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Further isolate attributes/QoS and properties configuration #156

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Merged
emiliocuestaf merged 1 commit into from
Jul 17, 2025
Merged

Further isolate attributes/QoS and properties configuration #156

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8 changes: 4 additions & 4 deletions ddspipe_participants/include/ddspipe_participants/participant/dds/CommonParticipant.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -199,13 +199,13 @@ class CommonParticipant : public core::IParticipant
DDSPIPE_PARTICIPANTS_DllAPI
virtual
fastdds::dds::DomainParticipantQos
add_qos_properties_(
fastdds::dds::DomainParticipantQos& qos) const;
reckon_participant_qos_() const;
Comment thread
emiliocuestaf marked this conversation as resolved.

DDSPIPE_PARTICIPANTS_DllAPI
virtual
fastdds::dds::DomainParticipantQos
reckon_participant_qos_() const;
void
add_qos_properties_(
fastdds::dds::DomainParticipantQos& qos) const;
Comment thread
emiliocuestaf marked this conversation as resolved.

DDSPIPE_PARTICIPANTS_DllAPI
virtual
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1 change: 1 addition & 0 deletions ddspipe_participants/include/ddspipe_participants/participant/dds/XmlParticipant.hpp
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Expand Up @@ -60,6 +60,7 @@ class XmlParticipant
// INTERNAL METHODS
/////////////////////////

DDSPIPE_PARTICIPANTS_DllAPI
virtual
fastdds::dds::DomainParticipantQos
reckon_participant_qos_() const override;
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10 changes: 5 additions & 5 deletions ddspipe_participants/include/ddspipe_participants/participant/rtps/CommonParticipant.hpp
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Expand Up @@ -227,19 +227,19 @@ class CommonParticipant
// RTPS specific methods

/**
* @brief Virtual method that sets the common properties of std attributes for a Participant.
* @brief Virtual method that gives the std attributes for a Participant.
*
*/
DDSPIPE_PARTICIPANTS_DllAPI
virtual fastdds::rtps::RTPSParticipantAttributes add_participant_att_properties_(
fastdds::rtps::RTPSParticipantAttributes& params) const;
virtual fastdds::rtps::RTPSParticipantAttributes reckon_participant_attributes_() const;

/**
* @brief Virtual method that gives the std attributes for a Participant.
* @brief Virtual method that sets the common properties of std attributes for a Participant.
*
*/
DDSPIPE_PARTICIPANTS_DllAPI
virtual fastdds::rtps::RTPSParticipantAttributes reckon_participant_attributes_() const;
virtual void add_participant_att_properties_(
fastdds::rtps::RTPSParticipantAttributes& params) const;

/**
* @brief Virtual method that creates a listener for the internal RTPS Participant.
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31 changes: 17 additions & 14 deletions ddspipe_participants/src/cpp/participant/dds/CommonParticipant.cpp
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Expand Up @@ -374,10 +374,21 @@ std::unique_ptr<fastdds::dds::DomainParticipantListener> CommonParticipant::crea
return std::make_unique<DdsListener>(configuration_, discovery_database_);
}

fastdds::dds::DomainParticipantQos CommonParticipant::add_qos_properties_(
fastdds::dds::DomainParticipantQos CommonParticipant::reckon_participant_qos_() const
{
// Get default DomainParticipantQos
auto qos = fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();

// Set participant name
qos.name(configuration_->id);

return qos;
}

void CommonParticipant::add_qos_properties_(
fastdds::dds::DomainParticipantQos& qos) const
{
// Enforce ignore local endpoints on XML participants
// Ignore the local endpoints so that the reader and writer of the same participant don't match.
qos.properties().properties().emplace_back(
"fastdds.ignore_local_endpoints",
"true");
Expand All @@ -391,17 +402,6 @@ fastdds::dds::DomainParticipantQos CommonParticipant::add_qos_properties_(
"fastdds.application.metadata",
configuration_->app_metadata,
"true");

return qos;
}

fastdds::dds::DomainParticipantQos CommonParticipant::reckon_participant_qos_() const
{
auto qos = fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos();

add_qos_properties_(qos);

return qos;
}

fastdds::dds::DomainParticipant* CommonParticipant::create_dds_participant_()
Expand All @@ -421,9 +421,12 @@ fastdds::dds::DomainParticipant* CommonParticipant::create_dds_participant_()
EPROSIMA_LOG_WARNING(DDSPIPE_DDS_PARTICIPANT, "Error creating DDS Participant Listener.");
}

auto qos = reckon_participant_qos_();
add_qos_properties_(qos);

return eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_participant(
configuration_->domain,
reckon_participant_qos_(),
qos,
dds_participant_listener_.get(),
mask);
}
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3 changes: 0 additions & 3 deletions ddspipe_participants/src/cpp/participant/dds/XmlParticipant.cpp
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Expand Up @@ -104,9 +104,6 @@ fastdds::dds::DomainParticipantQos XmlParticipant::reckon_participant_qos_() con
}
}

// Set qos properties
add_qos_properties_(qos);

return qos;
}

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27 changes: 12 additions & 15 deletions ddspipe_participants/src/cpp/participant/rtps/CommonParticipant.cpp
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Expand Up @@ -74,6 +74,7 @@ CommonParticipant::~CommonParticipant()
void CommonParticipant::init()
{
participant_attributes_ = reckon_participant_attributes_();
add_participant_att_properties_(participant_attributes_);
create_participant_(
domain_id_,
participant_attributes_);
Expand Down Expand Up @@ -482,6 +483,17 @@ std::shared_ptr<core::IReader> CommonParticipant::create_reader(
}

fastdds::rtps::RTPSParticipantAttributes
CommonParticipant::reckon_participant_attributes_() const
{
fastdds::rtps::RTPSParticipantAttributes params;

// Add Participant name
params.setName(configuration_->id.c_str());

return params;
}

void
CommonParticipant::add_participant_att_properties_(
fastdds::rtps::RTPSParticipantAttributes& params) const
{
Expand All @@ -499,21 +511,6 @@ CommonParticipant::add_participant_att_properties_(
"fastdds.application.metadata",
configuration_->app_metadata,
"true");

return params;
}

fastdds::rtps::RTPSParticipantAttributes
CommonParticipant::reckon_participant_attributes_() const
{
fastdds::rtps::RTPSParticipantAttributes params;

// Add Participant name
params.setName(configuration_->id.c_str());

add_participant_att_properties_(params);

return params;
}

std::unique_ptr<fastdds::rtps::RTPSParticipantListener>
Expand Down