Miscellaneous fixes [16155]

.github/actions/install-python-packages/action.yml

@@ -6,17 +6,17 @@ runs:
     - id: install-python-packages
       run: |
         sudo pip3 install -U \
-          sphinx==3.0.3 \
-          doc8==0.8.0 \
-          sphinx_rtd_theme==0.4.3 \
-          sphinxcontrib.spelling==5.0.0 \
+          sphinx==4.3.1 \
+          doc8==0.10.1 \
+          sphinx_rtd_theme==0.5.2 \
+          sphinxcontrib.spelling==7.2.1 \
           sphinxcontrib-imagehelper==1.1.1 \
           sphinx-tabs==3.2.0 \
           colcon-common-extensions \
           colcon-mixin \
           vcstool \
-          GitPython \
-          setuptools \
+          GitPython==3.1.24 \
+          setuptools==58.2.0 \
           gcovr==5.0 \
           pyyaml \
           jsonschema

ddsrouter_yaml/src/cpp/YamlReader.cpp

@@ -897,9 +897,11 @@ YamlReader::get<std::shared_ptr<core::configuration::ParticipantConfiguration>>(
             return std::make_shared<core::configuration::InitialPeersParticipantConfiguration>(
                 YamlReader::get<core::configuration::InitialPeersParticipantConfiguration>(yml, version));
 
+        case types::ParticipantKind::invalid:
         default:
+            std::string invalid_kind = YamlReader::get<std::string>(yml, PARTICIPANT_KIND_TAG, version);
             throw eprosima::utils::ConfigurationException(
-                      utils::Formatter() << "Unkown or non valid Participant kind:" << kind << ".");
+                      utils::Formatter() << "Unkown or non valid Participant kind: " << invalid_kind << ".");
             break;
     }
 }

docs/CMakeLists.txt

@@ -53,3 +53,9 @@ compile_documentation()
 compile_test_documentation(
     "${PROJECT_SOURCE_DIR}/test" # Test directory
 )
+
+###############################################################################
+# Packaging
+###############################################################################
+# Install package
+eprosima_packaging()

docs/README.md

@@ -22,6 +22,7 @@ sudo apt install -y \
     python3-venv \
     python3-sphinxcontrib.spelling \
     imagemagick
+pip3 install -U -r src/ddsrouter/docs/requirements.txt
 ```
 
 ### Build documentation

docs/requirements.txt

@@ -1,7 +1,7 @@
 doc8==0.10.1
 docutils==0.16.0
 GitPython==3.1.24
-setuptools==59.4.0
+setuptools==58.2.0
 sphinx_rtd_theme==0.5.2
 sphinx-tabs==3.2.0
 sphinx==4.3.1

docs/resources/examples/echo.yaml

@@ -30,18 +30,21 @@ participants:
 
 ##################################
 # ECHO PARTICIPANT
-# This Participant will print in stdout every message received by the other Participants
+# This Participant will print in stdout every message received by the other Participants, as well as discovery information
 
   - name: EchoParticipant                                             # 6
     kind: echo                                                        # 7
+    discovery: true                                                   # 8
+    data: true                                                        # 9
+    verbose: true                                                     # 10
 
 
 ##################################
 # CONFIGURATION DESCRIPTION
 
 # This configuration example configures a DDS Router to listen to every message published in domain 0 in topics
 # HelloWorldTopic (from Fast DDS HelloWorld) and rt/chatter from ROS2 demo_nodes, and to print the received
-# messages in stdout.
+# messages in stdout. Information regarding discovery events is also printed to stdout.
 
 # 0: Use YAML configuration version v3.0
 
@@ -59,4 +62,9 @@ participants:
 # 6: New Participant with name <EchoParticipant>.
 
 # 7: Kind of EchoParticipant: <echo>.
-# Prints in stdout every message received by the router, together with the source GUID, timestamp and Topic.
+
+# 8: Print a trace to stdout every time an Endpoint is discovered.
+
+# 9: Print a trace to stdout every time a new data message arrives to the router.
+
+# 10: Display verbose information regarding received messages (receiver endpoint_guid and data payload).

docs/rst/developer_manual/installation/sources/linux.rst

@@ -261,68 +261,86 @@ Local installation
 
     .. code-block:: bash
 
-        mkdir ~/DDS-Router
+        mkdir -p ~/DDS-Router/src
+        mkdir -p ~/DDS-Router/build
+        cd ~/DDS-Router
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        vcs import src < ddsrouter.repos
 
-#.  Clone the following dependencies and compile them using CMake_.
+#.  Compile all dependencies using CMake_.
 
     * `Foonathan memory <https://github.com/foonathan/memory>`_
 
         .. code-block:: bash
 
             cd ~/DDS-Router
-            git clone https://github.com/eProsima/foonathan_memory_vendor.git
-            mkdir foonathan_memory_vendor/build
-            cd foonathan_memory_vendor/build
-            cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DBUILD_SHARED_LIBS=ON
+            mkdir build/foonathan_memory_vendor
+            cd build/foonathan_memory_vendor
+            cmake ~/DDS-Router/src/foonathan_memory_vendor -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DBUILD_SHARED_LIBS=ON
             cmake --build . --target install
 
-    * `Fast CDR <https://github.com/eProsima/Fast-CDR.git>`_
+    * `Fast CDR <https://github.com/eProsima/Fast-CDR>`_
 
         .. code-block:: bash
 
             cd ~/DDS-Router
-            git clone https://github.com/eProsima/Fast-CDR.git
-            mkdir Fast-CDR/build
-            cd Fast-CDR/build
-            cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install
+            mkdir build/fastcdr
+            cd build/fastcdr
+            cmake ~/DDS-Router/src/fastcdr -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install
             cmake --build . --target install
 
-    * `Fast DDS <https://github.com/eProsima/Fast-DDS.git>`_
+    * `Fast DDS <https://github.com/eProsima/Fast-DDS>`_
 
         .. code-block:: bash
 
             cd ~/DDS-Router
-            git clone https://github.com/eProsima/Fast-DDS.git
-            mkdir Fast-DDS/build
-            cd Fast-DDS/build
-            cmake .. -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+            mkdir build/fastdds
+            cd build/fastdds
+            cmake ~/DDS-Router/src/fastdds -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
             cmake --build . --target install
 
-    * `Dev Utils <https://github.com/eProsima/dev-utils.git>`_
+    * `Dev Utils <https://github.com/eProsima/dev-utils>`_
 
         .. code-block:: bash
 
+            # CMake Utils
+            cd ~/DDS-Router
+            mkdir build/cmake_utils
+            cd build/cmake_utils
+            cmake ~/DDS-Router/src/dev-utils/cmake_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+            cmake --build . --target install
+
+            # C++ Utils
             cd ~/DDS-Router
-            git clone https://github.com/eProsima/dev-utils.git
-            mkdir dev-utils/build
-            cd dev-util/build
-            cmake ../cmake_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
-            cmake ../cpp_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+            mkdir build/cpp_utils
+            cd build/cpp_utils
+            cmake ~/DDS-Router/src/dev-utils/cpp_utils -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
             cmake --build . --target install
 
 #.  Once all dependencies are installed, install |ddsrouter|:
 
     .. code-block:: bash
 
+        # ddsrouter_core
+        cd ~/DDS-Router
+        mkdir build/ddsrouter_core
+        cd build/ddsrouter_core
+        cmake ~/DDS-Router/src/ddsrouter/ddsrouter_core -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+        cmake --build . --target install
+
+        # ddsrouter_yaml
         cd ~/DDS-Router
-        git clone https://github.com/eProsima/DDS-Router.git
-        mkdir DDS-Router/build
-        cd DDS-Router/build
-        cmake ../ddsrouter_core -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
-        cmake ../ddsrouter_yaml -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
-        cmake ../tools/ddsrouter_tool -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+        mkdir build/ddsrouter_yaml
+        cd build/ddsrouter_yaml
+        cmake ~/DDS-Router/src/ddsrouter/ddsrouter_yaml -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
         cmake --build . --target install
 
+        # ddsrouter_tool
+        cd ~/DDS-Router
+        mkdir build/ddsrouter_tool
+        cd build/ddsrouter_tool
+        cmake ~/DDS-Router/src/ddsrouter/tools/ddsrouter_tool -DCMAKE_INSTALL_PREFIX=~/DDS-Router/install -DCMAKE_PREFIX_PATH=~/DDS-Router/install
+        cmake --build . --target install
 
 .. note::
 

docs/rst/developer_manual/installation/sources/windows.rst

@@ -303,76 +303,91 @@ Local installation
     .. code-block:: bash
 
         mkdir <path\to\user\workspace>\DDS-Router
+        mkdir <path\to\user\workspace>\DDS-Router\src
+        mkdir <path\to\user\workspace>\DDS-Router\build
+        cd <path\to\user\workspace>\DDS-Router
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        vcs import src < ddsrouter.repos
 
-#.  Clone the following dependencies and compile them using CMake_.
+#.  Compile all dependencies using CMake_.
 
     *  `Foonathan memory <https://github.com/foonathan/memory>`_
 
         .. code-block:: bash
 
             cd <path\to\user\workspace>\DDS-Router
-            git clone https://github.com/eProsima/foonathan_memory_vendor.git
-            cd foonathan_memory_vendor
-            mkdir build
-            cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+            mkdir build\foonathan_memory_vendor
+            cd build\foonathan_memory_vendor
+            cmake <path\to\user\workspace>\DDS-Router\src\foonathan_memory_vendor -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
                 -DBUILD_SHARED_LIBS=ON
             cmake --build . --config Release --target install
 
-    *  `Fast CDR <https://github.com/eProsima/Fast-CDR.git>`_
+    *  `Fast CDR <https://github.com/eProsima/Fast-CDR>`_
 
         .. code-block:: bash
 
             cd <path\to\user\workspace>\DDS-Router
-            git clone https://github.com/eProsima/Fast-CDR.git
-            cd Fast-CDR
-            mkdir build
-            cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install
+            mkdir build\fastcdr
+            cd build\fastcdr
+            cmake <path\to\user\workspace>\DDS-Router\src\fastcdr -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install
             cmake --build . --config Release --target install
 
-    *  `Fast DDS <https://github.com/eProsima/Fast-DDS.git>`_
+    *  `Fast DDS <https://github.com/eProsima/Fast-DDS>`_
 
         .. code-block:: bash
 
             cd <path\to\user\workspace>\DDS-Router
-            git clone https://github.com/eProsima/Fast-DDS.git
-            cd Fast-DDS
-            mkdir build
-            cd build
-            cmake .. -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+            mkdir build\fastdds
+            cd build\fastdds
+            cmake <path\to\user\workspace>\DDS-Router\src\fastdds -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
                 -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
             cmake --build . --config Release --target install
 
-    * `Dev Utils <https://github.com/eProsima/dev-utils.git>`_
+    * `Dev Utils <https://github.com/eProsima/dev-utils>`_
 
         .. code-block:: bash
 
-            cd <path\to\user\workspace>/DDS-Router
-            git clone https://github.com/eProsima/dev-utils.git
-            mkdir dev-utils/build
-            cd dev-util/build
-            cmake ../cmake_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>/DDS-Router/install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>/DDS-Router/install
-            cmake ../cpp_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>/DDS-Router/install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>/DDS-Router/install
-            cmake --build . --target install
+            # CMake Utils
+            cd <path\to\user\workspace>\DDS-Router
+            mkdir build\cmake_utils
+            cd build\cmake_utils
+            cmake <path\to\user\workspace>\DDS-Router\src\dev-utils\cmake_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+                -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
+            cmake --build . --config Release --target install
+
+            # C++ Utils
+            cd <path\to\user\workspace>\DDS-Router
+            mkdir build\cpp_utils
+            cd build\cpp_utils
+            cmake <path\to\user\workspace>\DDS-Router\src\dev-utils\cpp_utils -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+                -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
+            cmake --build . --config Release --target install
 
 #.  Once all dependencies are installed, install |ddsrouter|:
 
     .. code-block:: bash
 
+        # ddsrouter_core
         cd <path\to\user\workspace>\DDS-Router
-        git clone https://github.com/eProsima/DDS-Router.git
-        cd DDS-Router
-        mkdir build
-        cd build
-        cmake ../ddsrouter_core ^
-            -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
-            -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
-        cmake ../ddsrouter_yaml ^
-            -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+        mkdir build\ddsrouter_core
+        cd build\ddsrouter_core
+        cmake <path\to\user\workspace>\DDS-Router\src\ddsrouter\ddsrouter_core ^
+            -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
+        cmake --build . --config Release --target install
+
+        # ddsrouter_yaml
+        cd <path\to\user\workspace>\DDS-Router
+        mkdir build\ddsrouter_yaml
+        cd build\ddsrouter_yaml
+        cmake <path\to\user\workspace>\DDS-Router\src\ddsrouter\ddsrouter_yaml -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
             -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
-        cmake ../tools/ddsrouter_tool ^
-            -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
+        cmake --build . --config Release --target install
+
+        # ddsrouter_tool
+        cd <path\to\user\workspace>\DDS-Router
+        mkdir build\ddsrouter_tool
+        cd build\ddsrouter_tool
+        cmake <path\to\user\workspace>\DDS-Router\src\ddsrouter\tools\ddsrouter_tool -DCMAKE_INSTALL_PREFIX=<path\to\user\workspace>\DDS-Router\install ^
             -DCMAKE_PREFIX_PATH=<path\to\user\workspace>\DDS-Router\install
         cmake --build . --config Release --target install