eProsima
diff --git a/‎src/main/java/com/eprosima/fastcdr/idl/templates/FastCdrCommon.stg‎
Lines changed: 32 additions & 0 deletions b/‎src/main/java/com/eprosima/fastcdr/idl/templates/FastCdrCommon.stg‎
Lines changed: 32 additions & 0 deletions
diff --git a/‎src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg‎
Lines changed: 96 additions & 1 deletion b/‎src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg‎
Lines changed: 96 additions & 1 deletion
diff --git a/‎src/main/java/com/eprosima/fastdds/fastddsgen.java‎
Lines changed: 58 additions & 9 deletions b/‎src/main/java/com/eprosima/fastdds/fastddsgen.java‎
Lines changed: 58 additions & 9 deletions
diff --git a/‎src/main/java/com/eprosima/fastdds/idl/grammar/Annotation.java‎
Lines changed: 27 additions & 0 deletions b/‎src/main/java/com/eprosima/fastdds/idl/grammar/Annotation.java‎
Lines changed: 27 additions & 0 deletions
@@ -14,6 +14,38 @@
 
 group FastCdrCommon;
 
+paramRetType(typecode) ::= <%
+$if(typecode)$
+$typecode.cppTypename$
+$else$
+void
+$endif$
+%>
+
+paramTypeByRef(typecode) ::= <%
+$typecode.cppTypename$&
+%>
+
+paramTypeByValue(typecode, feed, is_server) ::= <%
+$if(feed)$
+$if(is_server)$
+eprosima::fastdds::dds::rpc::RpcServerReader<$typecode.cppTypename$>&
+$else$
+std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$typecode.cppTypename$>>&
+$endif$
+$else$
+$if(typecode.primitive)$
+$typecode.cppTypename$
+$else$
+const $typecode.cppTypename$&
+$endif$
+$endif$
+%>
+
+paramDeclarations(params, initialSeparator="") ::= <<
+$if(params)$$initialSeparator$$endif$$params : {param | /*$param.comment$*/ $if(param.output)$$paramTypeByRef(typecode=param.typecode)$$else$$paramTypeByValue(typecode=param.typecode, feed=param.annotationFeed, is_server=false)$$endif$ $param.name$}; anchor, separator=",\n"$
+>>
+
 object_serialization(ctx, object) ::= <<
 scdr << eprosima::fastcdr::MemberId($object.id$) << $object.name$();
 >>
 
@@ -33,6 +33,9 @@ $endif$
 $if(ctx.thereIsMap)$
 #include <map>
 $endif$
+$if(ctx.thereIsInputFeed || ctx.thereIsOutputFeed)$
+#include <memory>
+$endif$
 $if(ctx.thereIsString)$
 #include <string>
 $endif$
@@ -54,6 +57,19 @@ $if(ctx.thereIsUnion)$
 #include <fastcdr/exceptions/BadParamException.h>
 $endif$
 
+$if(ctx.thereIsException)$
+#include <fastdds/dds/rpc/exceptions/RpcOperationError.hpp>
+$endif$
+$if(ctx.thereIsOutputFeed)$
+#include <fastdds/dds/rpc/interfaces/RpcClientReader.hpp>
+$endif$
+$if(ctx.thereIsInputFeed)$
+#include <fastdds/dds/rpc/interfaces/RpcClientWriter.hpp>
+$endif$
+$if(ctx.thereIsNonFeedOperation)$
+#include <fastdds/dds/rpc/interfaces/RpcFuture.hpp>
+$endif$
+
 $ctx.directIncludeDependencies : {include | #include "$include$.hpp"}; separator="\n"$
 
 #if defined(_WIN32)
@@ -108,19 +124,90 @@ namespace $annotation.name$ {
 $endif$
 >>
 
+exception(ctx, parent, exception, extensions) ::= <<
+/*!
+ * @brief This class implements the user exception $exception.scopedname$
+ * @ingroup $ctx.trimfilename$
+ */
+class eProsima_user_DllExport $exception.name$ : public eprosima::fastdds::dds::rpc::RpcOperationError
+{
+public:
+
+    /**
+     * Default constructor.
+     */
+    $exception.name$()
+        : $exception.name$("$exception.name$")
+    {
+    }
+
+    /**
+     * Constructor.
+     */
+    $exception.name$(
+            const std::string& message)
+        : eprosima::fastdds::dds::rpc::RpcOperationError(message)
+    {
+    }
+
+    /**
+     * Constructor.
+     */
+    $exception.name$(
+            const char* message)
+        : eprosima::fastdds::dds::rpc::RpcOperationError(message)
+    {
+    }
+
+    /**
+     * Copy constructor.
+     */
+    $exception.name$(
+            const $exception.name$& other) noexcept = default;
+
+    /**
+     * Copy assignment.
+     */
+    $exception.name$& operator =(
+            const $exception.name$& other) noexcept = default;
+
+    /**
+     * Destructor.
+     */
+    virtual ~$exception.name$() noexcept = default;
+
+    $exception.members:{ member | $public_member_declaration(member)$}; separator="\n"$
+
+    $extensions : { extension | $extension$}; separator="\n"$
+
+private:
+
+    $exception.members:{ member | $private_member_declaration(member=member)$}; separator="\n"$
+
+};
+
+>>
+
 interface(ctx, parent, interface, export_list) ::= <<
 /*!
  * @brief This class represents the interface $interface.name$ defined by the user in the IDL file.
  * @ingroup $ctx.trimfilename$
  */
-class $ctx.fileNameUpper$_DllAPI $interface.name$ $if(interface.bases)$: $interface.bases : {base |public $base.scopedname$}; separator=", "$$endif$
+class eProsima_user_DllExport $interface.name$ $if(interface.bases)$: $interface.bases : {base |public $base.scopedname$}; separator=", "$$endif$
 {
 public:
+    virtual ~$interface.name$() = default;
 
     $export_list$
 };
 >>
 
+operation(ctx, parent, operation, param_list, operation_type) ::= <<
+virtual $operationRetType(operation)$ $operation.name$(
+        $paramDeclarations(params=operation.parameters)$) = 0;
+
+>>
+
 const_decl(ctx, parent, const, const_type) ::= <<
 $const_type$
 const $const.typeCode.cppTypename$ $const.name$ = $const.value$$const_value_prefix(const)$;
@@ -849,6 +936,14 @@ new(&m_$member.name$) $member_type_declaration(member)$();
 $endif$
 >>
 
+operationRetType(operation) ::= <%
+$if(operation.annotationFeed)$
+std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientReader<$paramRetType(operation.rettype)$> >
+$else$
+eprosima::fastdds::dds::rpc::RpcFuture<$paramRetType(operation.rettype)$>
+$endif$
+%>
+
 //{ Fast DDS-Gen extensions
 module_conversion(ctx, parent, modules, definition_list) ::= <<
 $modules : { module |
 
@@ -802,10 +802,16 @@ private Project parseIDL(
             // Load Types common templates
             if (generate_typesupport_)
             {
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/InterfaceDetails.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg");
                 tmanager.addGroup("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ClientHeader.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ClientSource.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerHeader.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerSource.stg");
+                tmanager.addGroup("com/eprosima/fastdds/idl/templates/ServerImplementation.stg");
 
                 if (generate_typeobjectsupport_)
                 {
@@ -1014,7 +1020,15 @@ private Project parseIDL(
                         }
                     }
 
-                    if (ctx.isThereIsStructOrUnion())
+                    if (ctx.isThereIsInterface())
+                    {
+                        // Generate Interface details
+                        returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "_details.hpp",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/InterfaceDetails.stg"), m_replace);
+                    }
+
+                    if (ctx.isThereIsStructOrUnion() || ctx.isThereIsException())
                     {
                         if (returnedValue &=
                                 Utils.writeFile(output_dir + ctx.getFilename() + "CdrAux.hpp",
@@ -1030,16 +1044,13 @@ private Project parseIDL(
                         Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.hpp",
                                 maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg"), m_replace);
                     project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "PubSubTypes.hpp");
-                    if (ctx.existsLastStructure())
+                    if (returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.cxx",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg"), m_replace))
                     {
-                        m_atLeastOneStructure = true;
-                        project.setHasStruct(true);
-
-                        if (returnedValue &=
-                                Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.cxx",
-                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg"), m_replace))
+                        project.addCommonSrcFile(relative_dir + ctx.getFilename() + "PubSubTypes.cxx");
+                        if (ctx.existsLastStructure() || ctx.isThereIsInterface())
                         {
-                            project.addCommonSrcFile(relative_dir + ctx.getFilename() + "PubSubTypes.cxx");
                             if (m_python)
                             {
                                 System.out.println("Generating Swig interface files...");
@@ -1048,6 +1059,44 @@ private Project parseIDL(
                                         maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSwigInterface.stg"), m_replace);
                             }
                         }
+                    }
+
+                    // Generate client code for interfaces
+                    if (ctx.isThereIsInterface())
+                    {
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Client.hpp",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ClientHeader.stg"), m_replace))
+                        {
+                            project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "Client.hpp");
+                        }
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Client.cxx",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ClientSource.stg"), m_replace))
+                        {
+                            project.addCommonSrcFile(relative_dir + ctx.getFilename() + "Client.cxx");
+                        }
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Server.hpp",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerHeader.stg"), m_replace))
+                        {
+                            project.addCommonIncludeFile(relative_dir + ctx.getFilename() + "Server.hpp");
+                        }
+                        if (returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "Server.cxx",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerSource.stg"), m_replace))
+                        {
+                            project.addCommonSrcFile(relative_dir + ctx.getFilename() + "Server.cxx");
+                        }
+                        returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "ServerImpl.hpp",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/ServerImplementation.stg"), m_replace);
+                    }
+
+                    if (ctx.existsLastStructure())
+                    {
+                        m_atLeastOneStructure = true;
+                        project.setHasStruct(true);
 
                         if (m_exampleOption != null)
                         {
 
@@ -0,0 +1,27 @@
+// 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.
+
+package com.eprosima.fastdds.idl.grammar;
+
+import com.eprosima.idl.parser.tree.AnnotationDeclaration;
+
+public class Annotation extends com.eprosima.idl.parser.tree.Annotation
+{
+    public static final String rpc_feed_str = "feed";
+
+    public Annotation(AnnotationDeclaration declaration)
+    {
+        super(declaration);
+    }
+}