Rebase fixes and updates

Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>

Author: juanlofer-eprosima

ddsenabler/examples/CLIParser.hpp

@@ -29,6 +29,7 @@ class CLIParser
     struct example_config
     {
         uint32_t expected_types_ = 0;
+        uint32_t expected_topics_ = 0;
         uint32_t expected_data_ = 0;
         uint32_t timeout_seconds = 30;
         std::string config_file_path_ = "";
@@ -44,12 +45,14 @@ class CLIParser
     static void print_help(
             uint8_t return_code)
     {
-        std::cout << "Usage: ddsenabler_example <expected_types> <expected_data> <timeout> <path/to/config/file>"   <<
+        std::cout << "Usage: ddsenabler_example <expected_types> <expected_topics> <expected_data> <timeout> <path/to/config/file>"   <<
             std::endl;
         std::cout << ""                                                                                             <<
             std::endl;
         std::cout << "expected_types: number of types to be expected"                                               <<
             std::endl;
+        std::cout << "expected_topics: number of topics to be expected"                                             <<
+            std::endl;
         std::cout << "expected_data: number of data to be expected"                                                 <<
             std::endl;
         std::cout << "timeout: time to wait before stopping the program if the data is not received"                <<
@@ -74,7 +77,7 @@ class CLIParser
     {
         example_config config;
 
-        if (argc < 5)
+        if (argc < 6)
         {
             std::cerr << "Missing entity argument" << std::endl;
             print_help(EXIT_FAILURE);
@@ -83,9 +86,10 @@ class CLIParser
         try
         {
             config.expected_types_ = std::stoi(argv[1]);
-            config.expected_data_ = std::stoi(argv[2]);
-            config.timeout_seconds = std::stoi(argv[3]);
-            config.config_file_path_ = argv[4];
+            config.expected_topics_ = std::stoi(argv[2]);
+            config.expected_data_ = std::stoi(argv[3]);
+            config.timeout_seconds = std::stoi(argv[4]);
+            config.config_file_path_ = argv[5];
         }
         catch (const std::exception& e)
         {

ddsenabler/examples/main.cpp

@@ -27,16 +27,20 @@
 #include "CLIParser.hpp"
 
 uint32_t received_types_ = 0;
+uint32_t received_topics_ = 0;
 uint32_t received_data_ = 0;
 std::mutex type_received_mutex_;
+std::mutex topic_received_mutex_;
 std::mutex data_received_mutex_;
 bool stop_app_ = false;
 
 // Static type callback
 static void test_type_callback(
         const char* typeName,
-        const char* topicName,
-        const char* serializedType)
+        const char* serializedType,
+        const unsigned char* serializedTypeInternal,
+        uint32_t serializedTypeInternalSize,
+        const char* dataPlaceholder)
 {
     std::lock_guard<std::mutex> lock(type_received_mutex_);
 
@@ -45,17 +49,29 @@ static void test_type_callback(
         received_types_ << std::endl;
 }
 
+// Static topic callback
+static void test_topic_callback(
+        const char* topicName,
+        const char* typeName,
+        const char* serializedQos)
+{
+    std::lock_guard<std::mutex> lock(topic_received_mutex_);
+
+    received_topics_++;
+    std::cout << "Topic callback received: " << topicName << " of type " << typeName << ", Total topics: " <<
+        received_topics_ << std::endl;
+}
+
 // Static data callback
 static void test_data_callback(
-        const char* typeName,
         const char* topicName,
         const char* json,
         int64_t publishTime)
 {
     std::lock_guard<std::mutex> lock(data_received_mutex_);
 
     received_data_++;
-    std::cout << "Data callback received: " << typeName << ", Total data: " <<
+    std::cout << "Data callback received: " << topicName << ", Total data: " <<
         received_data_ << std::endl;
 }
 
@@ -66,6 +82,13 @@ int get_received_types()
     return received_types_;
 }
 
+int get_received_topics()
+{
+    std::lock_guard<std::mutex> lock(topic_received_mutex_);
+
+    return received_topics_;
+}
+
 int get_received_data()
 {
     std::lock_guard<std::mutex> lock(data_received_mutex_);
@@ -84,10 +107,12 @@ int main(
         int argc,
         char** argv)
 {
+    using namespace eprosima::ddsenabler;
+
     CLIParser::example_config config = CLIParser::parse_cli_options(argc, argv);
 
     std::unique_ptr<DDSEnabler> enabler;
-    create_dds_enabler(config.config_file_path_.c_str(), test_data_callback, test_type_callback, nullptr, enabler);
+    create_dds_enabler(config.config_file_path_.c_str(), test_data_callback, test_type_callback, test_topic_callback, nullptr, nullptr, nullptr, enabler);
 
     signal(SIGINT, signal_handler);
     signal(SIGTERM, signal_handler);
@@ -106,6 +131,7 @@ int main(
             return EXIT_SUCCESS;
         }
         else if (get_received_types() >= config.expected_types_ &&
+                get_received_topics() >= config.expected_topics_ &&
                 get_received_data() >= config.expected_data_)
         {
             std::cout << "Received enough data, stopping..." << std::endl;

ddsenabler/test/ddsEnablerTests/ReloadConfig.cpp

@@ -206,8 +206,7 @@ TEST(ReloadConfig, yaml)
 
     // Create DDS Enabler
     std::unique_ptr<DDSEnabler> enabler;
-    bool result = create_dds_enabler(configfile, test_data_callback, test_type_callback, test_topic_notification_callback, test_type_request_callback, test_topic_request_callback, test_log_callback, enabler);
-    ASSERT_TRUE(result);
+    ASSERT_TRUE(create_dds_enabler(configfile, test_data_callback, test_type_callback, test_topic_notification_callback, test_type_request_callback, test_topic_request_callback, test_log_callback, enabler));
 
     // Create DDSEnablerAccessor to access protected configuration
     auto enabler_accessor = static_cast<DDSEnablerAccessor*>(enabler.get());

ddsenabler_participants/include/ddsenabler_participants/CBWriter.hpp

@@ -45,15 +45,13 @@ class CBWriter
     void set_data_callback(
             DdsNotification callback)
     {
-        std::lock_guard<std::mutex> lock(mutex_);
         data_callback_ = callback;
     }
 
     DDSENABLER_PARTICIPANTS_DllAPI
     void set_type_callback(
             DdsTypeNotification callback)
     {
-        std::lock_guard<std::mutex> lock(mutex_);
         type_callback_ = callback;
     }
 

ddsenabler_participants/src/cpp/CBHandler.cpp

@@ -16,18 +16,9 @@
  * @file CBHandler.cpp
  */
 
-<<<<<<< HEAD
-#include <algorithm>
-#include <cstdio>
-#include <filesystem>
-#include <vector>
-
-#include <fastdds/dds/topic/TypeSupport.hpp>
-=======
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicPubSubType.hpp>
->>>>>>> e025823 (DDS data publication implementation)
 #include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 #include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilderFactory.hpp>
 #include <fastdds/dds/xtypes/utils.hpp>

ddsenabler_test/compose/test_cases/topics_json/compose.yml

@@ -16,7 +16,7 @@ services:
       - std_net
     volumes:
       - ./config.json:/config/config.json
-    command: ./build/ddsenabler/examples/ddsenabler_example 1 1 10 /config/config.json
+    command: ./build/ddsenabler/examples/ddsenabler_example 1 1 1 10 /config/config.json
 
   talker:
     image: ${DDSENABLER_COMPOSE_TEST_ROS2_DOCKER_IMAGE}

ddsenabler_test/compose/test_cases/topics_yaml/compose.yml

@@ -16,7 +16,7 @@ services:
       - std_net
     volumes:
       - ./config.yml:/config/config.yml
-    command: ./build/ddsenabler/examples/ddsenabler_example 1 1 10 /config/config.yml
+    command: ./build/ddsenabler/examples/ddsenabler_example 1 1 1 10 /config/config.yml
 
   talker:
     image: ${DDSENABLER_COMPOSE_TEST_ROS2_DOCKER_IMAGE}