[23169] Add WireProtocolConfigQos to optionals serialization and make Monitor Service always serialize optionals

include/fastdds/rtps/attributes/RTPSParticipantAttributes.hpp

@@ -143,6 +143,7 @@ constexpr uint16_t DEFAULT_ROS2_SERVER_PORT = 11811;
 constexpr uint16_t DEFAULT_TCP_SERVER_PORT = 42100;
 
 //! Filtering flags when discovering participants
+FASTDDS_TODO_BEFORE(4, 0, "Change it to uint8_t (implies also changing [de]serializations)");
 enum ParticipantFilteringFlags : uint32_t
 {
     NO_FILTER = 0,

src/cpp/fastdds/core/policy/ParameterSerializer.hpp

@@ -242,7 +242,7 @@ inline bool ParameterSerializer<ParameterLocator_t>::add_content_to_cdr_message(
         const ParameterLocator_t& parameter,
         rtps::CDRMessage_t* cdr_message)
 {
-    return rtps::CDRMessage::addLocator(cdr_message, parameter.locator);
+    return rtps::CDRMessage::add_locator(cdr_message, parameter.locator);
 }
 
 template<>
@@ -256,7 +256,7 @@ inline bool ParameterSerializer<ParameterLocator_t>::read_content_from_cdr_messa
         return false;
     }
     parameter.length = parameter_length;
-    return rtps::CDRMessage::readLocator(cdr_message, &parameter.locator);
+    return rtps::CDRMessage::read_locator(cdr_message, &parameter.locator);
 }
 
 template<>
@@ -324,7 +324,7 @@ inline bool ParameterSerializer<ParameterString_t>::read_content_from_cdr_messag
 
     parameter.length = parameter_length;
     fastcdr::string_255 aux;
-    bool valid = rtps::CDRMessage::readString(cdr_message, &aux);
+    bool valid = rtps::CDRMessage::read_string(cdr_message, &aux);
     parameter.setName(aux.c_str());
     return valid;
 }
@@ -963,7 +963,7 @@ class ParameterSerializer<rtps::ContentFilterProperty>
             }
             if (valid)
             {
-                valid = rtps::CDRMessage::readString(cdr_message, &parameter.filter_expression) &&
+                valid = rtps::CDRMessage::read_string(cdr_message, &parameter.filter_expression) &&
                         (0 < parameter.filter_expression.size());
             }
 

src/cpp/rtps/builtin/data/ParticipantProxyData.cpp

@@ -102,6 +102,7 @@ ParticipantProxyData::ParticipantProxyData(
     , m_writers(nullptr)
     , m_sample_identity(pdata.m_sample_identity)
     , lease_duration_(pdata.lease_duration_)
+    , m_should_send_optional_qos(pdata.m_should_send_optional_qos)
 {
 }
 
@@ -138,7 +139,8 @@ ParticipantProxyData::~ParticipantProxyData()
 }
 
 uint32_t ParticipantProxyData::get_serialized_size(
-        bool include_encapsulation) const
+        bool include_encapsulation,
+        bool force_including_optional_qos) const
 {
     uint32_t ret_val = include_encapsulation ? 4 : 0;
 
@@ -239,13 +241,23 @@ uint32_t ParticipantProxyData::get_serialized_size(
     }
 #endif // if HAVE_SECURITY
 
+    if (force_including_optional_qos || should_send_optional_qos())
+    {
+        // No need for QosPoliciesSerializer::should_be_sent since it is always different from the default.
+        // For instance, the locator lists.
+
+        // PID_WIREPROTOCOL_CONFIG
+        ret_val += fastdds::dds::QosPoliciesSerializer<dds::WireProtocolConfigQos>::cdr_serialized_size(
+            wire_protocol.value());
+    }
     // PID_SENTINEL
     return ret_val + 4;
 }
 
 bool ParticipantProxyData::write_to_cdr_message(
         CDRMessage_t* msg,
-        bool write_encapsulation)
+        bool write_encapsulation,
+        bool force_write_optional_qos)
 {
     if (write_encapsulation)
     {
@@ -447,6 +459,19 @@ bool ParticipantProxyData::write_to_cdr_message(
     }
 #endif // if HAVE_SECURITY
 
+    // serialize optional QoS if present
+    if (force_write_optional_qos || should_send_optional_qos())
+    {
+        // No need for QosPoliciesSerializer::should_be_sent since it is always different from the default.
+        // For instance, the discovery protocol is always different from NONE.
+        if (!fastdds::dds::QosPoliciesSerializer<dds::WireProtocolConfigQos>::add_to_cdr_message(
+                    wire_protocol.value(),
+                    msg))
+        {
+            return false;
+        }
+    }
+
     return fastdds::dds::ParameterSerializer<Parameter_t>::add_parameter_sentinel(msg);
 }
 
@@ -858,6 +883,20 @@ bool ParticipantProxyData::read_from_cdr_message(
 #endif // if HAVE_SECURITY
                         break;
                     }
+                    case fastdds::dds::PID_WIREPROTOCOL_CONFIG:
+                    {
+                        if (!wire_protocol)
+                        {
+                            wire_protocol.reset(true);
+                        }
+
+                        if (!fastdds::dds::QosPoliciesSerializer<dds::WireProtocolConfigQos>::read_from_cdr_message(
+                                    wire_protocol.value(), msg, plength))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
                     default:
                     {
                         break;
@@ -954,6 +993,8 @@ void ParticipantProxyData::copy(
             std::chrono::microseconds(
         fastdds::rtps::TimeConv::Duration_t2MicroSecondsInt64(
             pdata.lease_duration));
+    m_should_send_optional_qos = pdata.m_should_send_optional_qos;
+
     m_key = pdata.m_key;
     is_alive = pdata.is_alive;
     user_data = pdata.user_data;

src/cpp/rtps/builtin/data/ParticipantProxyData.hpp

@@ -122,18 +122,24 @@ class ParticipantProxyData : public ParticipantBuiltinTopicData
     /**
      * Get the size in bytes of the CDR serialization of this object.
      * @param include_encapsulation Whether to include the size of the encapsulation info.
+     * @param force_including_optional_qos Whether to force including of the optional Qos.
      * @return size in bytes of the CDR serialization.
      */
     uint32_t get_serialized_size(
-            bool include_encapsulation) const;
+            bool include_encapsulation,
+            bool force_including_optional_qos = false) const;
 
     /**
      * Write as a parameter list on a CDRMessage_t
+     * @param msg CDRMessage_t to write to
+     * @param write_encapsulation Whether to write the encapsulation info.
+     * @param force_write_optional_qos Whether to write the optional Qos.
      * @return True on success
      */
     bool write_to_cdr_message(
             CDRMessage_t* msg,
-            bool write_encapsulation);
+            bool write_encapsulation,
+            bool force_write_optional_qos = false);
 
     /**
      * Read the parameter list from a received CDRMessage_t
@@ -209,13 +215,33 @@ class ParticipantProxyData : public ParticipantBuiltinTopicData
         return last_received_message_tm_;
     }
 
+    //! Getter for m_should_send_optional_qos.
+    bool should_send_optional_qos() const
+    {
+        return m_should_send_optional_qos;
+    }
+
+    /**
+     * Set whether optional QoS should be serialized and added to Data(p).
+     * @param should_send_optional_qos Boolean indicating whether optional QoS should be serialized
+     *                                 and added to Data(p).
+     */
+    void should_send_optional_qos(
+            bool should_send_optional_qos)
+    {
+        m_should_send_optional_qos = should_send_optional_qos;
+    }
+
 private:
 
     //! Store the last timestamp it was received a RTPS message from the remote participant.
     std::chrono::steady_clock::time_point last_received_message_tm_;
 
     //! Remote participant lease duration in microseconds.
     std::chrono::microseconds lease_duration_;
+
+    //!Whether optional QoS should be serialized and added to Data(p)
+    bool m_should_send_optional_qos{false};
 };
 
 } // namespace rtps

src/cpp/rtps/builtin/data/ReaderProxyData.cpp

@@ -208,7 +208,8 @@ void ReaderProxyData::init(
 }
 
 uint32_t ReaderProxyData::get_serialized_size(
-        bool include_encapsulation) const
+        bool include_encapsulation,
+        bool force_including_optional_qos) const
 {
     uint32_t ret_val = include_encapsulation ? 4 : 0;
 
@@ -370,7 +371,7 @@ uint32_t ReaderProxyData::get_serialized_size(
     }
 
     // Send the optional QoS policies if they are enabled
-    if (should_send_optional_qos())
+    if (force_including_optional_qos || should_send_optional_qos())
     {
         if (dds::QosPoliciesSerializer<dds::ResourceLimitsQosPolicy>::should_be_sent(resource_limits))
         {
@@ -408,7 +409,8 @@ uint32_t ReaderProxyData::get_serialized_size(
 
 bool ReaderProxyData::write_to_cdr_message(
         CDRMessage_t* msg,
-        bool write_encapsulation) const
+        bool write_encapsulation,
+        bool force_write_optional_qos) const
 {
     if (write_encapsulation)
     {
@@ -696,7 +698,7 @@ bool ReaderProxyData::write_to_cdr_message(
     }
 
     // Send the optional QoS policies if they are enabled
-    if (should_send_optional_qos())
+    if (force_write_optional_qos || should_send_optional_qos())
     {
         if (dds::QosPoliciesSerializer<dds::ResourceLimitsQosPolicy>::should_be_sent(resource_limits))
         {

src/cpp/rtps/builtin/data/ReaderProxyData.hpp

@@ -304,18 +304,24 @@ class ReaderProxyData : public SubscriptionBuiltinTopicData
     /**
      * Get the size in bytes of the CDR serialization of this object.
      * @param include_encapsulation Whether to include the size of the encapsulation info.
+     * @param force_including_optional_qos Whether to force including the optional QoS in the size.
      * @return size in bytes of the CDR serialization.
      */
     uint32_t get_serialized_size(
-            bool include_encapsulation) const;
+            bool include_encapsulation,
+            bool force_including_optional_qos = false) const;
 
     /**
      * Write as a parameter list on a CDRMessage_t
+     * @param msg Pointer to the CDRmessage.
+     * @param write_encapsulation Whether to write the encapsulation info.
+     * @param force_write_optional_qos Whether to force writing the optional QoS.
      * @return True on success
      */
     bool write_to_cdr_message(
             CDRMessage_t* msg,
-            bool write_encapsulation) const;
+            bool write_encapsulation,
+            bool force_write_optional_qos = false) const;
 
     /**
      * Read the information from a CDRMessage_t. The position of the message must be in the beginning on the
@@ -442,7 +448,7 @@ class ReaderProxyData : public SubscriptionBuiltinTopicData
     dds::TypeObjectV1* m_type;
 
     //!Whether optional QoS should be serialized and added to Data(r)
-    bool m_should_send_optional_qos;
+    bool m_should_send_optional_qos{false};
 };
 
 } // namespace rtps

src/cpp/rtps/builtin/data/WriterProxyData.cpp

@@ -200,7 +200,8 @@ void WriterProxyData::init(
 }
 
 uint32_t WriterProxyData::get_serialized_size(
-        bool include_encapsulation) const
+        bool include_encapsulation,
+        bool force_including_optional_qos) const
 {
     uint32_t ret_val = include_encapsulation ? 4 : 0;
 
@@ -357,7 +358,7 @@ uint32_t WriterProxyData::get_serialized_size(
     }
 
     // Send the optional QoS policies if they are enabled
-    if (should_send_optional_qos())
+    if (force_including_optional_qos || should_send_optional_qos())
     {
         if (dds::QosPoliciesSerializer<dds::ResourceLimitsQosPolicy>::should_be_sent(resource_limits))
         {
@@ -407,7 +408,8 @@ uint32_t WriterProxyData::get_serialized_size(
 
 bool WriterProxyData::write_to_cdr_message(
         CDRMessage_t* msg,
-        bool write_encapsulation) const
+        bool write_encapsulation,
+        bool force_write_optional_qos) const
 {
     if (write_encapsulation)
     {
@@ -677,8 +679,9 @@ bool WriterProxyData::write_to_cdr_message(
         }
     }
 
-    // Send the optional QoS policies if they are enabled
-    if (should_send_optional_qos())
+    // Send the optional QoS policies if required
+    // Should_send_optional_qos() is true if `fastdds.serialize_optional_qos` property is set to true
+    if (force_write_optional_qos || should_send_optional_qos())
     {
         if (dds::QosPoliciesSerializer<dds::ResourceLimitsQosPolicy>::should_be_sent(resource_limits))
         {

src/cpp/rtps/builtin/data/WriterProxyData.hpp

@@ -329,15 +329,24 @@ class WriterProxyData : public PublicationBuiltinTopicData
     /**
      * Get the size in bytes of the CDR serialization of this object.
      * @param include_encapsulation Whether to include the size of the encapsulation info.
+     * @param force_including_optional_qos Whether to force including the optional QoS in the size.
      * @return size in bytes of the CDR serialization.
      */
     uint32_t get_serialized_size(
-            bool include_encapsulation) const;
+            bool include_encapsulation,
+            bool force_including_optional_qos = false) const;
 
-    //!Write as a parameter list on a CDRMessage_t
+    /**
+     * Write as a parameter list on a CDRMessage_t
+     * @param msg Pointer to the CDRmessage.
+     * @param write_encapsulation Whether to write the encapsulation info.
+     * @param force_write_optional_qos Whether to write the optional QoS.
+     * @return True on success
+     */
     bool write_to_cdr_message(
             CDRMessage_t* msg,
-            bool write_encapsulation) const;
+            bool write_encapsulation,
+            bool force_write_optional_qos = false) const;
 
     /**
      * Read the information from a CDRMessage_t. The position of the message must be in the beginning on the
@@ -438,7 +447,7 @@ class WriterProxyData : public PublicationBuiltinTopicData
     dds::TypeObjectV1* m_type;
 
     //!Whether optional QoS should be serialized and added to Data(r)
-    bool m_should_send_optional_qos;
+    bool m_should_send_optional_qos{false};
 };
 
 } // namespace rtps