Refactor to use DDS standard API (#518)

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Co-authored-by: Miguel Barro <miguelbarro@eprosima.com>
Co-authored-by: EduPonz <eduardoponz@eprosima.com>

rmw_fastrtps_cpp/CMakeLists.txt

@@ -38,8 +38,8 @@ find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastrtps 2.3 REQUIRED CONFIG)
+find_package(FastRTPS 2.3 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport.hpp

@@ -15,10 +15,11 @@
 #ifndef RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_HPP_
 #define RMW_FASTRTPS_CPP__SERVICETYPESUPPORT_HPP_
 
-#include <fastcdr/FastBuffer.h>
-#include <fastcdr/Cdr.h>
 #include <cassert>
 
+#include "fastcdr/FastBuffer.h"
+#include "fastcdr/Cdr.h"
+
 #include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
 #include "rosidl_typesupport_fastrtps_cpp/service_type_support.h"
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp

@@ -15,16 +15,15 @@
 #ifndef RMW_FASTRTPS_CPP__TYPESUPPORT_HPP_
 #define RMW_FASTRTPS_CPP__TYPESUPPORT_HPP_
 
-#include <rosidl_runtime_c/string.h>
-#include <rosidl_runtime_c/string_functions.h>
-
-#include <fastrtps/TopicDataType.h>
-
-#include <fastcdr/FastBuffer.h>
-#include <fastcdr/Cdr.h>
 #include <cassert>
 #include <string>
 
+#include "rosidl_runtime_c/string.h"
+#include "rosidl_runtime_c/string_functions.h"
+
+#include "fastcdr/Cdr.h"
+#include "fastcdr/FastBuffer.h"
+
 #include "rosidl_typesupport_fastrtps_cpp/message_type_support.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_client.hpp

@@ -15,35 +15,36 @@
 #ifndef RMW_FASTRTPS_CPP__GET_CLIENT_HPP_
 #define RMW_FASTRTPS_CPP__GET_CLIENT_HPP_
 
-#include "fastrtps/publisher/Publisher.h"
-#include "fastrtps/subscriber/Subscriber.h"
+#include "fastdds/dds/publisher/DataWriter.hpp"
+#include "fastdds/dds/subscriber/DataReader.hpp"
+
 #include "rmw/rmw.h"
 #include "rmw_fastrtps_cpp/visibility_control.h"
 
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native FastRTPS publisher handle for the request.
+/// Return a native Fast DDS DataWriter handle for the request.
 /**
  * The function returns `NULL` when either the client handle is `NULL` or
  * when the client handle is from a different rmw implementation.
  *
- * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataWriter handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Publisher *
-get_request_publisher(rmw_client_t * client);
+eprosima::fastdds::dds::DataWriter *
+get_request_datawriter(rmw_client_t * client);
 
-/// Return a native FastRTPS subscriber handle for the response.
+/// Return a native Fast DDS DataReader handle for the response.
 /**
  * The function returns `NULL` when either the client handle is `NULL` or
  * when the client handle is from a different rmw implementation.
  *
- * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataReader handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Subscriber *
-get_response_subscriber(rmw_client_t * client);
+eprosima::fastdds::dds::DataReader *
+get_response_datareader(rmw_client_t * client);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_participant.hpp

@@ -15,23 +15,24 @@
 #ifndef RMW_FASTRTPS_CPP__GET_PARTICIPANT_HPP_
 #define RMW_FASTRTPS_CPP__GET_PARTICIPANT_HPP_
 
-#include "fastrtps/participant/Participant.h"
+#include "fastdds/dds/domain/DomainParticipant.hpp"
+
 #include "rmw/rmw.h"
 #include "rmw_fastrtps_cpp/visibility_control.h"
 
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native FastRTPS participant handle.
+/// Return a native Fast DDS DomainParticipant handle.
 /**
- * The function returns `NULL` when either the node handle is `NULL` or when the
+ * This function returns `NULL` when either the node handle is `NULL` or when the
  * node handle is from a different rmw implementation.
  *
- * \return native FastRTPS participant handle if successful, otherwise `NULL`
+ * \return native Fast DDS DomainParticipant handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Participant *
-get_participant(rmw_node_t * node);
+eprosima::fastdds::dds::DomainParticipant *
+get_domain_participant(rmw_node_t * node);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_publisher.hpp

@@ -15,23 +15,24 @@
 #ifndef RMW_FASTRTPS_CPP__GET_PUBLISHER_HPP_
 #define RMW_FASTRTPS_CPP__GET_PUBLISHER_HPP_
 
-#include "fastrtps/publisher/Publisher.h"
+#include "fastdds/dds/publisher/DataWriter.hpp"
+
 #include "rmw/rmw.h"
 #include "rmw_fastrtps_cpp/visibility_control.h"
 
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native FastRTPS publisher handle.
+/// Return a native Fast DDS DataWriter handle.
 /**
  * The function returns `NULL` when either the publisher handle is `NULL` or
  * when the publisher handle is from a different rmw implementation.
  *
- * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataWriter handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Publisher *
-get_publisher(rmw_publisher_t * publisher);
+eprosima::fastdds::dds::DataWriter *
+get_datawriter(rmw_publisher_t * publisher);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_service.hpp

@@ -15,35 +15,36 @@
 #ifndef RMW_FASTRTPS_CPP__GET_SERVICE_HPP_
 #define RMW_FASTRTPS_CPP__GET_SERVICE_HPP_
 
-#include "fastrtps/publisher/Publisher.h"
-#include "fastrtps/subscriber/Subscriber.h"
+#include "fastdds/dds/publisher/DataWriter.hpp"
+#include "fastdds/dds/subscriber/DataReader.hpp"
+
 #include "rmw/rmw.h"
 #include "rmw_fastrtps_cpp/visibility_control.h"
 
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native FastRTPS subscriber handle for the request.
+/// Return a native Fast DDS DataReader handle for the request.
 /**
  * The function returns `NULL` when either the service handle is `NULL` or
  * when the service handle is from a different rmw implementation.
  *
- * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataReader handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Subscriber *
-get_request_subscriber(rmw_service_t * service);
+eprosima::fastdds::dds::DataReader *
+get_request_datareader(rmw_service_t * service);
 
-/// Return a native FastRTPS publisher handle for the response.
+/// Return a native Fast DDS DataWriter handle for the response.
 /**
  * The function returns `NULL` when either the service handle is `NULL` or
  * when the service handle is from a different rmw implementation.
  *
- * \return native FastRTPS publisher handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataWriter handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Publisher *
-get_response_publisher(rmw_service_t * service);
+eprosima::fastdds::dds::DataWriter *
+get_response_datawriter(rmw_service_t * service);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp

@@ -15,23 +15,24 @@
 #ifndef RMW_FASTRTPS_CPP__GET_SUBSCRIBER_HPP_
 #define RMW_FASTRTPS_CPP__GET_SUBSCRIBER_HPP_
 
-#include "fastrtps/subscriber/Subscriber.h"
+#include "fastdds/dds/subscriber/DataReader.hpp"
+
 #include "rmw/rmw.h"
 #include "rmw_fastrtps_cpp/visibility_control.h"
 
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native FastRTPS subscriber handle.
+/// Return a native Fast DDS DataReader handle.
 /**
  * The function returns `NULL` when either the subscription handle is `NULL` or
  * when the subscription handle is from a different rmw implementation.
  *
- * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataReader handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
-eprosima::fastrtps::Subscriber *
-get_subscriber(rmw_subscription_t * subscription);
+eprosima::fastdds::dds::DataReader *
+get_datareader(rmw_subscription_t * subscription);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp

@@ -30,7 +30,6 @@ create_publisher(
   const rmw_publisher_options_t * publisher_options,
   bool keyed,
   bool create_publisher_listener);
-
 }  // namespace rmw_fastrtps_cpp
 
 #endif  // RMW_FASTRTPS_CPP__PUBLISHER_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp

@@ -32,7 +32,6 @@ create_subscription(
   const rmw_subscription_options_t * subscription_options,
   bool keyed,
   bool create_subscription_listener);
-
 }  // namespace rmw_fastrtps_cpp
 
 #endif  // RMW_FASTRTPS_CPP__SUBSCRIPTION_HPP_

rmw_fastrtps_cpp/src/get_client.cpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "fastdds/dds/publisher/DataWriter.hpp"
+#include "fastdds/dds/subscriber/DataReader.hpp"
+
 #include "rmw_fastrtps_cpp/get_client.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
@@ -20,8 +23,8 @@
 namespace rmw_fastrtps_cpp
 {
 
-eprosima::fastrtps::Publisher *
-get_request_publisher(rmw_client_t * client)
+eprosima::fastdds::dds::DataWriter *
+get_request_datawriter(rmw_client_t * client)
 {
   if (!client) {
     return nullptr;
@@ -30,11 +33,11 @@ get_request_publisher(rmw_client_t * client)
     return nullptr;
   }
   auto impl = static_cast<CustomClientInfo *>(client->data);
-  return impl->request_publisher_;
+  return impl->request_writer_;
 }
 
-eprosima::fastrtps::Subscriber *
-get_response_subscriber(rmw_client_t * client)
+eprosima::fastdds::dds::DataReader *
+get_response_datareader(rmw_client_t * client)
 {
   if (!client) {
     return nullptr;
@@ -43,7 +46,7 @@ get_response_subscriber(rmw_client_t * client)
     return nullptr;
   }
   auto impl = static_cast<CustomClientInfo *>(client->data);
-  return impl->response_subscriber_;
+  return impl->response_reader_;
 }
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/get_participant.cpp

@@ -22,8 +22,8 @@
 namespace rmw_fastrtps_cpp
 {
 
-eprosima::fastrtps::Participant *
-get_participant(rmw_node_t * node)
+eprosima::fastdds::dds::DomainParticipant *
+get_domain_participant(rmw_node_t * node)
 {
   if (!node) {
     return nullptr;
@@ -32,7 +32,7 @@ get_participant(rmw_node_t * node)
     return nullptr;
   }
   auto impl = static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
-  return impl->participant;
+  return impl->participant_;
 }
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/get_publisher.cpp

@@ -20,8 +20,8 @@
 namespace rmw_fastrtps_cpp
 {
 
-eprosima::fastrtps::Publisher *
-get_publisher(rmw_publisher_t * publisher)
+eprosima::fastdds::dds::DataWriter *
+get_datawriter(rmw_publisher_t * publisher)
 {
   if (!publisher) {
     return nullptr;
@@ -30,7 +30,7 @@ get_publisher(rmw_publisher_t * publisher)
     return nullptr;
   }
   auto impl = static_cast<CustomPublisherInfo *>(publisher->data);
-  return impl->publisher_;
+  return impl->data_writer_;
 }
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/get_service.cpp

@@ -20,8 +20,8 @@
 namespace rmw_fastrtps_cpp
 {
 
-eprosima::fastrtps::Subscriber *
-get_request_subscriber(rmw_service_t * service)
+eprosima::fastdds::dds::DataReader *
+get_request_datareader(rmw_service_t * service)
 {
   if (!service) {
     return nullptr;
@@ -30,11 +30,11 @@ get_request_subscriber(rmw_service_t * service)
     return nullptr;
   }
   auto impl = static_cast<CustomServiceInfo *>(service->data);
-  return impl->request_subscriber_;
+  return impl->request_reader_;
 }
 
-eprosima::fastrtps::Publisher *
-get_response_publisher(rmw_service_t * service)
+eprosima::fastdds::dds::DataWriter *
+get_response_datawriter(rmw_service_t * service)
 {
   if (!service) {
     return nullptr;
@@ -43,7 +43,7 @@ get_response_publisher(rmw_service_t * service)
     return nullptr;
   }
   auto impl = static_cast<CustomServiceInfo *>(service->data);
-  return impl->response_publisher_;
+  return impl->response_writer_;
 }
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/get_subscriber.cpp

@@ -20,8 +20,8 @@
 namespace rmw_fastrtps_cpp
 {
 
-eprosima::fastrtps::Subscriber *
-get_subscriber(rmw_subscription_t * subscription)
+eprosima::fastdds::dds::DataReader *
+get_datareader(rmw_subscription_t * subscription)
 {
   if (!subscription) {
     return nullptr;
@@ -30,7 +30,7 @@ get_subscriber(rmw_subscription_t * subscription)
     return nullptr;
   }
   auto impl = static_cast<CustomSubscriberInfo *>(subscription->data);
-  return impl->subscriber_;
+  return impl->data_reader_;
 }
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/src/init_rmw_context_impl.cpp

@@ -152,7 +152,7 @@ init_context_impl(rmw_context_t * context)
   }
 
   common_context->gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
-    eprosima_fastrtps_identifier, participant_info->participant->getGuid());
+    eprosima_fastrtps_identifier, participant_info->participant_->guid());
   common_context->pub = publisher.get();
   common_context->sub = subscription.get();
   common_context->graph_guard_condition = graph_guard_condition.get();