eProsima · rsanchez15 · Jun 18, 2025 · Jun 3, 2025 · Jun 6, 2025 · Jun 6, 2025
diff --git a/.github/docker/ddsenabler/Dockerfile b/.github/docker/ddsenabler/Dockerfile
@@ -61,7 +61,7 @@ RUN mkdir src && \
     cd src/ddspipe && git checkout ${ddspipe_branch} && cd ../.. && \
     cd src/ddsenabler && git checkout ${ddsenabler_branch} && cd ../.. && \
     cp -r src/fastdds/examples/cpp/configuration src/. && \
-    colcon build --packages-skip ddsenabler --event-handlers console_direct+ --cmake-args -DLOG_INFO=ON -DSECURITY=ON && \
+    colcon build --packages-skip ddsenabler ddsenabler_docs --event-handlers console_direct+ --cmake-args -DLOG_INFO=ON -DSECURITY=ON && \
     colcon build --packages-select ddsenabler --event-handlers console_direct+ --cmake-args -DLOG_INFO=ON -DCOMPILE_EXAMPLES=ON
 
 COPY run.bash /root/run.bash

diff --git a/.gitignore b/.gitignore
@@ -56,8 +56,9 @@ log/
 .vscode
 
 ### Documentation ###
-docs/rst/_static/css/online_eprosima_rtd_theme.css
-
+ddsenabler_docs/docs/_static/css/eprosima-furo.css
+ddsenabler_docs/docs/_static/eprosima-logo-white.png
+ddsenabler_docs/docs/_templates/sidebar/commercial-support.html
 
 ### Python ###
 # Precompile files

diff --git a/README.md b/README.md
@@ -1 +1,64 @@
-# FIWARE-DDS-Enabler
+[![DDS Enabler](resources/images/github_banner_ddsenabler.png)](https://eprosima.com/middleware/tools/fiware-dds-enabler)
+
+<br>
+
+<div class="menu" align="center">
+  <strong>
+    <a href="https://eprosima.com/index.php/downloads-all">Download</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://dds-enabler.readthedocs.io/en/latest/">Docs</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://eprosima.com/index.php/company-all/news">News</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://x.com/EProsima">X</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="mailto:info@eprosima.com">Contact Us</a>
+  </strong>
+</div>
+
+<br><br>
+
+<div class="badges" align="center">
+  <a href="https://opensource.org/licenses/Apache-2.0"><img alt="License" src="https://img.shields.io/github/license/eProsima/FIWARE-DDS-Enabler.svg"/></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/releases"><img alt="Releases" src="https://img.shields.io/github/v/release/eProsima/FIWARE-DDS-Enabler?sort=semver"/></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/issues"><img alt="Issues" src="https://img.shields.io/github/issues/eProsima/FIWARE-DDS-Enabler.svg"/></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/network/members"><img alt="Forks" src="https://img.shields.io/github/forks/eProsima/FIWARE-DDS-Enabler.svg"/></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/stargazers"><img alt="Stars" src="https://img.shields.io/github/stars/eProsima/FIWARE-DDS-Enabler.svg"/></a>
+  <br>
+  <a href="https://dds-enabler.readthedocs.io"><img alt="Documentation badge" src="https://img.shields.io/readthedocs/dds-enabler.svg"/></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/actions/workflows/nightly-windows-ci.yml"><img alt="Windows CI" src="https://img.shields.io/github/actions/workflow/status/eProsima/FIWARE-DDS-Enabler/nightly-windows-ci.yml?label=Windows%20CI"></a>
+  <a href="https://github.com/eProsima/FIWARE-DDS-Enabler/actions/workflows/nightly-ubuntu-ci.yml"><img alt="Ubuntu CI" src="https://img.shields.io/github/actions/workflow/status/eProsima/FIWARE-DDS-Enabler/nightly-ubuntu-ci.yml?label=Ubuntu%20CI"></a>
+</div>
+
+<br><br>
+
+*eProsima DDS Enabler* is a modular middleware solution that bridges DDS networks and FIWARE NGSI-LD Context Brokers, providing real-time, bidirectional interoperability. It manages all required DDS participants, auto-discovers topics and types, and seamlessly routes DDS samples into NGSI-LD entities and context updates back into DDS topics.
+
+**Key features**
+- **Unified DDS Participant Management**
+  Auto-create and discover DomainParticipants, Publishers, Subscribers, Topics and Types without manual code.
+- **Flexible YAML Configuration**
+  Fine-tune QoS, network filters, topic allow-listing/deny-listing and discovery via a human-readable YAML file.
+- **Dynamic Types via XTypes**
+Leverage [OMG DDS-XTypes 1.3](https://www.omg.org/spec/DDS-XTypes/1.3) and Fast DDS serialization utilities for runtime type registration and discovery.
+- **Core Engine Powered by DDS-Pipe**
+  Built on [eProsima DDS Pipe](https://github.com/eProsima/DDS-Pipe), ensuring low-latency, high-throughput payload forwarding and reliable discovery across distributed systems.
+- **Serialization Utilities**
+  Convert DDS data to JSON and vice versa for REST integration and to human-readable IDL.
+- **Bidirectional FIWARE Integration**
+  Routes DDS samples to NGSI-LD Context Brokers and injects context updates back into DDS topics.
+
+## Commercial support
+
+Looking for commercial support? Write us to info@eprosima.com
+
+Find more about us at [eProsima’s webpage](https://eprosima.com/).
+
+## Documentation
+
+Explore the full user and developer guide hosted on ReadTheDocs:
+
+- [Introduction](https://dds-enabler.readthedocs.io/en/latest/rst/02-formalia/titlepage.html)
+- [Project Overview](https://dds-enabler.readthedocs.io/en/latest/rst/getting_started/project_overview.html)
+- [User Manual](https://dds-enabler.readthedocs.io/en/latest/rst/user_manual/context_broker_interface.html)
+- [API Reference](https://dds-enabler.readthedocs.io/en/latest/rst/ddsenabler/api_reference/api_reference.html)
diff --git a/ddsenabler/CMakeLists.txt b/ddsenabler/CMakeLists.txt
@@ -95,4 +95,3 @@ endif()
 # Install package
 eprosima_packaging()
 
-
diff --git a/ddsenabler/project_settings.cmake b/ddsenabler/project_settings.cmake
@@ -19,6 +19,9 @@
 set(MODULE_NAME
     ddsenabler)
 
+set(MODULE_NAME_LARGE
+    "eProsima DDS Enabler Library")
+
 set(MODULE_SUMMARY
     "C++ application to run a DDS Enabler from a YAML configuration file.")
 

diff --git a/ddsenabler_docs/CMakeLists.txt b/ddsenabler_docs/CMakeLists.txt
@@ -0,0 +1,160 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.20)
+
+# Done this to set machine architecture and be able to call cmake_utils
+enable_language(CXX)
+
+###############################################################################
+# Find package cmake_utils
+###############################################################################
+# Package cmake_utils is required to get every cmake macro needed
+find_package(cmake_utils REQUIRED)
+
+###############################################################################
+# Project
+###############################################################################
+# Configure project by info set in project_settings.cmake
+# - Load project_settings variables
+# - Read version
+# - Set installation paths
+configure_project()
+
+# Call explicitly project
+project(
+    ${MODULE_NAME}
+    VERSION
+        ${MODULE_VERSION}
+    DESCRIPTION
+        ${MODULE_DESCRIPTION}
+)
+
+
+####################################################################################################
+# Build Doxygen documentation
+####################################################################################################
+if (BUILD_DOCS)
+    find_package(ddsenabler REQUIRED)
+    get_target_property(ENABLER_INCLUDE_DIR ddsenabler INTERFACE_INCLUDE_DIRECTORIES)
+
+    find_package(ddsenabler_participants REQUIRED)
+    get_target_property(PARTICIPANTS_INCLUDE_DIR ddsenabler_participants INTERFACE_INCLUDE_DIRECTORIES)
+
+    message(STATUS "DDS Enabler include directories: ${ENABLER_INCLUDE_DIR} ; ${PARTICIPANTS_INCLUDE_DIR}")
+    set(SRC_FILE "${PARTICIPANTS_INCLUDE_DIR}/ddsenabler_participants/CBCallbacks.hpp")
+    set(DST_DIR "${ENABLER_INCLUDE_DIR}/ddsenabler")
+    file(COPY ${SRC_FILE} DESTINATION ${DST_DIR})
+    # Collect all public headers
+    file(GLOB_RECURSE HPP_FILES
+        "${ENABLER_INCLUDE_DIR}/ddsenabler/**/*.h*"
+    )
+
+    find_package(Doxygen REQUIRED)
+    # Create doxygen directories
+    add_custom_target(doc-dirs
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/doxygen
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/html
+        COMMAND ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/html/doxygen
+        COMMENT "Creating documentation directories" VERBATIM)
+
+    # Doxygen related variables
+    set(DOXYGEN_INPUT_DIR
+        "${ENABLER_INCLUDE_DIR}/ddsenabler"
+    )
+    # convert CMake list (;) to space-separated for Doxygen
+    string(REPLACE ";" " " DOXYGEN_INPUT_DIR "${DOXYGEN_INPUT_DIR}")
+
+    set(DOXYGEN_OUTPUT_DIR "${PROJECT_BINARY_DIR}/doxygen")
+    set(DOXYGEN_INDEX_FILE "${PROJECT_BINARY_DIR}/doxygen/xml/index.xml")
+    set(DOXYFILE_IN "${CMAKE_CURRENT_SOURCE_DIR}/code/Doxyfile.in")
+    set(DOXYFILE_OUT ${PROJECT_BINARY_DIR}/Doxyfile)
+
+    # Configure doxygen
+    configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+    # Doxygen command
+    add_custom_command(OUTPUT ${DOXYGEN_INDEX_FILE}
+        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+        DEPENDS ${HPP_FILES}
+        MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+        COMMENT "Generating doxygen documentation")
+
+    # Generate API reference
+    add_custom_target(doxygen ALL
+        DEPENDS ${DOXYGEN_INDEX_FILE}
+        COMMENT "Generated API documentation with doxygen" VERBATIM)
+    add_dependencies(doxygen doc-dirs)
+
+    # Install doxygen generated XML files
+    install(DIRECTORY ${PROJECT_BINARY_DIR}/doxygen/xml
+        DESTINATION doxygen)
+
+
+    ####################################################################################################
+    # Find Sphinx
+    ####################################################################################################
+    set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/code/cmake" ${CMAKE_MODULE_PATH})
+    find_package(Sphinx REQUIRED)
+
+    ####################################################################################################
+    # Build Sphinx documentation
+    ####################################################################################################
+    # It is possible to build and run tests without generating the documentation output. This saves time
+    # while developing, since generating the documentation from the RSTs takes quite some time.
+    set(SPHINX_SOURCE "${CMAKE_SOURCE_DIR}/docs")
+
+    # CMake project always build the documentaion using HTML builder. Users can always build with
+    # other builders using sphinx directly
+    set(DDSENABLER_DOCS_BUILDER html)
+
+    # Generate the sphinx documentation
+    add_custom_target(Sphinx ALL
+        COMMAND
+        ${SPHINX_EXECUTABLE}
+        $<$<BOOL:${CMAKE_COMPILE_WARNING_AS_ERROR}>:-W>
+        -b ${DDSENABLER_DOCS_BUILDER}
+        # Tell Breathe where to find the Doxygen output
+        -D breathe_projects.DDSEnabler=${DOXYGEN_OUTPUT_DIR}/xml
+        -d "${PROJECT_BINARY_DIR}/doctrees"
+        ${SPHINX_SOURCE}
+        ${PROJECT_BINARY_DIR}/${DDSENABLER_DOCS_BUILDER}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        DEPENDS doxygen
+        COMMENT "Generating documentation with Sphinx")
+
+    # Install the generated docs
+    install(DIRECTORY ${PROJECT_BINARY_DIR}/${DDSENABLER_DOCS_BUILDER}
+        DESTINATION .
+        COMPONENT ${DDSENABLER_DOCS_BUILDER}
+        PATTERN ".buildinfo" EXCLUDE)
+    set(CPACK_COMPONENT_EXAMPLES_DISPLAY_NAME "DDS Enabler docs ${DDSENABLER_DOCS_BUILDER}")
+    set(CPACK_COMPONENT_EXAMPLES_DESCRIPTION
+        "eProsima DDS Enabler documetation in ${DDSENABLER_DOCS_BUILDER} format")
+    set(CPACK_COMPONENTS_ALL ${CPACK_COMPONENTS_ALL} ${DDSENABLER_DOCS_BUILDER})
+endif()
+
+###############################################################################
+# Test
+###############################################################################
+# Compile tests if CMake options requires it
+compile_test_documentation(
+    "${PROJECT_SOURCE_DIR}/test" # Test directory
+)
+
+###############################################################################
+# Packaging
+###############################################################################
+# Install package
+eprosima_packaging()
diff --git a/ddsenabler_docs/README.md b/ddsenabler_docs/README.md
@@ -0,0 +1,59 @@
+# eProsima DDS Enabler docs
+
+This package generates the DDS Enabler documentation.
+[Here](https://eprosima-dds-enabler.readthedocs.io/en/latest/) it can be seen the online documentation hosted in
+[readthedocs](https://readthedocs.org/).
+This packages is powered by [sphinx](https://www.sphinx-doc.org/en/master/).
+
+---
+
+## Documentation generation
+
+### Dependencies
+
+Before being able to build the documentation, some dependencies need to be installed:
+
+```bash
+sudo apt update
+sudo apt install -y \
+    doxygen \
+    python3 \
+    python3-pip \
+    python3-venv \
+    python3-sphinxcontrib.spelling \
+    imagemagick
+pip3 install -U -r src/ddsenabler/docs/requirements.txt
+```
+
+### Build documentation
+
+In order to install this package independently, use the following command:
+
+```bash
+colcon build --packages-select ddsenabler_docs
+```
+
+To generate the documentation locally, build the docs package with the docs flag enabled: `BUILD_DOCS`
+
+```bash
+colcon build --packages-select ddsenabler_docs --cmake-args -DBUILD_DOCS=ON
+```
+
+Once the build completes, the generated HTML files can be found under `build/ddsenabler_docs/html`
+
+
+In order to compile and execute the package **tests**, a specific CMake option is required: `BUILD_DOCS_TESTS`.
+
+```bash
+colcon build --packages-select ddsenabler_docs --cmake-args -DBUILD_DOCS_TESTS=ON
+colcon test --packages-select ddsenabler_docs --event-handler console_direct+
+```
+
+---
+
+## Library documentation
+
+This documentation is focused on the user manual for installing and working with DDS Enabler.
+To learn about the repository structure, design decisions, development guidelines, etc.,
+each package is documented separately and the source code is commented using Doxygen format.
+In directory `.dev` there is a generic `README.md` with the main information needed by a developer.
diff --git a/ddsenabler_docs/code/CMakeLists.txt b/ddsenabler_docs/code/CMakeLists.txt
@@ -0,0 +1 @@
+cmake_minimum_required(VERSION 3.20)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -95,4 +95,3 @@ endif()
		# Install package
		eprosima_packaging()