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Signed-off-by: tempate <[email protected]>
eProsima · Nov 6, 2023 · 1f9a662 · 1f9a662
1 parent e13ca48
commit 1f9a662
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Showing 7 changed files with 42 additions and 14 deletions.
diff --git a/ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp b/ddspipe_core/include/ddspipe_core/communication/dds/DdsBridge.hpp
@@ -20,8 +20,8 @@
 #include <ddspipe_core/communication/dds/Track.hpp>
 #include <ddspipe_core/configuration/RoutesConfiguration.hpp>
 #include <ddspipe_core/types/topic/dds/DistributedTopic.hpp>
-#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
 #include <ddspipe_core/types/topic/filter/ManualTopic.hpp>
+#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
 
 namespace eprosima {
 namespace ddspipe {

diff --git a/ddspipe_core/include/ddspipe_core/types/dds/TopicQoS.hpp b/ddspipe_core/include/ddspipe_core/types/dds/TopicQoS.hpp
@@ -39,12 +39,23 @@ using HistoryDepthType = unsigned int;
 using OwnershipQosPolicyKind = eprosima::fastdds::dds::OwnershipQosPolicyKind;
 
 /**
- * Collection of QoS related with a Topic.
+ * The collection of QoS related to a Topic.
+ *
+ * The Topic QoS are:
+ *  - Durability
+ *  - Reliability
+ *  - Ownership
+ *  - Partitions
+ *  - Keyed
+ *  - History Depth
+ *  - Max Transmission Rate
+ *  - Max Reception Rate
+ *  - Downsampling
  *
  * @warning partitions are considered a Topic QoS. A Topic can then only either have partitions or not have them, but it
  * cannot support empty partitions.
  *
- * @todo add keys to Topic QoS
+ * @todo create a child of TopicQoS called DdsTopicQoS that contains the QoS specific to DDS.
  */
 struct
 TopicQoS

diff --git a/ddspipe_participants/include/ddspipe_participants/reader/dds/CommonReader.hpp b/ddspipe_participants/include/ddspipe_participants/reader/dds/CommonReader.hpp
@@ -137,7 +137,7 @@ class CommonReader : public BaseReader, public fastdds::dds::DataReaderListener
     reckon_reader_qos_() const;
 
     //! Whether a change received should be processed
-    virtual bool should_accept_change_(
+    virtual bool should_accept_sample_(
             const fastdds::dds::SampleInfo& info) noexcept;
 
     virtual void fill_received_data_(

diff --git a/ddspipe_participants/src/cpp/reader/dds/CommonReader.cpp b/ddspipe_participants/src/cpp/reader/dds/CommonReader.cpp
@@ -144,8 +144,8 @@ utils::ReturnCode CommonReader::take_nts_(
             return ret;
         }
 
-        // Check if the change is acceptable
-        if (should_accept_change_(info))
+        // Check if the sample is acceptable
+        if (should_accept_sample_(info))
         {
             break;
         }
@@ -221,7 +221,7 @@ fastdds::dds::DataReaderQos CommonReader::reckon_reader_qos_() const
     return qos;
 }
 
-bool CommonReader::should_accept_change_(
+bool CommonReader::should_accept_sample_(
         const fastdds::dds::SampleInfo& info) noexcept
 {
     // Reject samples sent by a Writer from the same Participant this Reader belongs to
@@ -232,7 +232,7 @@ bool CommonReader::should_accept_change_(
         return false;
     }
 
-    return should_accept_sample_();
+    return BaseReader::should_accept_sample_();
 }
 
 void CommonReader::fill_received_data_(

diff --git a/ddspipe_yaml/include/ddspipe_yaml/YamlReader.hpp b/ddspipe_yaml/include/ddspipe_yaml/YamlReader.hpp
@@ -56,7 +56,7 @@ enum YamlReaderVersion
     V_1_0,
 
     /**
-     * @brief  Version 2.0
+     * @brief Version 2.0
      *
      * @version 0.3.0
      *
@@ -68,7 +68,7 @@ enum YamlReaderVersion
     V_2_0,
 
     /**
-     * @brief  Version 3.0
+     * @brief Version 3.0
      *
      * @version 0.4.0
      *
@@ -78,7 +78,7 @@ enum YamlReaderVersion
     V_3_0,
 
     /**
-     * @brief  Latest version.
+     * @brief Version 3.1.
      *
      * @version 0.5.0
      *
@@ -87,6 +87,21 @@ enum YamlReaderVersion
      */
     V_3_1,
 
+    /**
+     * @brief Latest version.
+     *
+     * @version 0.6.0
+     *
+     * - Forwarding Routes.
+     * - Remove Unused Entities.
+     * - Manual Topics.
+     * - Max Transmission Rate.
+     * - Max Reception Rate.
+     * - Downsampling.
+     * - Rename the `max-depth` under the `specs` tag to `history-depth`.
+     */
+    V_4_0,
+
     /**
      * @brief  Main version.
      *

diff --git a/ddspipe_yaml/include/ddspipe_yaml/yaml_configuration_tags.hpp b/ddspipe_yaml/include/ddspipe_yaml/yaml_configuration_tags.hpp
@@ -27,6 +27,7 @@ constexpr const char* VERSION_TAG_V_1_0("v1.0");    //! Version v1.0
 constexpr const char* VERSION_TAG_V_2_0("v2.0");    //! Version v2.0
 constexpr const char* VERSION_TAG_V_3_0("v3.0");    //! Version v3.0
 constexpr const char* VERSION_TAG_V_3_1("v3.1");    //! Version v3.1
+constexpr const char* VERSION_TAG_V_4_0("v4.0");    //! Version v4.0
 
 // Topics related tags
 constexpr const char* ALLOWLIST_TAG("allowlist");     //! List of allowed topics
@@ -136,10 +137,10 @@ constexpr const char* TOPIC_ROUTES_TAG("topic-routes"); // Topic specific forwar
 
 // Advanced configuration
 constexpr const char* SPECS_TAG("specs"); //! Specs options for DDS Router configuration
+constexpr const char* SPECS_QOS_TAG("qos"); //! Global Topic QoS
 constexpr const char* NUMBER_THREADS_TAG("threads"); //! Number of threads to configure the thread pool
 constexpr const char* WAIT_ALL_ACKED_TIMEOUT_TAG("wait-all-acked-timeout"); //! Wait for a maximum of *wait-all-acked-timeout* ms until all msgs sent by reliable writers are acknowledged by their matched readers
 constexpr const char* REMOVE_UNUSED_ENTITIES_TAG("remove-unused-entities"); //! Dynamically create and delete entities and tracks.
-constexpr const char* SPECS_QOS_TAG("qos"); //! Global Topic QoS
 
 // XML configuration tags
 constexpr const char* XML_TAG("xml"); //! Tag to read xml configuration

diff --git a/ddspipe_yaml/src/cpp/YamlReader_types.cpp b/ddspipe_yaml/src/cpp/YamlReader_types.cpp
@@ -96,6 +96,7 @@ YamlReaderVersion YamlReader::get<YamlReaderVersion>(
                     {VERSION_TAG_V_2_0, YamlReaderVersion::V_2_0},
                     {VERSION_TAG_V_3_0, YamlReaderVersion::V_3_0},
                     {VERSION_TAG_V_3_1, YamlReaderVersion::V_3_1},
+                    {VERSION_TAG_V_4_0, YamlReaderVersion::V_4_0},
                 });
 }
 
@@ -411,13 +412,13 @@ void YamlReader::fill(
     // Max Transmission Rate optional
     if (is_tag_present(yml, QOS_MAX_TX_RATE_TAG))
     {
-        object.max_tx_rate.set_value(get<float>(yml, QOS_MAX_TX_RATE_TAG, version));
+        object.max_tx_rate.set_value(get_nonnegative_float(yml, QOS_MAX_TX_RATE_TAG));
     }
 
     // Max Reception Rate optional
     if (is_tag_present(yml, QOS_MAX_RX_RATE_TAG))
     {
-        object.max_rx_rate.set_value(get<float>(yml, QOS_MAX_RX_RATE_TAG, version));
+        object.max_rx_rate.set_value(get_nonnegative_float(yml, QOS_MAX_RX_RATE_TAG));
     }
 
     // Downsampling optional