Refactor RPC utils types and structures

Signed-off-by: Eugenio Collado <eugeniocollado@eprosima.com>

Author: EugenioCollado

ddsenabler/src/cpp/DDSEnabler.cpp

@@ -389,7 +389,7 @@ bool DDSEnabler::send_action_goal(
             action_name,
             action_id,
             goal_request_id,
-            RpcUtils::ActionType::GOAL,
+            ACTION_TYPE::ACTION_GOAL,
             rpc_protocol))
     {
         EPROSIMA_LOG_ERROR(DDSENABLER_EXECUTION,
@@ -424,7 +424,7 @@ bool DDSEnabler::send_action_get_result_request(
             action_name,
             action_id,
             get_result_request_id,
-            RpcUtils::ActionType::RESULT))
+            ACTION_TYPE::ACTION_RESULT))
     {
         EPROSIMA_LOG_ERROR(DDSENABLER_EXECUTION,
                 "Failed to store action get result request to action " << action_name

ddsenabler_participants/include/ddsenabler_participants/EnablerParticipant.hpp

@@ -154,16 +154,12 @@ class EnablerParticipant : public ddspipe::participants::SchemaParticipant
             const std::string& topic_name) const;
 
     bool service_discovered_nts_(
-            const std::string& service_name,
-            const ddspipe::core::types::DdsTopic& topic,
-            RpcUtils::RpcType rpc_type,
-            RPC_PROTOCOL rpc_protocol);
+            const RpcInfo& rpc_info,
+            const ddspipe::core::types::DdsTopic& topic);
 
     bool action_discovered_nts_(
-            const std::string& action_name,
-            const ddspipe::core::types::DdsTopic& topic,
-            RpcUtils::RpcType rpc_type,
-            RPC_PROTOCOL rpc_protocol);
+            const RpcInfo& rpc_info,
+            const ddspipe::core::types::DdsTopic& topic);
 
     bool revoke_service_nts_(
             const std::string& service_name);

ddsenabler_participants/include/ddsenabler_participants/Handler.hpp

@@ -141,7 +141,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
      */
     DDSENABLER_PARTICIPANTS_DllAPI
     void add_action(
-            const RpcUtils::RpcAction& action);
+            const RpcAction& action);
 
     /**
      * @brief Add a data sample, associated to the given \c topic.
@@ -199,7 +199,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
             const std::string& action_name,
             const UUID& action_id,
             const uint64_t request_id,
-            const RpcUtils::ActionType action_type,
+            const ACTION_TYPE action_type,
             const RPC_PROTOCOL rpc_protocol = RPC_PROTOCOL::ROS2);
 
     /**
@@ -253,7 +253,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
      *
      * @param [in] action_name Name of the action.
      * @param [in] action_id UUID of the action to be checked.
-     * @return The RPC protocol of the action, or RPC_PROTOCOL::UNKNOWN if the action is not found.
+     * @return The RPC protocol of the action, or RPC_PROTOCOL::PROTOCOL_UNKNOWN if the action is not found.
      */
     DDSENABLER_PARTICIPANTS_DllAPI
     RPC_PROTOCOL get_action_rpc_protocol(
@@ -422,7 +422,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
      */
     bool get_action_request_UUID(
                 const uint64_t request_id,
-                const RpcUtils::ActionType action_type,
+                const ACTION_TYPE action_type,
                 UUID& action_id);
 
     /**
@@ -493,7 +493,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
      * @param [in] action RPC action associated to this action.
      */
     void write_action_nts_(
-            const RpcUtils::RpcAction& action);
+            const RpcAction& action);
     /**
      * @brief Write to user's app.
      *
@@ -603,7 +603,7 @@ class Handler : public ddspipe::participants::ISchemaHandler
             const fastdds::dds::DynamicType::_ref_type& dyn_type,
             const uint64_t request_id,
             const std::string& action_name,
-            const RpcUtils::RpcType& rpc_type);
+            const ACTION_TYPE action_type);
 
     /**
      * @brief Register a type using the given serialized type data.

ddsenabler_participants/include/ddsenabler_participants/RpcStructs.hpp

@@ -21,7 +21,7 @@
 #include <optional>
 
 #include <ddspipe_core/types/dds/Endpoint.hpp>
-#include <ddsenabler_participants/RpcUtils.hpp>
+#include <ddsenabler_participants/RpcTypes.hpp>
 
 namespace eprosima {
 namespace ddsenabler {
@@ -34,13 +34,60 @@ enum class ActionEraseReason
     FORCED         // Force erase regardless of status/result
 };
 
+struct RpcAction
+{
+    RpcAction() = default;
+    RpcAction(
+            const std::string& action_name,
+            const ddspipe::core::types::RpcTopic& goal,
+            const ddspipe::core::types::RpcTopic& result,
+            const ddspipe::core::types::RpcTopic& cancel,
+            const ddspipe::core::types::DdsTopic& feedback,
+            const ddspipe::core::types::DdsTopic& status)
+        : action_name(action_name)
+        , goal(goal)
+        , result(result)
+        , cancel(cancel)
+        , feedback(feedback)
+        , status(status)
+    {
+    }
+
+    std::string action_name;
+    ddspipe::core::types::RpcTopic goal;
+    ddspipe::core::types::RpcTopic result;
+    ddspipe::core::types::RpcTopic cancel;
+    ddspipe::core::types::DdsTopic feedback;
+    ddspipe::core::types::DdsTopic status;
+};
+
+struct RpcInfo
+{
+    RpcInfo(const std::string& dds_topic_name)
+        : topic_name(dds_topic_name)
+        , rpc_protocol(RPC_PROTOCOL::PROTOCOL_UNKNOWN)
+        , rpc_type(RPC_TYPE::RPC_NONE)
+        , service_type(SERVICE_TYPE::SERVICE_NONE)
+        , action_type(ACTION_TYPE::ACTION_NONE)
+    {
+    }
+
+    std::string topic_name;
+    std::string service_name;
+    std::string action_name;
+    RPC_PROTOCOL rpc_protocol;
+    RPC_TYPE rpc_type;
+    SERVICE_TYPE service_type;
+    ACTION_TYPE action_type;
+};
+
 struct ActionRequestInfo
 {
     ActionRequestInfo() = default;
 
     ActionRequestInfo(
             const std::string& _action_name,
-            RpcUtils::ActionType action_type,
+            ACTION_TYPE action_type,
             uint64_t request_id,
             RPC_PROTOCOL rpc_protocol)
             : action_name(_action_name)
@@ -52,14 +99,14 @@ struct ActionRequestInfo
 
     void set_request(
             uint64_t request_id,
-            RpcUtils::ActionType action_type)
+            ACTION_TYPE action_type)
     {
         switch (action_type)
         {
-            case RpcUtils::ActionType::GOAL:
+            case ACTION_TYPE::ACTION_GOAL:
                 goal_request_id = request_id;
                 break;
-            case RpcUtils::ActionType::RESULT:
+            case ACTION_TYPE::ACTION_RESULT:
                 result_request_id = request_id;
                 break;
             default:
@@ -69,13 +116,13 @@ struct ActionRequestInfo
     }
 
     uint64_t get_request(
-            RpcUtils::ActionType action_type) const
+            ACTION_TYPE action_type) const
     {
         switch (action_type)
         {
-            case RpcUtils::ActionType::GOAL:
+            case ACTION_TYPE::ACTION_GOAL:
                 return goal_request_id;
-            case RpcUtils::ActionType::RESULT:
+            case ACTION_TYPE::ACTION_RESULT:
                 return result_request_id;
             default:
                 return 0;
@@ -137,7 +184,7 @@ struct ServiceDiscovered
     }
 
     std::string service_name;
-    RPC_PROTOCOL rpc_protocol{RPC_PROTOCOL::UNKNOWN};
+    RPC_PROTOCOL rpc_protocol{RPC_PROTOCOL::PROTOCOL_UNKNOWN};
 
     ddspipe::core::types::DdsTopic topic_request;
     bool request_discovered{false};
@@ -153,9 +200,9 @@ struct ServiceDiscovered
 
     bool add_topic(
             const ddspipe::core::types::DdsTopic& topic,
-            RpcUtils::RpcType rpc_type)
+            SERVICE_TYPE service_type)
     {
-        if(rpc_type == RpcUtils::RpcType::RPC_REQUEST)
+        if(service_type == SERVICE_TYPE::SERVICE_REQUEST)
         {
                 if(request_discovered)
                         return false;
@@ -187,9 +234,9 @@ struct ServiceDiscovered
         return false;
     }
 
-    bool remove_topic(RpcUtils::RpcType rpc_type)
+    bool remove_topic(SERVICE_TYPE service_type)
     {
-        if(rpc_type == RpcUtils::RpcType::RPC_REQUEST)
+        if(service_type == SERVICE_TYPE::SERVICE_REQUEST)
         {
             request_discovered = false;
             topic_request = ddspipe::core::types::DdsTopic();
@@ -214,17 +261,17 @@ struct ServiceDiscovered
     }
 
     bool get_topic(
-            const RpcUtils::RpcType& rpc_type,
+            SERVICE_TYPE service_type,
             ddspipe::core::types::DdsTopic& topic)
     {
-        if(rpc_type == RpcUtils::RpcType::RPC_REQUEST)
+        if(service_type == SERVICE_TYPE::SERVICE_REQUEST)
         {
             if(!request_discovered)
                 return false;
             topic = topic_request;
             return true;
         }
-        if (rpc_type == RpcUtils::RpcType::RPC_REPLY)
+        if (service_type == SERVICE_TYPE::SERVICE_REPLY)
         {
             if(!reply_discovered)
                 return false;
@@ -251,7 +298,7 @@ struct ActionDiscovered
     }
 
     std::string action_name;
-    RPC_PROTOCOL rpc_protocol{RPC_PROTOCOL::UNKNOWN};
+    RPC_PROTOCOL rpc_protocol{RPC_PROTOCOL::PROTOCOL_UNKNOWN};
     std::weak_ptr<ServiceDiscovered> goal;
     std::weak_ptr<ServiceDiscovered> result;
     std::weak_ptr<ServiceDiscovered> cancel;
@@ -281,20 +328,17 @@ struct ActionDiscovered
 
     bool add_service(
             std::shared_ptr<ServiceDiscovered> service,
-            RpcUtils::RpcType rpc_type)
+            ACTION_TYPE action_type)
     {
-        switch (rpc_type)
+        switch (action_type)
         {
-            case RpcUtils::RpcType::ACTION_GOAL_REQUEST:
-            case RpcUtils::RpcType::ACTION_GOAL_REPLY:
+            case ACTION_TYPE::ACTION_GOAL:
                 goal = service;
                 break;
-            case RpcUtils::RpcType::ACTION_RESULT_REQUEST:
-            case RpcUtils::RpcType::ACTION_RESULT_REPLY:
+            case ACTION_TYPE::ACTION_RESULT:
                 result = service;
                 break;
-            case RpcUtils::RpcType::ACTION_CANCEL_REQUEST:
-            case RpcUtils::RpcType::ACTION_CANCEL_REPLY:
+            case ACTION_TYPE::ACTION_CANCEL:
                 cancel = service;
                 break;
             default:
@@ -306,15 +350,15 @@ struct ActionDiscovered
 
     bool add_topic(
             const ddspipe::core::types::DdsTopic& topic,
-            RpcUtils::RpcType rpc_type)
+            ACTION_TYPE action_type)
     {
-        switch (rpc_type)
+        switch (action_type)
         {
-            case RpcUtils::RpcType::ACTION_FEEDBACK:
+            case ACTION_TYPE::ACTION_FEEDBACK:
                 feedback = topic;
                 feedback_discovered = true;
                 break;
-            case RpcUtils::RpcType::ACTION_STATUS:
+            case ACTION_TYPE::ACTION_STATUS:
                 status = topic;
                 status_discovered = true;
                 break;
@@ -325,7 +369,7 @@ struct ActionDiscovered
         return true;
     }
 
-    RpcUtils::RpcAction get_action(const std::string& action_name)
+    RpcAction get_action()
     {
         auto g = goal.lock();
         auto r = result.lock();
@@ -334,7 +378,7 @@ struct ActionDiscovered
         if (!fully_discovered || !g || !r || !c)
             throw std::runtime_error("Action not fully discovered or ServiceDiscovered expired");
 
-        return RpcUtils::RpcAction(
+        return RpcAction(
             action_name,
             g->get_service(),
             r->get_service(),

ddsenabler_participants/include/ddsenabler_participants/RpcTypes.hpp

@@ -20,6 +20,9 @@
 #include <cstdint>
 #include <string>
 
+#include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
+#include <ddspipe_core/types/topic/rpc/RpcTopic.hpp>
+
 #pragma once
 
 namespace eprosima {
@@ -31,7 +34,31 @@ using UUID = std::array<uint8_t, 16>;
 enum RPC_PROTOCOL {
         ROS2 = 0,
         FASTDDS,
-        UNKNOWN
+        PROTOCOL_UNKNOWN
+};
+
+enum RPC_TYPE
+{
+        RPC_NONE = 0,
+        RPC_SERVICE,
+        RPC_ACTION
+};
+
+enum SERVICE_TYPE
+{
+        SERVICE_NONE = 0,
+        SERVICE_REQUEST,
+        SERVICE_REPLY
+};
+
+enum ACTION_TYPE
+{
+        ACTION_NONE = 0,
+        ACTION_GOAL,
+        ACTION_RESULT,
+        ACTION_CANCEL,
+        ACTION_FEEDBACK,
+        ACTION_STATUS
 };
 
 enum STATUS_CODE {
@@ -46,7 +73,7 @@ enum STATUS_CODE {
         STATUS_TIMEOUT,
         STATUS_FAILED,
         STATUS_CANCEL_REQUEST_FAILED
-    };
+};
 
 enum CANCEL_CODE {
         ERROR_NONE = 0,