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[21129] Migrate fastrtps namespace to fastdds #4898

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Jun 18, 2024
Merged

[21129] Migrate fastrtps namespace to fastdds #4898

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26be94b
Refs #21129: Migrate namespace fastrtps to fastdds
elianalf Jun 5, 2024
6912986
Refs #21129: Remove unnecessary using and nested namespaces
elianalf Jun 5, 2024
f256d12
Refs #21129: Remove unused header
elianalf Jun 5, 2024
601ff4d
Refs #21129: Update version.md
elianalf Jun 5, 2024
7c1d77e
Refs #21129: Uncrustify
elianalf Jun 10, 2024
bf3c9a7
Refs #21129: fix errors after reader refactor
elianalf Jun 12, 2024
ba2884a
Refs #21129: Uncrustify
elianalf Jun 12, 2024
43de4a8
Refs #21129: Fix compilation error
elianalf Jun 13, 2024
ae2ee58
Refs #21129: Remove DiscoveryProtocol_t typedef
elianalf Jun 13, 2024
679a2b9
Refs #21129: Move variable declaration to remove warnings
elianalf Jun 13, 2024
c736486
Refs #21129: Remove typedef ParticipantFilteringFlags_t
elianalf Jun 13, 2024
caf490c
Refs #21129: Remove typedef PDPFactory
elianalf Jun 13, 2024
10225c2
Refs #21129: fix compilation issue
elianalf Jun 14, 2024
7517725
Refs #21129: Apply suggestions
elianalf Jun 14, 2024
37304f3
Refs #21129: Apply suggestions
elianalf Jun 17, 2024
28ba6ca
Refs #21129: solve compilation error after rebase
elianalf Jun 17, 2024
ac135b0
Refs #21129: Uncrustify
elianalf Jun 17, 2024
5ca0101
Refs #21129: Add missing code lost in the rebase
elianalf Jun 17, 2024
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10 changes: 5 additions & 5 deletions examples/cpp/configuration/CLIParser.hpp
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Expand Up @@ -45,10 +45,10 @@ class CLIParser
int32_t max_samples = 5000;
int32_t max_instances = 10;
int32_t max_samples_per_instance = 400;
uint32_t deadline = fastrtps::Duration_t::INFINITE_SECONDS;
uint32_t lifespan = fastrtps::Duration_t::INFINITE_SECONDS;
uint32_t liveliness_lease = fastrtps::Duration_t::INFINITE_SECONDS;
uint32_t liveliness_assert = fastrtps::Duration_t::INFINITE_SECONDS - 1;
uint32_t deadline = fastdds::Duration_t::INFINITE_SECONDS;
uint32_t lifespan = fastdds::Duration_t::INFINITE_SECONDS;
uint32_t liveliness_lease = fastdds::Duration_t::INFINITE_SECONDS;
uint32_t liveliness_assert = fastdds::Duration_t::INFINITE_SECONDS - 1;
std::string partitions = "";
std::string profile_participant = "";
std::string topic_name = "configuration_topic";
Expand Down Expand Up @@ -76,7 +76,7 @@ class CLIParser
struct publisher_config : public entity_config
{
uint16_t wait = 0;
uint32_t ack_keep_duration = fastrtps::Duration_t::INFINITE_SECONDS;
uint32_t ack_keep_duration = fastdds::Duration_t::INFINITE_SECONDS;
uint32_t interval = 100;
uint32_t msg_size = 10;
uint32_t ownership_strength = 0;
Expand Down
4 changes: 2 additions & 2 deletions examples/cpp/configuration/ConfigurationPubSubTypes.cxx
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Expand Up @@ -27,8 +27,8 @@
#include "ConfigurationCdrAux.hpp"
#include "ConfigurationTypeObjectSupport.hpp"

using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;

ConfigurationPubSubType::ConfigurationPubSubType()
Expand Down
8 changes: 4 additions & 4 deletions examples/cpp/configuration/ConfigurationPubSubTypes.h
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Expand Up @@ -54,18 +54,18 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
eprosima::fastdds::rtps::SerializedPayload_t* payload) override
{
return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
}

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;

eProsima_user_DllExport bool deserialize(
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
void* data) override;

eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
Expand All @@ -80,7 +80,7 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool getKey(
void* data,
eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
bool force_md5 = false) override;

eProsima_user_DllExport void* createData() override;
Expand Down
10 changes: 5 additions & 5 deletions examples/cpp/configuration/PublisherApp.cpp
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Expand Up @@ -139,15 +139,15 @@ PublisherApp::PublisherApp(
"DataWriter initialization failed: ownership strength is only valid with exclusive ownership");
}
writer_qos.ownership_strength().value = config.ownership_strength;
writer_qos.deadline().period = eprosima::fastrtps::Duration_t(config.deadline * 1e-3);
writer_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
writer_qos.reliable_writer_qos().disable_positive_acks.enabled = config.disable_positive_ack;
writer_qos.reliable_writer_qos().disable_positive_acks.duration = eprosima::fastrtps::Duration_t(
writer_qos.reliable_writer_qos().disable_positive_acks.duration = eprosima::fastdds::Duration_t(
config.ack_keep_duration * 1e-3);
writer_qos.lifespan().duration = eprosima::fastrtps::Duration_t(config.lifespan * 1e-3);
writer_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
writer_qos.liveliness().kind = config.liveliness;
writer_qos.liveliness().lease_duration = eprosima::fastrtps::Duration_t(
writer_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(
config.liveliness_lease * 1e-3);
writer_qos.liveliness().announcement_period = eprosima::fastrtps::Duration_t(
writer_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
config.liveliness_assert * 1e-3);
writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
}
Expand Down
8 changes: 4 additions & 4 deletions examples/cpp/configuration/SubscriberApp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,13 +125,13 @@ SubscriberApp::SubscriberApp(
reader_qos.resource_limits().max_instances = config.max_instances;
reader_qos.resource_limits().max_samples_per_instance = config.max_samples_per_instance;
reader_qos.ownership().kind = config.ownership;
reader_qos.deadline().period = eprosima::fastrtps::Duration_t(config.deadline * 1e-3);
reader_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
reader_qos.reliable_reader_qos().disable_positive_ACKs.enabled = config.disable_positive_ack;
reader_qos.lifespan().duration = eprosima::fastrtps::Duration_t(config.lifespan * 1e-3);
reader_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
reader_qos.liveliness().kind = config.liveliness;
reader_qos.liveliness().lease_duration = eprosima::fastrtps::Duration_t(
reader_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(
config.liveliness_lease * 1e-3);
reader_qos.liveliness().announcement_period = eprosima::fastrtps::Duration_t(
reader_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
config.liveliness_assert * 1e-3);
reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
}
Expand Down
4 changes: 2 additions & 2 deletions examples/cpp/content_filter/HelloWorldPubSubTypes.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@
#include "HelloWorldCdrAux.hpp"
#include "HelloWorldTypeObjectSupport.hpp"

using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;

HelloWorldPubSubType::HelloWorldPubSubType()
Expand Down
8 changes: 4 additions & 4 deletions examples/cpp/content_filter/HelloWorldPubSubTypes.h
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Expand Up @@ -54,18 +54,18 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
eprosima::fastdds::rtps::SerializedPayload_t* payload) override
{
return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
}

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;

eProsima_user_DllExport bool deserialize(
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
void* data) override;

eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
Expand All @@ -80,7 +80,7 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool getKey(
void* data,
eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
bool force_md5 = false) override;

eProsima_user_DllExport void* createData() override;
Expand Down
10 changes: 5 additions & 5 deletions examples/cpp/custom_payload_pool/CustomPayloadPool.hpp
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Expand Up @@ -26,15 +26,15 @@
#include <fastdds/rtps/history/IPayloadPool.h>
#include <fastdds/rtps/common/SerializedPayload.h>

class CustomPayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
class CustomPayloadPool : public eprosima::fastdds::rtps::IPayloadPool
{
public:

~CustomPayloadPool() = default;

bool get_payload(
unsigned int size,
eprosima::fastrtps::rtps::SerializedPayload_t& payload)
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Reserve new memory for the payload buffer
unsigned char* payload_buff = new unsigned char[size];
Expand All @@ -51,8 +51,8 @@ class CustomPayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
}

bool get_payload(
const eprosima::fastrtps::rtps::SerializedPayload_t& data,
eprosima::fastrtps::rtps::SerializedPayload_t& payload)
const eprosima::fastdds::rtps::SerializedPayload_t& data,
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Reserve new memory for the payload buffer
unsigned char* payload_buff = new unsigned char[data.length];
Expand All @@ -72,7 +72,7 @@ class CustomPayloadPool : public eprosima::fastrtps::rtps::IPayloadPool
}

bool release_payload(
eprosima::fastrtps::rtps::SerializedPayload_t& payload)
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Ensure precondition
if (this != payload.payload_owner)
Expand Down
4 changes: 2 additions & 2 deletions examples/cpp/custom_payload_pool/HelloWorldPubSubTypes.cxx
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Expand Up @@ -27,8 +27,8 @@
#include "HelloWorldCdrAux.hpp"
#include "HelloWorldTypeObjectSupport.hpp"

using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;

HelloWorldPubSubType::HelloWorldPubSubType()
Expand Down
8 changes: 4 additions & 4 deletions examples/cpp/custom_payload_pool/HelloWorldPubSubTypes.h
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Expand Up @@ -54,18 +54,18 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
eprosima::fastdds::rtps::SerializedPayload_t* payload) override
{
return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
}

eProsima_user_DllExport bool serialize(
void* data,
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;

eProsima_user_DllExport bool deserialize(
eprosima::fastrtps::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
void* data) override;

eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
Expand All @@ -80,7 +80,7 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool getKey(
void* data,
eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
bool force_md5 = false) override;

eProsima_user_DllExport void* createData() override;
Expand Down
24 changes: 12 additions & 12 deletions examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.cpp
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Expand Up @@ -85,7 +85,7 @@ bool HelloWorldPublisher::init(

// Create DS SERVER locator
eprosima::fastdds::rtps::Locator server_locator;
eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
eprosima::fastdds::rtps::IPLocator::setPhysicalPort(server_locator, server_port);

std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface> descriptor;

Expand All @@ -103,7 +103,7 @@ bool HelloWorldPublisher::init(
descriptor = descriptor_tmp;

server_locator.kind = LOCATOR_KIND_UDPv4;
eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
break;
}

Expand All @@ -114,7 +114,7 @@ bool HelloWorldPublisher::init(
descriptor = descriptor_tmp;

server_locator.kind = LOCATOR_KIND_UDPv6;
eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
break;
}

Expand All @@ -127,8 +127,8 @@ bool HelloWorldPublisher::init(
descriptor = descriptor_tmp;

server_locator.kind = LOCATOR_KIND_TCPv4;
eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
break;
}

Expand All @@ -141,8 +141,8 @@ bool HelloWorldPublisher::init(
descriptor = descriptor_tmp;

server_locator.kind = LOCATOR_KIND_TCPv6;
eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
break;
}

Expand All @@ -152,7 +152,7 @@ bool HelloWorldPublisher::init(

// Set participant as DS CLIENT
pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
eprosima::fastrtps::rtps::DiscoveryProtocol_t::CLIENT;
eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;

// Set SERVER's GUID prefix
RemoteServerAttributes remote_server_att;
Expand Down Expand Up @@ -255,16 +255,16 @@ void HelloWorldPublisher::PubListener::on_publication_matched(

void HelloWorldPublisher::PubListener::on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info,
eprosima::fastdds::rtps::ParticipantDiscoveryInfo&& info,
bool& should_be_ignored)
{
static_cast<void>(should_be_ignored);
if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
{
std::cout << "Discovered Participant with GUID " << info.info.m_guid << std::endl;
}
else if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
else if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
{
std::cout << "Dropped Participant with GUID " << info.info.m_guid << std::endl;
}
Expand Down
2 changes: 1 addition & 1 deletion examples/cpp/dds/DiscoveryServerExample/DiscoveryServerPublisher.h
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Expand Up @@ -101,7 +101,7 @@ class HelloWorldPublisher
//! Callback executed when a DomainParticipant is discovered, dropped or removed
void on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* /*participant*/,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info,
eprosima::fastdds::rtps::ParticipantDiscoveryInfo&& info,
bool& should_be_ignored) override;

private:
Expand Down
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