Add Topic-Name Profile Lookup for Endpoint Creation (#184)

* Tests for Topic-Name Profile Lookup

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Corrected tests for Profile Lookup

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Features for Topic-Name Profile Lookup

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Corrected Reader/Writer features for Topic Profile Lookup

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* XML override test

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* XML override feature

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Applied Suggestions for Topic Profile lookup on tests

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Applied Suggestions for Topic Profile lookup for feature

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Applied suggestions and refactored to avoid same topic name blocking

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Applied latest suggestions to test negative cases

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Tests to check that a endpoint profile is being overridden by discovered topic Qos

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Fix XML endpoint profile QoS being overridden by discovered topic QoS

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

* Applied suggestions for discovery vs user configured Qos separation

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

---------

Signed-off-by: Zakaria Talbi Lalmi <zakariatalbi@eprosima.com>

Author: ZakariaTalbi

ddspipe_core/include/ddspipe_core/types/dds/TopicQoS.hpp

@@ -144,6 +144,9 @@ TopicQoS
     //! Downsampling factor: keep 1 out of every *downsampling* samples received (downsampling=1 <=> no downsampling)
     utils::Fuzzy<unsigned int> downsampling;
 
+    //! XML profile name to use for endpoint QoS lookup
+    utils::Fuzzy<std::string> endpoint_profile_name;
+
     /////////////////////////
     // GLOBAL VARIABLES
     /////////////////////////

ddspipe_core/include/ddspipe_core/types/topic/dds/DdsTopic.hpp

@@ -90,6 +90,9 @@ struct DdsTopic : public DistributedTopic
 
     //! Type Identifiers: first one is complete and second one minimal
     fastdds::dds::xtypes::TypeIdentifierPair type_identifiers;
+
+    //! The Topic QoS explicitly configured by the user
+    types::TopicQoS user_configured_qos{};
 };
 
 } /* namespace types */

ddspipe_core/src/cpp/communication/dds/DdsBridge.cpp

@@ -16,6 +16,7 @@
 #include <cpp_utils/Log.hpp>
 
 #include <ddspipe_core/communication/dds/DdsBridge.hpp>
+#include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
 
 #include <cpp_utils/utils.hpp>
 
@@ -316,6 +317,10 @@ utils::Heritable<DistributedTopic> DdsBridge::create_topic_for_participant_nts_(
     // A Topic QoS set with fuzzy_level_hard (the highest FuzzyLevel) cannot be overwritten.
     // Thus, the order matters. In this case, manual_topics[0] > manual_topics[1] > participant.
 
+    // If this is a DDS Topic, also track the QoS that comes exclusively from user configuration,
+    // as opposed to topic_qos which also absorbs QoS observed via RTPS discovery of remote endpoints.
+    bool is_dds_topic = topic.can_cast<types::DdsTopic>();
+
     // 1. Manually Configured Topic QoS.
     for (const auto& manual_topic : manual_topics_)
     {
@@ -324,12 +329,24 @@ utils::Heritable<DistributedTopic> DdsBridge::create_topic_for_participant_nts_(
         if (participant_ids.empty() || participant_ids.count(participant->id()))
         {
             topic->topic_qos.set_qos(manual_topic.first->topic_qos, utils::FuzzyLevelValues::fuzzy_level_hard);
+
+            if (is_dds_topic)
+            {
+                topic.dyn_cast<types::DdsTopic>().user_configured_qos.set_qos(
+                    manual_topic.first->topic_qos, utils::FuzzyLevelValues::fuzzy_level_hard);
+            }
         }
     }
 
     // 2. Participant Topic QoS.
     topic->topic_qos.set_qos(participant->topic_qos(), utils::FuzzyLevelValues::fuzzy_level_hard);
 
+    if (is_dds_topic)
+    {
+        topic.dyn_cast<types::DdsTopic>().user_configured_qos.set_qos(
+            participant->topic_qos(), utils::FuzzyLevelValues::fuzzy_level_hard);
+    }
+
     // 3. Partitions Topic
     if (topic->partition_name.size() == 0)
     {

ddspipe_core/src/cpp/types/dds/TopicQoS.cpp

@@ -61,7 +61,8 @@ bool TopicQoS::operator ==(
         this->keyed == other.keyed &&
         this->max_tx_rate == other.max_tx_rate &&
         this->max_rx_rate == other.max_rx_rate &&
-        this->downsampling == other.downsampling;
+        this->downsampling == other.downsampling &&
+        this->endpoint_profile_name == other.endpoint_profile_name;
 }
 
 bool TopicQoS::is_reliable() const noexcept
@@ -132,6 +133,11 @@ void TopicQoS::set_qos(
     {
         downsampling.set_value(qos.downsampling.get_value(), fuzzy_level);
     }
+
+    if (endpoint_profile_name.get_level() < fuzzy_level && qos.endpoint_profile_name.is_set())
+    {
+        endpoint_profile_name.set_value(qos.endpoint_profile_name.get_value(), fuzzy_level);
+    }
 }
 
 void TopicQoS::set_default_qos() noexcept
@@ -259,6 +265,8 @@ std::ostream& operator <<(
        << ";max_tx_rate(" << qos.max_tx_rate << ")"
        << ";max_rx_rate(" << qos.max_rx_rate << ")"
        << ";downsampling(" << qos.downsampling << ")"
+       << (qos.endpoint_profile_name.is_set() ? ";endpoint_profile_name(" + qos.endpoint_profile_name.get_value() +
+    ")" : "")
        << "}";
 
     return os;

ddspipe_core/src/cpp/types/topic/dds/DdsTopic.cpp

@@ -56,8 +56,8 @@ std::string DdsTopic::topic_unique_name() const noexcept
 std::string DdsTopic::serialize() const noexcept
 {
     std::stringstream ss;
-    ss << "Topic{" << m_topic_name << ";" << type_name << ";" << topic_qos << "(" << m_internal_type_discriminator <<
-        ")}";
+    ss << "Topic{" << m_topic_name << ";" << type_name << ";" << topic_qos << "(" << m_internal_type_discriminator
+       << ")}";
     return ss.str();
 }
 
@@ -122,6 +122,7 @@ DdsTopic& DdsTopic::operator = (
 
     this->type_name = other.type_name;
     this->type_identifiers = other.type_identifiers;
+    this->user_configured_qos = other.user_configured_qos;
 
     return *this;
 }

ddspipe_participants/include/ddspipe_participants/configuration/XmlParticipantConfiguration.hpp

@@ -23,6 +23,12 @@ namespace eprosima {
 namespace ddspipe {
 namespace participants {
 
+enum class EndpointQoSMode
+{
+    XML_STANDALONE,    //! XML profile is selected
+    XML_OVERRIDABLE,   //! YAML QoS overrides XML
+};
+
 /**
  * This data struct represents a configuration for a Participant loaded from an XML profile.
  */
@@ -49,6 +55,8 @@ struct XmlParticipantConfiguration : public SimpleParticipantConfiguration
     /////////////////////////
 
     utils::Fuzzy<std::string> participant_profile {};
+
+    EndpointQoSMode endpoint_qos_mode {EndpointQoSMode::XML_OVERRIDABLE};
 };
 
 } /* namespace participants */

ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp

@@ -250,6 +250,20 @@ class CommonParticipant : public core::IParticipant
     // INTERNAL VIRTUAL METHODS
     /////////////////////////
 
+    //! Whether the user's (YAML) QoS overrides the QoS from a matching XML endpoint profile
+    DDSPIPE_PARTICIPANTS_DllAPI
+    virtual bool endpoint_qos_mode_() const noexcept
+    {
+        return false;
+    }
+
+    //! Whether XML endpoint profile lookup is enabled. Disabled by default for plain (non-XML) participants.
+    DDSPIPE_PARTICIPANTS_DllAPI
+    virtual bool xml_lookup_enabled_() const noexcept
+    {
+        return false;
+    }
+
     DDSPIPE_PARTICIPANTS_DllAPI
     virtual
     fastdds::dds::DomainParticipantQos

ddspipe_participants/include/ddspipe_participants/participant/dds/XmlParticipant.hpp

@@ -60,6 +60,13 @@ class XmlParticipant
     // INTERNAL METHODS
     /////////////////////////
 
+    //! Whether the user's (YAML) QoS overrides the QoS from a matching XML endpoint profile
+    DDSPIPE_PARTICIPANTS_DllAPI
+    virtual bool endpoint_qos_mode_() const noexcept override;
+
+    DDSPIPE_PARTICIPANTS_DllAPI
+    virtual bool xml_lookup_enabled_() const noexcept override;
+
     DDSPIPE_PARTICIPANTS_DllAPI
     virtual
     fastdds::dds::DomainParticipantQos

ddspipe_participants/include/ddspipe_participants/reader/dds/CommonReader.hpp

@@ -120,7 +120,9 @@ class CommonReader : public BaseReader, public fastdds::dds::DataReaderListener,
             const core::types::DdsTopic& topic,
             const std::shared_ptr<core::PayloadPool>& payload_pool,
             fastdds::dds::DomainParticipant* participant,
-            fastdds::dds::Topic* topic_entity);
+            fastdds::dds::Topic* topic_entity,
+            const bool yaml_qos_override = true,
+            const bool xml_lookup_enabled = false);
 
     // Specific enable/disable do not need to be implemented
 
@@ -177,6 +179,8 @@ class CommonReader : public BaseReader, public fastdds::dds::DataReaderListener,
 
     fastdds::dds::DomainParticipant* dds_participant_;
     fastdds::dds::Topic* dds_topic_;
+    bool yaml_qos_override_;
+    bool xml_lookup_enabled_;
 
     /////////////////////////
     // INTERNAL VARIABLES

ddspipe_participants/include/ddspipe_participants/reader/dds/SimpleReader.hpp

@@ -48,7 +48,9 @@ class SimpleReader : public CommonReader
             const core::types::DdsTopic& topic,
             const std::shared_ptr<core::PayloadPool>& payload_pool,
             fastdds::dds::DomainParticipant* participant,
-            fastdds::dds::Topic* topic_entity);
+            fastdds::dds::Topic* topic_entity,
+            const bool yaml_qos_override = true,
+            const bool xml_lookup_enabled = false);
 };
 
 } /* namespace dds */