Refactor XML Parser to return DynamicTypeBuilder instead of DynamicTy…

…pe (#4970) * Refs #21184: Refactor get_dynamic_type_builder_from_xml_by_name and getDynamicTypeByName to get a DynamicTypeBuilder Signed-off-by: elianalf <[email protected]> * Refs #21184: Adjust dynamic types tests Signed-off-by: elianalf <[email protected]> * Refs #21184: Add flag to xtypes example to get types and profiles from xml Signed-off-by: elianalf <[email protected]> * Refs #21184: Update methods name Signed-off-by: elianalf <[email protected]> * Refs #21184: Update version.md Signed-off-by: elianalf <[email protected]> * Refs #21184: Uncrustify Signed-off-by: elianalf <[email protected]> * Refs #21184: Make type definition by xml loaded by environment variable works Signed-off-by: elianalf <[email protected]> * Refs #21184: Make type works with hello world Signed-off-by: elianalf <[email protected]> * Refs #21184: Add test for the example to load the type from xml Signed-off-by: elianalf <[email protected]> * Refs #21184: Apply suggestions Signed-off-by: elianalf <[email protected]> * Refs #21184: UNcrustify Signed-off-by: elianalf <[email protected]> * Refs #21184: Clarify how to use xml-type flag Signed-off-by: elianalf <[email protected]> * Refs #21184: Fix xml parser test Signed-off-by: elianalf <[email protected]> * Refs #21184: Fix parse XML dynamic type throwing exception to return nullptr Signed-off-by: elianalf <[email protected]> * Refs #Apply suggestions Signed-off-by: elianalf <[email protected]> * Refs #21184: Compare DynamicType with DynamicType, instead of DynamicTypeBuilder Signed-off-by: elianalf <[email protected]> * Refs #21184: Fix xml parser las test Signed-off-by: elianalf <[email protected]> --------- Signed-off-by: elianalf <[email protected]>
eProsima · Jul 3, 2024 · bc557b7 · bc557b7
1 parent c21dbcf
commit bc557b7
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Showing 18 changed files with 372 additions and 275 deletions.
diff --git a/examples/cpp/dds/DynamicHelloWorldExample/HelloWorldPublisher.cpp b/examples/cpp/dds/DynamicHelloWorldExample/HelloWorldPublisher.cpp
@@ -28,7 +28,6 @@
 #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
-#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
 using namespace eprosima::fastdds::dds;
 
@@ -49,18 +48,18 @@ bool HelloWorldPublisher::init()
         return false;
     }
 
-    DynamicType::_ref_type dyn_type;
+    DynamicTypeBuilder::_ref_type dyn_type_builder;
     if (RETCODE_OK !=
             DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("HelloWorld",
-            dyn_type))
+            dyn_type_builder))
     {
         std::cout <<
             "Error getting dynamic type \"HelloWorld\"." << std::endl;
         return false;
     }
 
-    TypeSupport m_type(new DynamicPubSubType(dyn_type));
-    m_Hello = DynamicDataFactory::get_instance()->create_data(dyn_type);
+    TypeSupport m_type(new DynamicPubSubType(dyn_type_builder->build()));
+    m_Hello = DynamicDataFactory::get_instance()->create_data(dyn_type_builder->build());
     m_Hello->set_string_value(m_Hello->get_member_id_by_name("message"), "Hello DDS Dynamic World");
     m_Hello->set_uint32_value(m_Hello->get_member_id_by_name("index"), 0);
     m_Hello->set_uint32_values(m_Hello->get_member_id_by_name("array"), {10, 20, 30, 40, 50, 60, 70, 80, 90, 100});

diff --git a/examples/cpp/xtypes/CLIParser.hpp b/examples/cpp/xtypes/CLIParser.hpp
@@ -45,6 +45,7 @@ class CLIParser
     {
         CLIParser::EntityKind entity = CLIParser::EntityKind::UNDEFINED;
         uint16_t samples = 0;
+        bool use_xml = false;
     };
 
     /**
@@ -57,17 +58,22 @@ class CLIParser
     static void print_help(
             uint8_t return_code)
     {
-        std::cout << "Usage: xtypes <entity> [options]"                                         << std::endl;
-        std::cout << ""                                                                         << std::endl;
-        std::cout << "Entities:"                                                                << std::endl;
-        std::cout << "  publisher                       Run a publisher entity"                 << std::endl;
-        std::cout << "  subscriber                      Run a subscriber entity"                << std::endl;
-        std::cout << ""                                                                         << std::endl;
-        std::cout << "Common options:"                                                          << std::endl;
-        std::cout << "  -h, --help                      Print this help message"                << std::endl;
-        std::cout << "  -s <num>, --samples <num>       Number of samples to send or receive"   << std::endl;
-        std::cout << "                                  [0 <= <num> <= 65535]"                  << std::endl;
-        std::cout << "                                  (Default: 0 [unlimited])"               << std::endl;
+        std::cout << "Usage: xtypes <entity> [options]"                                            << std::endl;
+        std::cout << ""                                                                            << std::endl;
+        std::cout << "Entities:"                                                                   << std::endl;
+        std::cout << "  publisher                       Run a publisher entity"                    << std::endl;
+        std::cout << "  subscriber                      Run a subscriber entity"                   << std::endl;
+        std::cout << ""                                                                            << std::endl;
+        std::cout << "Common options:"                                                             << std::endl;
+        std::cout << "  -h, --help                      Print this help message"                   << std::endl;
+        std::cout << "  -s <num>, --samples <num>       Number of samples to send or receive"      << std::endl;
+        std::cout << "                                  [0 <= <num> <= 65535]"                     << std::endl;
+        std::cout << "                                  (Default: 0 [unlimited])"                  << std::endl;
+        std::cout << "Publisher options:"                                                          << std::endl;
+        std::cout << "            --xml-type            Get types defined in xml file. "           << std::endl;
+        std::cout << "                                  The xml file to use must be set "          << std::endl;
+        std::cout << "                                  through environment variable."             << std::endl;
+        std::cout << "                                  (Default: Types defined with C++ API) "    << std::endl;
         std::exit(return_code);
     }
 
@@ -158,6 +164,24 @@ class CLIParser
                     print_help(EXIT_FAILURE);
                 }
             }
+            else if (arg == "--xml-type")
+            {
+                if (config.entity == CLIParser::EntityKind::PUBLISHER)
+                {
+                    config.use_xml = true;
+                }
+                else if (config.entity == CLIParser::EntityKind::SUBSCRIBER)
+                {
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "--xml-type flag available only for subscriber entity");
+                    print_help(EXIT_FAILURE);
+                }
+                else
+                {
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "entity not specified for --xml-type flag");
+                    print_help(EXIT_FAILURE);
+                }
+            }
+
             else
             {
                 EPROSIMA_LOG_ERROR(CLI_PARSER, "unknown option " + arg);

diff --git a/examples/cpp/xtypes/PublisherApp.cpp b/examples/cpp/xtypes/PublisherApp.cpp
@@ -52,9 +52,17 @@ PublisherApp::PublisherApp(
     , samples_(config.samples)
     , stop_(false)
 {
-    // Create the type
-    DynamicType::_ref_type dynamic_type = create_type();
+    // Create the participant
+    auto factory = DomainParticipantFactory::get_instance();
+    participant_ = factory->create_participant_with_default_profile(nullptr, StatusMask::none());
+
+    if (participant_ == nullptr)
+    {
+        throw std::runtime_error("Participant initialization failed");
+    }
 
+    // Create the type
+    DynamicType::_ref_type dynamic_type = create_type(config.use_xml);
     if (!dynamic_type)
     {
         throw std::runtime_error("Error creating dynamic type");
@@ -71,15 +79,6 @@ PublisherApp::PublisherApp(
     hello_->set_uint32_value(hello_->get_member_id_by_name("index"), 0);
     hello_->set_string_value(hello_->get_member_id_by_name("message"), "Hello xtypes world");
 
-    // Create the participant
-    auto factory = DomainParticipantFactory::get_instance();
-    participant_ = factory->create_participant_with_default_profile(nullptr, StatusMask::none());
-
-    if (participant_ == nullptr)
-    {
-        throw std::runtime_error("Participant initialization failed");
-    }
-
     // Register the type
     TypeSupport type(new DynamicPubSubType(dynamic_type));
 
@@ -227,43 +226,59 @@ void PublisherApp::stop()
     cv_.notify_one();
 }
 
-DynamicType::_ref_type PublisherApp::create_type()
+DynamicType::_ref_type PublisherApp::create_type(
+        bool use_xml_type)
 {
-    // Define a struct type with various primitive members
-    TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
-    type_descriptor->kind(TK_STRUCTURE);
-    type_descriptor->name("HelloWorld");
-    DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)};
-
-    if (!struct_builder)
+    DynamicTypeBuilder::_ref_type struct_builder;
+    if (use_xml_type)
     {
-        throw std::runtime_error("Error creating type builder");
+        // Retrieve the type builder from xml
+        if (RETCODE_OK !=
+                DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("HelloWorld",
+                struct_builder))
+        {
+            std::cout <<
+                "Error getting dynamic type \"HelloWorld\"." << std::endl;
+        }
     }
+    else
+    {
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("HelloWorld");
+        struct_builder = DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor);
 
-    // Add index member
-    MemberDescriptor::_ref_type index_member_descriptor {traits<MemberDescriptor>::make_shared()};
-    index_member_descriptor->name("index");
-    index_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        if (!struct_builder)
+        {
+            throw std::runtime_error("Error creating type builder");
+        }
 
-    if (RETCODE_OK != struct_builder->add_member(index_member_descriptor))
-    {
-        throw std::runtime_error("Error adding index member");
-    }
+        // Add index member
+        MemberDescriptor::_ref_type index_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        index_member_descriptor->name("index");
+        index_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
 
-    // Add message member
-    MemberDescriptor::_ref_type message_member_descriptor {traits<MemberDescriptor>::make_shared()};
-    message_member_descriptor->name("message");
-    message_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_string_type(static_cast<uint32_t>(
-                LENGTH_UNLIMITED))->build());
+        if (RETCODE_OK != struct_builder->add_member(index_member_descriptor))
+        {
+            throw std::runtime_error("Error adding index member");
+        }
 
-    if (!message_member_descriptor)
-    {
-        throw std::runtime_error("Error creating string type");
-    }
+        // Add message member
+        MemberDescriptor::_ref_type message_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        message_member_descriptor->name("message");
+        message_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_string_type(static_cast<
+                    uint32_t>(
+                    LENGTH_UNLIMITED))->build());
 
-    if (RETCODE_OK != struct_builder->add_member(message_member_descriptor))
-    {
-        throw std::runtime_error("Error adding message member");
+        if (!message_member_descriptor)
+        {
+            throw std::runtime_error("Error creating string type");
+        }
+
+        if (RETCODE_OK != struct_builder->add_member(message_member_descriptor))
+        {
+            throw std::runtime_error("Error adding message member");
+        }
     }
 
     // Build the type

diff --git a/examples/cpp/xtypes/PublisherApp.hpp b/examples/cpp/xtypes/PublisherApp.hpp
@@ -68,7 +68,8 @@ class PublisherApp : public Application, public DataWriterListener
     bool publish();
 
     //! Create the dynamic type used by the PublisherApp
-    static DynamicType::_ref_type create_type();
+    static DynamicType::_ref_type create_type(
+            bool use_xml_type);
 
     //! Auxilary function to get a uint32_t value from a DynamicData object
     static uint32_t get_uint32_value(

diff --git a/examples/cpp/xtypes/README.md b/examples/cpp/xtypes/README.md
@@ -21,7 +21,9 @@ For further information regarding the configuration environment, please refer to
 The particularity of this example resides in the use of X-Types, which allows the definition of types at runtime.
 In this case:
 
-1. The publisher application defines a type at runtime using the Fast DDS Dynamic Types API.
+1. The publisher application creates a type at runtime using the Fast DDS Dynamic Types API.
+The types can be configured through C++ API or [XML file](https://fast-dds.docs.eprosima.com/en/latest/fastdds/xml_configuration/dynamic_types.html).
+The flag `--xml-types` allows to use the types defined in the XML file. The profile must be uploaded setting the environment variable ``FASTDDS_DEFAULT_PROFILES_FILE`` to the XML file path, see [XML profile playground](#xml-profile-playground).
 2. The subscriber application discovers the type defined by the publisher and uses it to create a data reader, introspect the type, and print the received data.
 
 It is important to note that this example is fully type compatible with the [Hello world](../hello_world/README.md) example, meaning that the publisher and subscriber applications can be run interchangeably with the *hello world* example applications.

diff --git a/examples/cpp/xtypes/SubscriberApp.cpp b/examples/cpp/xtypes/SubscriberApp.cpp
@@ -55,6 +55,7 @@ SubscriberApp::SubscriberApp(
     , reader_(nullptr)
     , samples_(config.samples)
     , received_samples_(0)
+    , type_discovered_(false)
     , stop_(false)
 {
     // Create the participant

diff --git a/examples/cpp/xtypes/xtypes_profile.xml b/examples/cpp/xtypes/xtypes_profile.xml
@@ -1,52 +1,63 @@
 <?xml version="1.0" encoding="UTF-8" ?>
-<profiles xmlns="http://www.eprosima.com" >
-    <participant profile_name="xtypes_participant_profile" is_default_profile="true">
-        <domainId>0</domainId>
-        <rtps>
-            <name>xtypes_participant</name>
-        </rtps>
-    </participant>
-    <data_writer profile_name="xtypes_datawriter_profile" is_default_profile="true">
-        <qos>
-            <durability>
-                <kind>TRANSIENT_LOCAL</kind>
-            </durability>
-            <reliability>
-                <kind>RELIABLE</kind>
-            </reliability>
-        </qos>
-        <topic>
-            <historyQos>
-                <kind>KEEP_LAST</kind>
-                <depth>100</depth>
-            </historyQos>
-            <resourceLimitsQos>
-                <max_samples>100</max_samples>
-                <max_instances>1</max_instances>
-                <max_samples_per_instance>100</max_samples_per_instance>
-            </resourceLimitsQos>
-        </topic>
-    </data_writer>
+<dds xmlns="http://www.eprosima.com" >
+    <profiles>
+        <participant profile_name="xtypes_participant_profile" is_default_profile="true">
+            <domainId>0</domainId>
+            <rtps>
+                <name>xtypes_participant</name>
+            </rtps>
+        </participant>
+        <data_writer profile_name="xtypes_datawriter_profile" is_default_profile="true">
+            <qos>
+                <durability>
+                    <kind>TRANSIENT_LOCAL</kind>
+                </durability>
+                <reliability>
+                    <kind>RELIABLE</kind>
+                </reliability>
+            </qos>
+            <topic>
+                <historyQos>
+                    <kind>KEEP_LAST</kind>
+                    <depth>100</depth>
+                </historyQos>
+                <resourceLimitsQos>
+                    <max_samples>100</max_samples>
+                    <max_instances>1</max_instances>
+                    <max_samples_per_instance>100</max_samples_per_instance>
+                </resourceLimitsQos>
+            </topic>
+        </data_writer>
 
-    <data_reader profile_name="xtypes_datareader_profile" is_default_profile="true">
-        <qos>
-            <durability>
-                <kind>TRANSIENT_LOCAL</kind>
-            </durability>
-            <reliability>
-                <kind>RELIABLE</kind>
-            </reliability>
-        </qos>
-        <topic>
-            <historyQos>
-                <kind>KEEP_LAST</kind>
-                <depth>100</depth>
-            </historyQos>
-            <resourceLimitsQos>
-                <max_samples>100</max_samples>
-                <max_instances>1</max_instances>
-                <max_samples_per_instance>100</max_samples_per_instance>
-            </resourceLimitsQos>
-        </topic>
-    </data_reader>
-</profiles>
+        <data_reader profile_name="xtypes_datareader_profile" is_default_profile="true">
+            <qos>
+                <durability>
+                    <kind>TRANSIENT_LOCAL</kind>
+                </durability>
+                <reliability>
+                    <kind>RELIABLE</kind>
+                </reliability>
+            </qos>
+            <topic>
+                <historyQos>
+                    <kind>KEEP_LAST</kind>
+                    <depth>100</depth>
+                </historyQos>
+                <resourceLimitsQos>
+                    <max_samples>100</max_samples>
+                    <max_instances>1</max_instances>
+                    <max_samples_per_instance>100</max_samples_per_instance>
+                </resourceLimitsQos>
+            </topic>
+        </data_reader>
+    </profiles>
+
+    <types>
+        <type>
+            <struct name="HelloWorld">
+                <member name="index" type="uint32"/>
+                <member name="message" type="string"/>
+            </struct>
+        </type>
+    </types>
+</dds>
diff --git a/include/fastdds/dds/domain/DomainParticipantFactory.hpp b/include/fastdds/dds/domain/DomainParticipantFactory.hpp
@@ -30,6 +30,7 @@
 #include <fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilder.hpp>
 #include <fastdds/dds/xtypes/type_representation/ITypeObjectRegistry.hpp>
 #include <fastdds/LibrarySettings.hpp>
 
@@ -344,7 +345,7 @@ class DomainParticipantFactory
      */
     FASTDDS_EXPORTED_API ReturnCode_t get_dynamic_type_builder_from_xml_by_name(
             const std::string& type_name,
-            DynamicType::_ref_type& type);
+            DynamicTypeBuilder::_ref_type& type);
 
     /**
      * @brief Return the TypeObjectRegistry member to access the public API.

diff --git a/src/cpp/fastdds/domain/DomainParticipantFactory.cpp b/src/cpp/fastdds/domain/DomainParticipantFactory.cpp
@@ -542,13 +542,13 @@ ReturnCode_t DomainParticipantFactory::set_library_settings(
 
 ReturnCode_t DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name(
         const std::string& type_name,
-        DynamicType::_ref_type& type)
+        DynamicTypeBuilder::_ref_type& type_builder)
 {
     if (type_name.empty())
     {
         return RETCODE_BAD_PARAMETER;
     }
-    if (XMLP_ret::XML_OK != XMLProfileManager::getDynamicTypeByName(type, type_name))
+    if (XMLP_ret::XML_OK != XMLProfileManager::getDynamicTypeBuilderByName(type_builder, type_name))
     {
         return RETCODE_NO_DATA;
     }