Full DDS API [14047]

fastdds_python/CMakeLists.txt

@@ -24,7 +24,7 @@ if(POLICY CMP0086)
   cmake_policy(SET CMP0086 NEW)
 endif()
 
-project(fastdds_python VERSION 0.2.0)
+project(fastdds_python VERSION 1.0.0)
 
 ###############################################################################
 # Dependencies

fastdds_python/src/swig/CMakeLists.txt

@@ -45,6 +45,10 @@ SWIG_ADD_LIBRARY(${PROJECT_NAME}
     SOURCES ${${PROJECT_NAME}_FILES}
     )
 
+if(UNIX AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set_property(TARGET ${PROJECT_NAME} PROPERTY SWIG_COMPILE_DEFINITIONS SWIGWORDSIZE64)
+endif()
+
 SWIG_LINK_LIBRARIES(${PROJECT_NAME}
     Python3::Module
     fastrtps

fastdds_python/src/swig/fastdds.i

@@ -56,15 +56,27 @@
 %include "std_vector.i"
 %include "typemaps.i"
 
+%{
+#include "fastrtps/config.h"
+
+bool has_statistics()
+{
+#ifdef FASTDDS_STATISTICS
+  return true;
+#else
+  return false;
+#endif
+}
+
+%}
+
+bool has_statistics();
+
 // Some operators are ignored, as there is no such thing in Python.
 // Trying to export them issues a warning
 %ignore *::operator=;
 %ignore *::operator++;
 %ignore *::operator!;
-%ignore *::operator==;
-%ignore *::operator!=;
-%ignore *::operator<<;
-%ignore *::operator>>;
 
 // This ensures that the returned string references can be used with the string API
 // Otherwise, they will be wrapped objects without API
@@ -83,6 +95,9 @@
 #define FASTDDS_DEPRECATED_UNTIL(major, entity_name, msg)
 #define FASTDDS_TODO_BEFORE(major, minor, msg)
 
+// Defined template for std::vector<std::string>
+%template(StringVector) std::vector<std::string>;
+
 // Predeclaration of namespaces and/or classes not exported to the target language,
 // but that are part of the Fast DDS public API
 // SWIG will make an empty wrapper around these, but still needs to know they exists
@@ -116,6 +131,7 @@ namespace builtin {
 %include "fastdds/rtps/common/GuidPrefix_t.i"
 %include "fastdds/rtps/common/Guid.i"
 %include "fastdds/rtps/common/PortParameters.i"
+%include "fastdds/rtps/common/InstanceHandle.i"
 %include "fastrtps/types/TypesBase.i"
 %include "fastdds/rtps/resources/ResourceManagement.i"
 %include "fastrtps/utils/collections/ResourceLimitedContainerConfig.i"
@@ -128,6 +144,9 @@ namespace builtin {
 %include "fastdds/rtps/attributes/ServerAttributes.i"
 %include "fastdds/rtps/attributes/ReaderAttributes.i"
 %include "fastdds/rtps/attributes/WriterAttributes.i"
+%include "fastdds/rtps/common/SequenceNumber.i"
+%include "fastdds/rtps/common/SampleIdentity.i"
+%include "fastdds/rtps/common/WriteParams.i"
 
 /*
 %include "fastdds/rtps/common/SerializedPayload.i"
@@ -141,10 +160,7 @@ namespace builtin {
 %include "fastdds/rtps/common/MatchingInfo.i"
 %include "fastdds/rtps/common/ChangeKind_t.i"
 %include "fastdds/rtps/common/LocatorsIterator.i"
-%include "fastdds/rtps/common/SampleIdentity.i"
-%include "fastdds/rtps/common/SequenceNumber.i"
 %include "fastdds/rtps/common/RemoteLocators.i"
-%include "fastdds/rtps/common/WriteParams.i"
 
 %include "fastrtps/rtps/common/LocatorListComparisons.i"
 %include "fastrtps/rtps/common/PortParameters.i"
@@ -407,18 +423,20 @@ namespace builtin {
 %include "fastrtps/Domain.i"
 */
 
-%include "fastdds/dds/core/status/StatusMask.i"
 %include "fastdds/dds/common/InstanceHandle.i"
+%include "fastdds/dds/core/status/StatusMask.i"
 %include "fastdds/dds/core/policy/ParameterTypes.i"
 %include "fastdds/dds/core/policy/QosPolicies.i"
 %include "fastdds/dds/topic/IContentFilter.i"
 %include "fastdds/dds/topic/TopicDataType.i"
 %include "fastdds/dds/topic/IContentFilterFactory.i"
 %include "fastdds/dds/topic/TypeSupport.i"
+%include "fastdds/dds/builtin/topic/BuiltinTopicKey.i"
+%include "fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.i"
+%include "fastdds/dds/builtin/topic/SubscriptionBuiltinTopicData.i"
+%include "fastdds/dds/builtin/topic/PublicationBuiltinTopicData.i"
 %include "fastdds/dds/core/condition/Condition.i"
-%include "fastdds/dds/core/condition/StatusCondition.i"
 %include "fastdds/dds/core/Entity.i"
-%include "fastdds/dds/core/condition/GuardCondition.i"
 %include "fastdds/dds/core/condition/WaitSet.i"
 %include "fastdds/dds/core/LoanableTypedCollection.i"
 %include "fastdds/dds/core/StackAllocatedSequence.i"

fastdds_python/src/swig/fastdds/dds/common/InstanceHandle.i

@@ -13,64 +13,8 @@
 // limitations under the License.
 
 %{
-#include "fastdds/rtps/common/InstanceHandle.h"
-
-// Define a hash method in global scope for GuidPrefix_t types
-// This is necessary if we want other classes to hash an internal GuidPrefix_t
-long hash(const eprosima::fastrtps::rtps::InstanceHandle_t& handle)
-{
-    long ret = 0;
-    for (unsigned int i = 0; i < 16; ++i)
-    {
-        ret = (ret * 31) ^ handle.value[i];
-    }
-    return ret;
-}
-
+#include "fastdds/dds/common/InstanceHandle.hpp"
 %}
 
-// SWIG does not support type conversion operators correctly unless converted to a normal method
-%rename(get_guid) eprosima::fastrtps::rtps::InstanceHandle_t::operator const GUID_t&;
-
-%ignore eprosima::fastrtps::rtps::InstanceHandleValue_t::operator [] const;
-%rename(read_pointer_cast) eprosima::fastrtps::rtps::InstanceHandleValue_t::operator const octet* () const;
-%rename(write_pointer_cast) eprosima::fastrtps::rtps::InstanceHandleValue_t::operator octet* ();
-
-%include "fastdds/rtps/common/InstanceHandle.h"
-
-namespace eprosima {
-namespace fastdds {
-namespace dds {
-
-using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
-
-} // namespace dds
-} // namespace fastdds
-} // namespace eprosima
-
-// Declare the comparison operators as internal to the class
-%extend eprosima::fastrtps::rtps::InstanceHandle_t {
-
-    bool operator==(const eprosima::fastrtps::rtps::InstanceHandle_t& other) const
-    {
-        return *$self == other;
-    }
-
-    bool operator!=(const eprosima::fastrtps::rtps::InstanceHandle_t& other) const
-    {
-        return *$self != other;
-    }
-
-    std::string __str__() const
-    {
-        std::ostringstream out;
-        out << *$self;
-        return out.str();
-    }
 
-    // Define the hash method using the global one
-    long __hash__() const
-    {
-        return hash(*$self);
-    }
-}
+%include "fastdds/dds/common/InstanceHandle.hpp"

fastdds_python/src/swig/fastdds/dds/core/condition/Condition.i

@@ -14,6 +14,108 @@
 
 %{
 #include "fastdds/dds/core/condition/Condition.hpp"
+#include "fastdds/dds/core/condition/StatusCondition.hpp"
+#include "fastdds/dds/core/condition/GuardCondition.hpp"
 %}
 
+%exception eprosima::fastdds::dds::Condition::to_status_condition()
+{
+    try
+    {
+        $action
+    }
+    catch(std::bad_cast ex)
+    {
+        SWIG_exception(SWIG_TypeError, "Bad cast of Condition");
+    }
+}
+
+%exception eprosima::fastdds::dds::Condition::to_guard_condition()
+{
+    try
+    {
+        $action
+    }
+    catch(std::bad_cast ex)
+    {
+        SWIG_exception(SWIG_TypeError, "Bad cast of Condition");
+    }
+}
+
+%extend eprosima::fastdds::dds::Condition
+{
+    std::string __str__()
+    {
+        if (nullptr != dynamic_cast<eprosima::fastdds::dds::StatusCondition*>(self))
+        {
+            return "StatusCondition";
+        }
+        else if (nullptr != dynamic_cast<eprosima::fastdds::dds::GuardCondition*>(self))
+        {
+            return "GuardCondition";
+        }
+
+        return "None";
+    }
+
+    eprosima::fastdds::dds::StatusCondition* to_status_condition()
+    {
+        eprosima::fastdds::dds::StatusCondition* status_cond =
+            dynamic_cast<eprosima::fastdds::dds::StatusCondition*>(self);
+
+        if (nullptr == status_cond)
+        {
+            throw std::bad_cast();
+        }
+
+        return status_cond;
+    }
+
+    eprosima::fastdds::dds::GuardCondition* to_guard_condition()
+    {
+        eprosima::fastdds::dds::GuardCondition* guard_cond =
+            dynamic_cast<eprosima::fastdds::dds::GuardCondition*>(self);
+
+        if (nullptr == guard_cond)
+        {
+            throw std::bad_cast();
+        }
+
+        return guard_cond;
+    }
+}
+
+%extend eprosima::fastdds::dds::StatusCondition
+{
+    std::string __str__()
+    {
+        return "StatusCondition";
+    }
+
+    bool __eq__(
+            const eprosima::fastdds::dds::StatusCondition* s1)
+    {
+        return s1 == self;
+    }
+}
+
+%extend eprosima::fastdds::dds::GuardCondition
+{
+    std::string __str__()
+    {
+        return "GuardCondition";
+    }
+
+    bool __eq__(
+            const eprosima::fastdds::dds::GuardCondition* s1)
+    {
+        return s1 == self;
+    }
+}
+
+// Template for ConditionSeq
+%template(ConditionSeq) std::vector<eprosima::fastdds::dds::Condition*>;
+
 %include "fastdds/dds/core/condition/Condition.hpp"
+%include "fastdds/dds/core/condition/StatusCondition.hpp"
+%include "fastdds/dds/core/condition/GuardCondition.hpp"

fastdds_python/src/swig/fastdds/dds/core/policy/QosPolicies.i

@@ -90,7 +90,7 @@ public:
     catch (OctetResourceLimitedVectorStopIterator)
     {
         PyErr_SetString(PyExc_StopIteration, "End of iterator");
-        return NULL;
+        return nullptr;
     }
 }
 
@@ -108,15 +108,53 @@ public:
     }
 }
 
-%extend eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet> {
+%exception eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>::__getitem__
+{
+    try
+    {
+        $action
+    }
+    catch(std::out_of_range)
+    {
+        SWIG_exception(SWIG_IndexError, "Index out of bounds");
+    }
+}
+
+%extend eprosima::fastrtps::ResourceLimitedVector<eprosima::fastrtps::rtps::octet>
+{
     OctetResourceLimitedVectorIterator __iter__()
     {
         // return a constructed Iterator object
         return OctetResourceLimitedVectorIterator($self->begin(), $self->end());
     }
+
+    size_t __len__() const
+    {
+        return self->size();
+    }
+
+    eprosima::fastrtps::rtps::octet __getitem__(int i)
+    {
+        if (self->size() <= i)
+        {
+            throw std::out_of_range("Index out of bounds");
+        }
+        return (*self)[i];
+    }
+}
+
+%exception eprosima::fastdds::dds::PartitionQosPolicy::__getitem__
+{
+    try
+    {
+        $action
+    }
+    catch(std::out_of_range)
+    {
+        SWIG_exception(SWIG_IndexError, "Index out of bounds");
+    }
 }
 
-// TODO (richiware) missing exceptions
 %extend eprosima::fastdds::dds::PartitionQosPolicy
 {
     size_t __len__() const
@@ -126,6 +164,11 @@ public:
 
     std::string __getitem__(int i)
     {
+        if (self->size() <= i)
+        {
+            throw std::out_of_range("Index out of bounds");
+        }
+
         auto it = self->begin();
         for (int count = 0; count < i; ++count)
         {