dataWriter_examples()
         //!--
     }
 
+    {
+        //DDS_CREATE_PAYLOAD_POOL_DATAWRITER
+        // A DataWriterQos must be provided to the creation method
+        DataWriterQos qos;
+
+        // Create PayloadPool
+        std::shared_ptr<eprosima::fastrtps::rtps::IPayloadPool> payload_pool =
+                std::dynamic_pointer_cast<eprosima::fastrtps::rtps::IPayloadPool>(std::make_shared<CustomPayloadPool>());
+
+        DataWriter* data_writer = publisher->create_datawriter(topic, qos, nullptr, StatusMask::all(), payload_pool);
+        if (nullptr == data_writer)
+        {
+            // Error
+            return;
+        }
+        //!--
+    }
+
     {
         //DDS_CHANGE_DATAWRITERQOS
         // Create a DataWriter with default DataWriterQos
@@ -3292,6 +3338,23 @@ void dds_dataReader_examples()
         //!--
     }
 
+    {
+        //DDS_CREATE_PAYLOAD_POOL_DATAREADER
+        // A DataReaderQos must be provided to the creation method
+        DataReaderQos qos;
+
+        // Create PayloadPool
+        std::shared_ptr<CustomPayloadPool> payload_pool = std::make_shared<CustomPayloadPool>();
+
+        DataReader* data_reader = subscriber->create_datareader(topic, qos, nullptr, StatusMask::all(), payload_pool);
+        if (nullptr == data_reader)
+        {
+            // Error
+            return;
+        }
+        //!--
+    }
+
     {
         //DDS_CHANGE_DATAREADERQOS
         // Create a DataReader with default DataReaderQos

diff --git a/docs/fastdds/dds_layer/publisher/dataWriter/createDataWriter.rst b/docs/fastdds/dds_layer/publisher/dataWriter/createDataWriter.rst
@@ -78,6 +78,25 @@ It is advisable to check that the returned value is a valid pointer.
    :end-before: //!
    :dedent: 8
 
+.. _dds_layer_publisher_datawriter_with_payload_pool_creation:
+
+Creating a DataWriter with a custom PayloadPool
+-----------------------------------------------
+
+A custom :ref:`PayloadPool<rtps_layer_custom_payload_pool>` can be passed as an argument during the creation of a
+:ref:`dds_layer_publisher_dataWriter`.
+This allows for customizing the management of the information exchanged between DataWriters and DataReaders.
+The same configuration can be set in the
+:ref:`opposite endpoint<dds_layer_subscriber_datareader_with_payload_pool_creation>`.
+
+.. literalinclude:: /../code/DDSCodeTester.cpp
+   :language: c++
+   :start-after: //DDS_CREATE_PAYLOAD_POOL_DATAWRITER
+   :end-before: //!
+   :dedent: 8
+
+This configuration can be performed also in the :ref:`RTPS layer<rtps_layer_custom_payload_pool>`.
+The :ref:`customization example<rtps_layer_payload_pool_example>` applies both layers.
 
 .. _dds_layer_publisher_datawriter_deletion:
 

diff --git a/docs/fastdds/dds_layer/subscriber/dataReader/createDataReader.rst b/docs/fastdds/dds_layer/subscriber/dataReader/createDataReader.rst
@@ -79,6 +79,26 @@ It is advisable to check that the returned value is a valid pointer.
    :dedent: 8
 
 
+.. _dds_layer_subscriber_datareader_with_payload_pool_creation:
+
+Creating a DataWriter with a custom PayloadPool
+-----------------------------------------------
+
+A custom :ref:`PayloadPool<rtps_layer_custom_payload_pool>` can be passed as an argument during the creation of a
+:ref:`dds_layer_subscriber_dataReader`.
+This allows for customizing the management of the information exchanged between DataWriters and DataReaders.
+The same configuration can be set in the
+:ref:`opposite endpoint<dds_layer_publisher_datawriter_with_payload_pool_creation>`.
+
+.. literalinclude:: /../code/DDSCodeTester.cpp
+   :language: c++
+   :start-after: //DDS_CREATE_PAYLOAD_POOL_DATAREADER
+   :end-before: //!
+   :dedent: 8
+
+This configuration can be performed also in the :ref:`RTPS layer<rtps_layer_custom_payload_pool>`.
+The :ref:`customization example<rtps_layer_payload_pool_example>` applies both layers.
+
 .. _dds_layer_subscriber_datareader_deletion:
 
 Deleting a DataReader

diff --git a/docs/fastdds/rtps_layer/rtps_layer.rst b/docs/fastdds/rtps_layer/rtps_layer.rst
@@ -194,6 +194,8 @@ You can specify a maximum amount of changes for the History to hold and an initi
 When the initial amount of reserved changes is lower than the maximum, the History will allocate more changes as they
 are needed until it reaches the maximum size.
 
+.. _rtps_layer_custom_payload_pool:
+
 Using a custom Payload Pool
 ---------------------------
 
@@ -256,7 +258,6 @@ IPayloadPool interface
 
   Note that the size requested to |IPayloadPool::get_payload-api| already considers this 4 octet header.
 
-
 Default Payload pool implementation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -303,6 +304,8 @@ Released Payloads can be reused for another :class:`CacheChange_t`.
 If there is at least one free Payload with a buffer size equal or larger to the requested one,
 no memory allocation is done.
 
+.. _rtps_layer_payload_pool_example:
+
 Example using a custom Payload pool
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^