Fix namespaces (#196)

* update rmw_fastrtps to not rely on namespace escalation fron Fast-RTPS

* revert spurious line change

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp

@@ -115,9 +115,9 @@ class TypeSupport : public eprosima::fastrtps::TopicDataType
 
   bool deserializeROSmessage(eprosima::fastcdr::FastBuffer * data, void * ros_message);
 
-  bool serialize(void * data, SerializedPayload_t * payload);
+  bool serialize(void * data, eprosima::fastrtps::rtps::SerializedPayload_t * payload);
 
-  bool deserialize(SerializedPayload_t * payload, void * data);
+  bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t * payload, void * data);
 
   std::function<uint32_t()> getSerializedSizeProvider(void * data);
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp

@@ -632,7 +632,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
     if (member->is_array_) {
       array_size = member->array_size_;
       // Whether it is a sequence.
-      if (array_size == 0 || member->is_upper_bound_) {
+      if (0 == array_size || member->is_upper_bound_) {
         current_alignment += padding +
           eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
       }
@@ -738,7 +738,7 @@ void * TypeSupport<MembersType>::createData()
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::serialize(
-  void * data, SerializedPayload_t * payload)
+  void * data, eprosima::fastrtps::rtps::SerializedPayload_t * payload)
 {
   assert(data);
   assert(payload);
@@ -756,7 +756,9 @@ bool TypeSupport<MembersType>::serialize(
 }
 
 template<typename MembersType>
-bool TypeSupport<MembersType>::deserialize(SerializedPayload_t * payload, void * data)
+bool TypeSupport<MembersType>::deserialize(
+  eprosima::fastrtps::rtps::SerializedPayload_t * payload,
+  void * data)
 {
   assert(data);
   assert(payload);

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_client_info.hpp

@@ -67,10 +67,10 @@ class ClientListener : public eprosima::fastrtps::SubscriberListener
     eprosima::fastrtps::SampleInfo_t sinfo;
 
     if (sub->takeNextData(response.buffer_, &sinfo)) {
-      if (sinfo.sampleKind == ALIVE) {
+      if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
         response.sample_identity_ = sinfo.related_sample_identity;
 
-        if (info_->writer_guid_ == response.sample_identity_.writer_guid()) {
+        if (response.sample_identity_.writer_guid() == info_->writer_guid_) {
           std::lock_guard<std::mutex> lock(internalMutex_);
 
           if (conditionMutex_ != nullptr) {

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_participant_info.hpp

@@ -43,17 +43,19 @@ typedef struct CustomParticipantInfo
 class ParticipantListener : public eprosima::fastrtps::ParticipantListener
 {
 public:
-  void onParticipantDiscovery(Participant *, ParticipantDiscoveryInfo info) override
+  void onParticipantDiscovery(
+    eprosima::fastrtps::Participant *,
+    eprosima::fastrtps::ParticipantDiscoveryInfo info) override
   {
     if (
-      info.rtps.m_status != DISCOVERED_RTPSPARTICIPANT &&
-      info.rtps.m_status != REMOVED_RTPSPARTICIPANT &&
-      info.rtps.m_status != DROPPED_RTPSPARTICIPANT)
+      info.rtps.m_status != eprosima::fastrtps::rtps::DISCOVERED_RTPSPARTICIPANT &&
+      info.rtps.m_status != eprosima::fastrtps::rtps::REMOVED_RTPSPARTICIPANT &&
+      info.rtps.m_status != eprosima::fastrtps::rtps::DROPPED_RTPSPARTICIPANT)
     {
       return;
     }
 
-    if (DISCOVERED_RTPSPARTICIPANT == info.rtps.m_status) {
+    if (eprosima::fastrtps::rtps::DISCOVERED_RTPSPARTICIPANT == info.rtps.m_status) {
       // ignore already known GUIDs
       if (discovered_names.find(info.rtps.m_guid) == discovered_names.end()) {
         auto map = rmw::impl::cpp::parse_key_value(info.rtps.m_userData);
@@ -90,7 +92,7 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
     return names;
   }
 
-  std::map<GUID_t, std::string> discovered_names;
+  std::map<eprosima::fastrtps::rtps::GUID_t, std::string> discovered_names;
 };
 
 #endif  // RMW_FASTRTPS_CPP__CUSTOM_PARTICIPANT_INFO_HPP_

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_service_info.hpp

@@ -70,7 +70,7 @@ class ServiceListener : public eprosima::fastrtps::SubscriberListener
     eprosima::fastrtps::SampleInfo_t sinfo;
 
     if (sub->takeNextData(request.buffer_, &sinfo)) {
-      if (sinfo.sampleKind == ALIVE) {
+      if (eprosima::fastrtps::rtps::ALIVE == sinfo.sampleKind) {
         request.sample_identity_ = sinfo.sample_identity;
 
         std::lock_guard<std::mutex> lock(internalMutex_);

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/custom_subscriber_info.hpp

@@ -46,7 +46,7 @@ class SubListener : public eprosima::fastrtps::SubscriberListener
 
   void
   onSubscriptionMatched(
-    eprosima::fastrtps::Subscriber * sub, eprosima::fastrtps::MatchingInfo & info)
+    eprosima::fastrtps::Subscriber * sub, eprosima::fastrtps::rtps::MatchingInfo & info)
   {
     (void)sub;
     (void)info;

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/reader_info.hpp

@@ -33,7 +33,7 @@
 #include "fastrtps/rtps/reader/ReaderListener.h"
 #include "fastrtps/rtps/reader/RTPSReader.h"
 
-class ReaderInfo : public eprosima::fastrtps::ReaderListener
+class ReaderInfo : public eprosima::fastrtps::rtps::ReaderListener
 {
 public:
   ReaderInfo(
@@ -46,14 +46,17 @@ class ReaderInfo : public eprosima::fastrtps::ReaderListener
   void
   onNewCacheChangeAdded(
     eprosima::fastrtps::rtps::RTPSReader *,
-    const eprosima::fastrtps::CacheChange_t * const change)
+    const eprosima::fastrtps::rtps::CacheChange_t * const change)
   {
     eprosima::fastrtps::rtps::ReaderProxyData proxyData;
-    if (change->kind == ALIVE) {
-      CDRMessage_t tempMsg(0);
+    if (eprosima::fastrtps::rtps::ALIVE == change->kind) {
+      eprosima::fastrtps::rtps::CDRMessage_t tempMsg(0);
       tempMsg.wraps = true;
-      tempMsg.msg_endian = change->serializedPayload.encapsulation ==
-        PL_CDR_BE ? BIGEND : LITTLEEND;
+      if (PL_CDR_BE == change->serializedPayload.encapsulation) {
+        tempMsg.msg_endian = eprosima::fastrtps::rtps::BIGEND;
+      } else {
+        tempMsg.msg_endian = eprosima::fastrtps::rtps::LITTLEEND;
+      }
       tempMsg.length = change->serializedPayload.length;
       tempMsg.max_size = change->serializedPayload.max_size;
       tempMsg.buffer = change->serializedPayload.data;
@@ -77,7 +80,7 @@ class ReaderInfo : public eprosima::fastrtps::ReaderListener
 
     bool trigger = false;
     mapmutex.lock();
-    if (change->kind == ALIVE) {
+    if (eprosima::fastrtps::rtps::ALIVE == change->kind) {
       topicNtypes[fqdn].push_back(proxyData.typeName());
       trigger = true;
     } else {

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/writer_info.hpp

@@ -31,7 +31,7 @@
 
 #include "rmw/rmw.h"
 
-class WriterInfo : public eprosima::fastrtps::ReaderListener
+class WriterInfo : public eprosima::fastrtps::rtps::ReaderListener
 {
 public:
   WriterInfo(
@@ -44,14 +44,17 @@ class WriterInfo : public eprosima::fastrtps::ReaderListener
   void
   onNewCacheChangeAdded(
     eprosima::fastrtps::rtps::RTPSReader *,
-    const eprosima::fastrtps::CacheChange_t * const change)
+    const eprosima::fastrtps::rtps::CacheChange_t * const change)
   {
     eprosima::fastrtps::rtps::WriterProxyData proxyData;
-    if (change->kind == ALIVE) {
-      eprosima::fastrtps::CDRMessage_t tempMsg(0);
+    if (eprosima::fastrtps::rtps::ALIVE == change->kind) {
+      eprosima::fastrtps::rtps::CDRMessage_t tempMsg(0);
       tempMsg.wraps = true;
-      tempMsg.msg_endian = change->serializedPayload.encapsulation ==
-        PL_CDR_BE ? BIGEND : LITTLEEND;
+      if (PL_CDR_BE == change->serializedPayload.encapsulation) {
+        tempMsg.msg_endian = eprosima::fastrtps::rtps::BIGEND;
+      } else {
+        tempMsg.msg_endian = eprosima::fastrtps::rtps::LITTLEEND;
+      }
       tempMsg.length = change->serializedPayload.length;
       tempMsg.max_size = change->serializedPayload.max_size;
       tempMsg.buffer = change->serializedPayload.data;
@@ -75,7 +78,7 @@ class WriterInfo : public eprosima::fastrtps::ReaderListener
 
     bool trigger = false;
     mapmutex.lock();
-    if (change->kind == ALIVE) {
+    if (eprosima::fastrtps::rtps::ALIVE == change->kind) {
       topicNtypes[fqdn].push_back(proxyData.typeName());
       trigger = true;
     } else {

rmw_fastrtps_cpp/src/assign_partitions.hpp

@@ -44,13 +44,13 @@ _assign_partitions_to_attributes(
     RMW_SET_ERROR_MSG(rcutils_get_error_string_safe());
     return ret;
   }
-  if (name_tokens.size == 1) {
+  if (1 == name_tokens.size) {
     if (!avoid_ros_namespace_conventions) {
       attributes->qos.m_partition.push_back(prefix);
     }
     attributes->topic.topicName = name_tokens.data[0];
     ret = RCUTILS_RET_OK;
-  } else if (name_tokens.size == 2) {
+  } else if (2 == name_tokens.size) {
     std::string partition;
     if (avoid_ros_namespace_conventions) {
       // no prefix to be used, just assign the user's namespace

rmw_fastrtps_cpp/src/demangle.cpp

@@ -89,7 +89,7 @@ _demangle_service_from_topic(const std::string & topic_name)
       break;
     }
   }
-  if (suffix_position == std::string::npos) {
+  if (std::string::npos == suffix_position) {
     RCUTILS_LOG_WARN_NAMED("rmw_fastrtps_cpp",
       "service topic has prefix but no suffix"
       ", report this: '%s'", topic_name.c_str())
@@ -108,7 +108,7 @@ _demangle_service_type_only(const std::string & dds_type_name)
 {
   std::string ns_substring = "::srv::dds_::";
   size_t ns_substring_position = dds_type_name.find(ns_substring);
-  if (ns_substring_position == std::string::npos) {
+  if (std::string::npos == ns_substring_position) {
     // not a ROS service type
     return "";
   }
@@ -131,7 +131,7 @@ _demangle_service_type_only(const std::string & dds_type_name)
       break;
     }
   }
-  if (suffix_position == std::string::npos) {
+  if (std::string::npos == suffix_position) {
     RCUTILS_LOG_WARN_NAMED("rmw_fastrtps_cpp",
       "service type contains '::srv::dds_::' but does not have a suffix"
       ", report this: '%s'", dds_type_name.c_str())

rmw_fastrtps_cpp/src/qos.cpp

@@ -77,7 +77,7 @@ get_datareader_qos(
   // ensure the history depth is at least the requested queue size
   assert(sattr.topic.historyQos.depth >= 0);
   if (
-    sattr.topic.historyQos.kind == eprosima::fastrtps::KEEP_LAST_HISTORY_QOS &&
+    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == sattr.topic.historyQos.kind &&
     static_cast<size_t>(sattr.topic.historyQos.depth) < qos_policies.depth)
   {
     if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {
@@ -144,7 +144,7 @@ get_datawriter_qos(
   // ensure the history depth is at least the requested queue size
   assert(pattr.topic.historyQos.depth >= 0);
   if (
-    pattr.topic.historyQos.kind == eprosima::fastrtps::KEEP_LAST_HISTORY_QOS &&
+    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS == pattr.topic.historyQos.kind &&
     static_cast<size_t>(pattr.topic.historyQos.depth) < qos_policies.depth)
   {
     if (qos_policies.depth > (std::numeric_limits<int32_t>::max)()) {

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -32,6 +32,10 @@
 #include "rmw_fastrtps_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_cpp/custom_participant_info.hpp"
 
+using Domain = eprosima::fastrtps::Domain;
+using Participant = eprosima::fastrtps::Participant;
+using TopicDataType = eprosima::fastrtps::TopicDataType;
+
 extern "C"
 {
 rmw_client_t *
@@ -84,8 +88,8 @@ rmw_create_client(
   }
 
   CustomClientInfo * info = nullptr;
-  SubscriberAttributes subscriberParam;
-  PublisherAttributes publisherParam;
+  eprosima::fastrtps::SubscriberAttributes subscriberParam;
+  eprosima::fastrtps::PublisherAttributes publisherParam;
   rmw_client_t * rmw_client = nullptr;
 
   info = new CustomClientInfo();
@@ -121,9 +125,10 @@ rmw_create_client(
     _register_type(participant, info->response_type_support_, info->typesupport_identifier_);
   }
 
-  subscriberParam.topic.topicKind = NO_KEY;
+  subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  subscriberParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  subscriberParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
     service_name, ros_service_response_prefix,
     qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
@@ -133,10 +138,11 @@ rmw_create_client(
   }
   subscriberParam.topic.topicName += "Reply";
 
-  publisherParam.topic.topicKind = NO_KEY;
+  publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  publisherParam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+  publisherParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   ret = _assign_partitions_to_attributes(
     service_name, ros_service_requester_prefix,
     qos_policies->avoid_ros_namespace_conventions, &publisherParam);

rmw_fastrtps_cpp/src/rmw_node.cpp

@@ -46,6 +46,11 @@
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "rmw_fastrtps_cpp/custom_participant_info.hpp"
 
+using Domain = eprosima::fastrtps::Domain;
+using Participant = eprosima::fastrtps::Participant;
+using ParticipantAttributes = eprosima::fastrtps::ParticipantAttributes;
+using StatefulReader = eprosima::fastrtps::rtps::StatefulReader;
+
 extern "C"
 {
 rmw_node_t *
@@ -246,7 +251,8 @@ rmw_create_node(
     std::array<std::string, 3> security_files_paths;
 
     if (get_security_file_paths(security_files_paths, security_options->security_root_path)) {
-      PropertyPolicy property_policy;
+      eprosima::fastrtps::rtps::PropertyPolicy property_policy;
+      using Property = eprosima::fastrtps::rtps::Property;
       property_policy.properties().emplace_back(
         Property("dds.sec.auth.plugin", "builtin.PKI-DH"));
       property_policy.properties().emplace_back(

rmw_fastrtps_cpp/src/rmw_node_names.cpp

@@ -29,6 +29,8 @@
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "rmw_fastrtps_cpp/custom_participant_info.hpp"
 
+using Participant = eprosima::fastrtps::Participant;
+
 extern "C"
 {
 rmw_ret_t

rmw_fastrtps_cpp/src/rmw_publisher.cpp

@@ -26,6 +26,10 @@
 #include "rmw_fastrtps_cpp/custom_publisher_info.hpp"
 #include "type_support_common.hpp"
 
+using Domain = eprosima::fastrtps::Domain;
+using Participant = eprosima::fastrtps::Participant;
+using TopicDataType = eprosima::fastrtps::TopicDataType;
+
 extern "C"
 {
 rmw_publisher_t *
@@ -79,8 +83,8 @@ rmw_create_publisher(
 
   CustomPublisherInfo * info = nullptr;
   rmw_publisher_t * rmw_publisher = nullptr;
-  PublisherAttributes publisherParam;
-  const GUID_t * guid = nullptr;
+  eprosima::fastrtps::PublisherAttributes publisherParam;
+  const eprosima::fastrtps::rtps::GUID_t * guid = nullptr;
 
   // Load default XML profile.
   Domain::getDefaultPublisherAttributes(publisherParam);
@@ -99,25 +103,27 @@ rmw_create_publisher(
     _register_type(participant, info->type_support_, info->typesupport_identifier_);
   }
 
-  publisherParam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
-  publisherParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  publisherParam.topic.topicKind = NO_KEY;
+  publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+  publisherParam.historyMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
   rcutils_ret_t ret = _assign_partitions_to_attributes(
-    topic_name, ros_topic_prefix, qos_policies->avoid_ros_namespace_conventions, &publisherParam);
+    topic_name, ros_topic_prefix,
+    qos_policies->avoid_ros_namespace_conventions, &publisherParam);
   if (ret != RCUTILS_RET_OK) {
     // error msg already set
     goto fail;
   }
 
 #if HAVE_SECURITY
   // see if our participant has a security property set
-  if (eprosima::fastrtps::PropertyPolicyHelper::find_property(
+  if (eprosima::fastrtps::rtps::PropertyPolicyHelper::find_property(
       participant->getAttributes().rtps.properties,
       std::string("dds.sec.crypto.plugin")))
   {
     // set the encryption property on the publisher
-    PropertyPolicy publisher_property_policy;
+    eprosima::fastrtps::rtps::PropertyPolicy publisher_property_policy;
     publisher_property_policy.properties().emplace_back(
       "rtps.endpoint.submessage_protection_kind", "ENCRYPT");
     publisher_property_policy.properties().emplace_back(