Binary DomainParticipant

Update

include/uxr/agent/middleware/Middleware.hpp

@@ -16,6 +16,7 @@
 #define UXR_AGENT_MIDDLEWARE_MIDDLEWARE_HPP_
 
 #include <uxr/agent/config.hpp>
+#include <uxr/agent/types/XRCETypes.hpp>
 
 #include <string>
 #include <cstdint>
@@ -64,6 +65,10 @@ class Middleware
             int16_t domain_id,
             const std::string& xml) = 0;
 
+    virtual bool create_participant_by_bin(
+            uint16_t participant_id,
+            const dds::xrce::OBJK_DomainParticipant_Binary participant_xrce) = 0;
+
     virtual bool create_topic_by_ref(
             uint16_t topic_id,
             uint16_t participant_id,

include/uxr/agent/middleware/ced/CedMiddleware.hpp

@@ -63,6 +63,10 @@ class CedMiddleware : public Middleware
             int16_t domain_id,
             const std::string&) override;
 
+    bool create_participant_by_bin(
+            uint16_t participant_id,
+            const dds::xrce::OBJK_DomainParticipant_Binary participant_xrce) override;
+
     /**
      * @startuml
      * !include agent/middleware/ced/create_topic.puml!0

include/uxr/agent/middleware/fast/FastMiddleware.hpp

@@ -50,6 +50,10 @@ class FastMiddleware : public Middleware
             int16_t domain_id,
             const std::string& xml) override;
 
+    bool create_participant_by_bin(
+            uint16_t participant_id,
+            const dds::xrce::OBJK_DomainParticipant_Binary participant_xrce) override;
+
     bool create_topic_by_ref(
             uint16_t topic_id,
             uint16_t participant_id,

include/uxr/agent/middleware/fastdds/FastDDSEntities.hpp

@@ -51,6 +51,7 @@ class FastDDSParticipant
 
     bool create_by_ref(const std::string& ref);
     bool create_by_xml(const std::string& xml);
+    bool create_by_bin(const dds::xrce::OBJK_DomainParticipant_Binary participant_xrce);
     bool match_from_ref(const std::string& ref) const;
     bool match_from_xml(const std::string& xml) const;
 

include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp

@@ -48,6 +48,10 @@ class FastDDSMiddleware : public Middleware
             int16_t domain_id,
             const std::string& xml) override;
 
+    bool create_participant_by_bin(
+            uint16_t participant_id,
+            const dds::xrce::OBJK_DomainParticipant_Binary participant_xrce);
+
     bool create_topic_by_ref(
             uint16_t topic_id,
             uint16_t participant_id,

include/uxr/agent/types/XRCETypes.hpp

@@ -3743,7 +3743,7 @@ class OBJK_DomainParticipant_Binary
      */
     inline const std::string& domain_referente() const
     {
-        return m_domain_referente;
+        return *m_domain_referente;
     }
 
     /*!
@@ -3752,7 +3752,7 @@ class OBJK_DomainParticipant_Binary
      */
     inline std::string& domain_referente()
     {
-        return m_domain_referente;
+        return *m_domain_referente;
     }
     /*!
      * @brief This function copies the value in member qos_profile
@@ -3778,7 +3778,7 @@ class OBJK_DomainParticipant_Binary
      */
     inline const std::string& qos_profile() const
     {
-        return m_qos_profile;
+        return *m_qos_profile;
     }
 
     /*!
@@ -3787,7 +3787,7 @@ class OBJK_DomainParticipant_Binary
      */
     inline std::string& qos_profile()
     {
-        return m_qos_profile;
+        return *m_qos_profile;
     }
 
     /*!
@@ -3820,8 +3820,8 @@ class OBJK_DomainParticipant_Binary
 
 private:
     int32_t m_domain_id;
-    std::string m_domain_referente;
-    std::string m_qos_profile;
+    eprosima::Optional<std::string> m_domain_referente;
+    eprosima::Optional<std::string> m_qos_profile;
 };
 /*!
  * @brief This class represents the structure OBJK_Topic_Binary defined by the user in the IDL file.

src/cpp/middleware/ced/CedMiddleware.cpp

@@ -92,6 +92,13 @@ bool CedMiddleware::create_participant_by_xml(
     return create_participant_by_ref(participant_id, domain_id, xml);
 }
 
+bool CedMiddleware::create_participant_by_bin(
+        uint16_t /*participant_id*/,
+        dds::xrce::OBJK_DomainParticipant_Binary /*participant*/)
+{
+    return false;
+}
+
 static
 std::shared_ptr<CedTopic> create_topic(
         std::shared_ptr<CedParticipant>& participant,

src/cpp/middleware/fast/FastMiddleware.cpp

@@ -93,6 +93,13 @@ bool FastMiddleware::create_participant_by_xml(
     return rv;
 }
 
+bool FastMiddleware::create_participant_by_bin(
+        uint16_t /*participant_id*/,
+        dds::xrce::OBJK_DomainParticipant_Binary /*participant*/)
+{
+    return false;
+}
+
 static
 std::shared_ptr<FastTopic> create_topic(
         std::shared_ptr<FastParticipant>& participant,

src/cpp/middleware/fastdds/FastDDSEntities.cpp

@@ -178,6 +178,19 @@ bool FastDDSParticipant::create_by_xml(
     return rv;
 }
 
+bool FastDDSParticipant::create_by_bin(
+        const dds::xrce::OBJK_DomainParticipant_Binary /*participant_xrce*/)
+{
+    bool rv = false;
+    if (nullptr == ptr_)
+    {
+        fastdds::dds::DomainParticipantQos qos;
+        ptr_ = factory_->create_participant(domain_id_, qos);
+        rv = (nullptr != ptr_);
+    }
+    return rv;
+}
+
 bool FastDDSParticipant::match_from_ref(
         const std::string& ref) const
 {

src/cpp/middleware/fastdds/FastDDSMiddleware.cpp

@@ -97,6 +97,26 @@ bool FastDDSMiddleware::create_participant_by_xml(
     return rv;
 }
 
+bool FastDDSMiddleware::create_participant_by_bin(
+        uint16_t participant_id,
+        dds::xrce::OBJK_DomainParticipant_Binary participant_xrce)
+{
+    bool rv = false;
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_xrce.domain_id()));
+    if (participant->create_by_bin(participant_xrce))
+    {
+        auto emplace_res = participants_.emplace(participant_id, std::move(participant));
+        rv = emplace_res.second;
+        if (rv)
+        {
+            callback_factory_.execute_callbacks(Middleware::Kind::FASTDDS,
+                middleware::CallbackKind::CREATE_PARTICIPANT,
+                **(emplace_res.first->second));
+        }
+    }
+    return rv;
+}
+
 static
 std::shared_ptr<FastDDSTopic> create_topic(
         std::shared_ptr<FastDDSParticipant>& participant,

src/cpp/participant/Participant.cpp

@@ -14,6 +14,7 @@
 
 #include <uxr/agent/participant/Participant.hpp>
 #include <uxr/agent/client/ProxyClient.hpp>
+#include <uxr/agent/types/XRCETypes.hpp>
 
 namespace eprosima {
 namespace uxr {
@@ -40,6 +41,19 @@ std::unique_ptr<Participant> Participant::create(
             created_entity = proxy_client->get_middleware().create_participant_by_xml(raw_object_id, representation.domain_id(), xml_rep);
             break;
         }
+        case dds::xrce::REPRESENTATION_IN_BINARY:
+        {
+            auto rep = representation.representation();
+            dds::xrce::OBJK_DomainParticipant_Binary participant_xrce;
+            participant_xrce.domain_id(representation.domain_id());
+
+            fastcdr::FastBuffer fastbuffer{reinterpret_cast<char*>(const_cast<uint8_t*>(rep.binary_representation().data())), rep.binary_representation().size()};
+            eprosima::fastcdr::Cdr cdr(fastbuffer);
+            participant_xrce.deserialize(cdr);
+
+            created_entity = proxy_client->get_middleware().create_participant_by_bin(raw_object_id, participant_xrce);
+            break;
+        }
         default:
             break;
     }

src/cpp/types/XRCETypes.cpp

@@ -3114,8 +3114,6 @@ void dds::xrce::REPLIER_Representation::deserialize(eprosima::fastcdr::Cdr &dcdr
 dds::xrce::OBJK_DomainParticipant_Binary::OBJK_DomainParticipant_Binary()
 {
     m_domain_id = 0;
-
-
 }
 
 dds::xrce::OBJK_DomainParticipant_Binary::~OBJK_DomainParticipant_Binary()
@@ -3158,8 +3156,6 @@ size_t dds::xrce::OBJK_DomainParticipant_Binary::getMaxCdrSerializedSize(size_t
 {
     size_t initial_alignment = current_alignment;
 
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
-
     current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 128 + 1;
 
     current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 128 + 1;
@@ -3172,28 +3168,45 @@ size_t dds::xrce::OBJK_DomainParticipant_Binary::getCdrSerializedSize(size_t cur
 {
     size_t initial_alignment = current_alignment;
 
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
-
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + m_domain_referente.size() + 1;
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + (*m_domain_referente).size() + 1;
 
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + m_qos_profile.size() + 1;
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + (*m_qos_profile).size() + 1;
 
 
     return current_alignment - initial_alignment;
 }
 
 void dds::xrce::OBJK_DomainParticipant_Binary::serialize(eprosima::fastcdr::Cdr &scdr) const
 {
-    scdr << m_domain_id;
-    scdr << m_domain_referente;
-    scdr << m_qos_profile;
+    scdr << bool(m_domain_referente);
+    if (m_domain_referente)
+    {
+        scdr << *m_domain_referente;
+    }
+    scdr << bool(m_qos_profile);
+    if (m_qos_profile)
+    {
+        scdr << *m_qos_profile;
+    }
 }
 
 void dds::xrce::OBJK_DomainParticipant_Binary::deserialize(eprosima::fastcdr::Cdr &dcdr)
 {
-    dcdr >> m_domain_id;
-    dcdr >> m_domain_referente;
-    dcdr >> m_qos_profile;
+    bool temp;
+    dcdr >> temp;
+    if (temp)
+    {
+        std::string temp_domain_referente;
+        dcdr >> temp_domain_referente;
+        m_domain_referente = temp_domain_referente;
+    }
+    dcdr >> temp;
+    if (temp)
+    {
+        std::string temp_qos_profile;
+        dcdr >> temp_qos_profile;
+        m_qos_profile = temp_qos_profile;
+    }
 }
 
 dds::xrce::OBJK_Topic_Binary::OBJK_Topic_Binary()